The invention discloses a telescopic sleeve arm type unmanned aerial vehicle air-based recovery docking control method based on LADRC, and the method specifically comprises the steps: firstly, establishing a telescopic sleeve arm nonlinear model, and carrying out the affine nonlinear processing of the telescopic sleeve arm nonlinear model; further, comprehensively considering the influence of environmental turbulence and unmeasurable transient disturbance in the model on the telescopic sleeve arm, and designing an extended state observer to accurately reconstruct the unmeasurable lumped disturbance in the system; then, estimating disturbance based on an expansion state observer, and designing a space-based recovery telescopic sleeve arm high-disturbance-rejection butt joint control method based on the linear active disturbance rejection technology, so that precise butt joint control over the telescopic sleeve arm under environmental disturbance is achieved. According to the method, the three-channel affine nonlinear model of the telescopic sleeve arm is constructed, the docking controller based on the linear active disturbance rejection technology is designed based on the model, accurate motion control of the telescopic sleeve arm under the turbulent flow effect is achieved, and the air-based recovery efficiency of the unmanned aerial vehicle is improved. Meanwhile, technical support is provided for remote combat, maneuvering defense penetration, rapid deployment and the like of the low-cost unmanned aerial vehicle.

    本发明公开了基于LADRC的伸缩套臂式无人机空基回收对接控制方法,具体为:首先,建立伸缩套臂非线性模型并对其进行仿射非线性处理;进而,综合考虑伸缩套臂受环境扰流及模型内不可测瞬变扰动的影响,设计扩张状态观测器,以准确重构系统内不可测集总扰动;然后,基于扩张状态观测器估计扰动,设计基于线性自抗扰技术的空基回收伸缩套臂高抗扰对接控制方法,以实现环境扰流下伸缩套臂精准对接控制。本发明构建了伸缩套臂三通道仿射非线性模型,并基于该模型设计了基于线性自抗扰技术的对接控制器,实现了伸缩套臂在扰流作用下的精准运动控制,提高了无人机空基回收效率。同时,还为低成本无人机远程作战、机动突防、快速部署等提供技术支撑。


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    Titel :

    Telescopic sleeve arm type unmanned aerial vehicle air-based recovery docking control method based on LADRC


    Weitere Titelangaben:

    基于LADRC的伸缩套臂式无人机空基回收对接控制方法


    Beteiligte:
    SU ZIKANG (Autor:in) / XU ZHONGNAN (Autor:in) / LI CHUNTAO (Autor:in) / LI XUEBING (Autor:in) / YU YUE (Autor:in)

    Erscheinungsdatum :

    2021-12-31


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen / B25J Manipulatoren , MANIPULATORS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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