SIA OpenIR  > 机器人学研究室
液压旋翼飞行机械臂系统建模与控制方法
Alternative TitleThe Modeling and Control Method for a Hydraulic Rotorcraft Aerial Manipulator
林天宇; 齐俊桐; 姚俊
Department机器人学研究室
Source Publication沈阳理工大学学报
ISSN1003-1251
2016
Volume35Issue:2Pages:54-59, 69
Contribution Rank1
Keyword旋翼飞行机器人 液压机械臂 动力学建模 Lqr控制 鲁棒控制
Abstract在旋翼飞行机器人上加装机械臂而得到一种新的飞行机器人系统,扩展了旋翼飞行机器人的应用范围。本研究将小型液压机械臂系统应用到已有的旋翼飞行机器人上,通过分析无人机与机械臂的运动耦合,得到悬停模式下液压旋翼飞行机械臂系统的整体动力学模型;用LQR控制器控制机械臂完成平面内摆动动作;将机械臂运动对机器人本体的影响作为扰动进行考虑,并采用鲁棒控制器来稳定旋翼飞行机器人悬停时的位姿。通过仿真验证了本文所述模型结构与控制策略的有效性。
Other AbstractA Rotorcraft Aerial Manipulator ( RAM) system is obtained through installing mechanical manipulator on RUAV,which expands the application scope of RUAVs. The research is done on installing miniature hydraulic manipulator system on the existing RUAV. The overall dynamic model of the hydraulic RAM systems is obtained through the analysis of the coupled motion of the RUAV and the manipulator. The planar swinging motion of the manipulator is controlled by LQR controller. The motion of the manipulator is considered as a disturbance to the RAM system and a robust controller is utilized to eliminate the disturbance and stabilize the R-UAV's hovering pose. The model structure and the control strategy proposed are verified through simulation.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/18648
Collection机器人学研究室
Corresponding Author林天宇
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.沈阳理工大学信息科学与工程学院
Recommended Citation
GB/T 7714
林天宇,齐俊桐,姚俊. 液压旋翼飞行机械臂系统建模与控制方法[J]. 沈阳理工大学学报,2016,35(2):54-59, 69.
APA 林天宇,齐俊桐,&姚俊.(2016).液压旋翼飞行机械臂系统建模与控制方法.沈阳理工大学学报,35(2),54-59, 69.
MLA 林天宇,et al."液压旋翼飞行机械臂系统建模与控制方法".沈阳理工大学学报 35.2(2016):54-59, 69.
Files in This Item:
File Name/Size DocType Version Access License
液压旋翼飞行机械臂系统建模与控制方法.p(403KB)期刊论文作者接受稿开放获取ODC PDDLView Application Full Text
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[林天宇]'s Articles
[齐俊桐]'s Articles
[姚俊]'s Articles
Baidu academic
Similar articles in Baidu academic
[林天宇]'s Articles
[齐俊桐]'s Articles
[姚俊]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[林天宇]'s Articles
[齐俊桐]'s Articles
[姚俊]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 液压旋翼飞行机械臂系统建模与控制方法.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.