The invention discloses a ship-based unmanned aerial vehicle side arm recovery docking control method based on LADRC, and the method comprises the steps: firstly, building an unmanned aerial vehicle 6DOF nonlinear dynamic model which reflects various complex airflow disturbance influences, and constructing an unmanned aerial vehicle back hook affine nonlinear dynamic model based on the vector relation between the mass center of the unmanned aerial vehicle and the position of a back hook; strong external disturbance such as ship wake flow and atmospheric turbulence borne by the unmanned aerial vehicle is regarded as lumped disturbance, a linear expansion state observer is designed to accurately reconstruct unmeasurable unknown dynamic items in the system, and feedforward compensation is conducted through a controller; and finally, in combination with a ship-borne side arm motion compensation instruction, designing a side arm recovery high-disturbance-rejection docking control method based on a linear active-disturbance-rejection technology so as to realize docking control of the unmanned aerial vehicle and a side arm rope under complex disturbance. Safe butt joint of the slow dynamic unmanned aerial vehicle and the fluctuating fast dynamic side arm interception cable is controlled under multiple complex disturbances, and the butt joint precision and safety of ship-borne side arm recovery are effectively improved.
本发明公开一种基于LADRC的舰载无人机侧臂回收对接控制方法,首先,建立反映各种复杂气流扰动影响的无人机6DOF非线性动力学模型,在此基础上,基于无人机质心与背钩位置矢量关系,构建无人机背钩仿射非线性动力学模型;将无人机所受舰尾流、大气紊流等强外界干扰视为集总扰动,设计线性扩张状态观测器,以准确重构系统内不可测未知动力学项,并予以控制器前馈补偿;最后,结合舰载侧臂运动补偿指令,设计基于线性自抗扰技术的侧臂回收高抗扰对接控制方法,以实现复杂扰流下无人机与侧臂绳索的对接控制。本发明实现多重复杂扰流下控制慢动态无人机与起伏不定的快动态侧臂拦截索安全对接,有效提高舰载侧臂回收的对接精度和安全性。
LADRC-based ship-borne unmanned aerial vehicle side arm recovery docking control method
一种基于LADRC的舰载无人机侧臂回收对接控制方法
2024-03-29
Patent
Elektronische Ressource
Chinesisch
IPC: | B64U |
Europäisches Patentamt | 2021
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