无人机吊运系统(二级摆)——几何建模
文章目录
前言
无人机(UAV)由于其高机动性、体积小等优势被广泛应用于吊运任务上,简化的吊运系统一般由无人机本体、轻质绳、重物组成,但实际上无人机吊运系统常常需要单独采用一挂钩另外悬挂重物,如图所示:
(图片来自网络,侵权请联系删除)
即由无人机本体悬挂吊钩(Hook),由吊钩悬挂重物(Payload),过去大部分关于无人机吊运系统的分析工作中,都将模型简化为单摆,但两级摆动实际会对无人机控制带来不小的影响(这在吊车的领域可以看到),为了后续进一步对无人机控制做分析,本文提出从几何角度对无人机吊运系统进行建模,其好处是模型结构相对简洁。
一、建模原理
拉格朗日法
定义系统拉格朗日量为:
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L(q,q˙)=T(q,q˙)−V(q)
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q为系统广义坐标,
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T为系统总动能,
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V为系统总势能,则动力学方程可用拉格朗日函数表示如下:
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f = \frac{d}{dt}\frac{\partial L}{\partial \dot q} -\frac{\partial L}{\partial q}
f=dtd∂q˙∂L−∂q∂L
达朗贝尔原则(D’Alembert’s Principle)
对于一个质点系统,每一个质点的动力效应,即实际作用在质点上的力与质点的惯性力(虚拟的力,等于质点质量与加速度乘积的相反数)的矢量和,可以视为在任意虚位移上的总静力效应为零。
数学上表述为:
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没有学过理论力学的同学可能不太好第一时间理解,其实达朗贝尔原则的优势在于他化解了面对处于运动状态的系统的受力分析,可以理解为将牛二定律升级为非惯性系下的表述。在拉格朗日力学中,达朗贝尔原则常用于导出拉格朗日方程,这是描述系统动态的基本方程。
二、使用步骤
变量定义:
- x Q 、 x h 、 x L \boldsymbol{x_Q}、 \boldsymbol{x_h}、 \boldsymbol{x_L} xQ、xh、xL分别为无人机位置、挂钩位置(hook)、负载位置(Load);
- l 1 、 l 2 l_1、l_2 l1、l2:吊绳1、2长度;
- p 1 、 p 2 \boldsymbol{p_1}、\boldsymbol{p_2} p1、p2:方向向量,分别代表由无人机质心指向挂钩、由挂钩指向负载;
- m Q 、 m h 、 m L m_Q、m_h、m_L mQ、mh、mL:分别为无人机质量、挂钩质量(hook)、负载质量(Load);
- g g g:重力加速度;
- L L L:拉格朗日量;
- T T T:系统总动能;
- V V V:系统总势能;
- R R R:无人机旋转矩阵;
1.系统能量
根据系统示意图,有:
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\begin{aligned} \boldsymbol{x_h}&=\boldsymbol{x_L}-l_2\boldsymbol{p_2} \\ \boldsymbol{x_Q}&=\boldsymbol{x_h}-l_1\boldsymbol{p_1}=\boldsymbol{x_L}-l_2 \boldsymbol{p_2}-l_1\boldsymbol{p_1} \\ T&= \frac{1}{2} m_Q \boldsymbol{v_Q} \cdot \boldsymbol{v_Q}+\frac{1}{2} m_h \boldsymbol{v_h} \cdot \boldsymbol{v_h}+\frac{1}{2} m_L \boldsymbol{v_L} \cdot \boldsymbol{v_L}+\frac{1}{2} \Omega^{\top} J \Omega \\ V&= m_Q g \boldsymbol{e_3} \cdot \boldsymbol{x_Q}+m_h g \boldsymbol{e_3} \cdot \boldsymbol{x_h}+m_L g \boldsymbol{e_3}\cdot \boldsymbol{x_L} \\ \therefore L&= T-V \\ &= \frac{1}{2} m_Q\left(\dot{\boldsymbol{x}}_L-L_1 \dot{\boldsymbol{p}}_1-l_2 \dot{\boldsymbol{p}}_2\right) \cdot\left(\dot{\boldsymbol{x}}_L-l_1 p_1-L_2 \dot{\boldsymbol{p}}_2\right)+\frac{1}{2} m_h\left(\dot{\boldsymbol{x}}_L-L_2 \dot{\boldsymbol{p}}_2\right) \cdot\left(\dot{\boldsymbol{x}}_L-L_1 \dot{\boldsymbol{p}}_2\right) \\ & +\frac{1}{2} m_L \dot{\boldsymbol{x}}_L \cdot \dot{\boldsymbol{x}}_L+\frac{1}{2} \Omega^{\top} J \Omega \\ & -m_Q g \boldsymbol{e_3} \cdot\left(\boldsymbol{x_L}-L_1\boldsymbol{p_1}-l_2 \boldsymbol{p_2}\right)-m_h g \boldsymbol{e_3} \cdot\left(\boldsymbol{x_L}-L_2 \boldsymbol{p_2}\right)-m_L g \boldsymbol{e_3} \cdot \boldsymbol{x_L} \end{aligned}
xhxQTV∴L=xL−l2p2=xh−l1p1=xL−l2p2−l1p1=21mQvQ⋅vQ+21mhvh⋅vh+21mLvL⋅vL+21Ω⊤JΩ=mQge3⋅xQ+mhge3⋅xh+mLge3⋅xL=T−V=21mQ(x˙L−L1p˙1−l2p˙2)⋅(x˙L−l1p1−L2p˙2)+21mh(x˙L−L2p˙2)⋅(x˙L−L1p˙2)+21mLx˙L⋅x˙L+21Ω⊤JΩ−mQge3⋅(xL−L1p1−l2p2)−mhge3⋅(xL−L2p2)−mLge3⋅xL
由此构建好二级摆系统的拉格朗日量。
注意:由于无人机姿态在这里与负载动力学解耦,为了主要展现二级摆部分几何建模,后将无人机本体旋转部分能量忽略。
2.建模
准备好拉格朗日方程需要的偏导量:
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\begin{aligned} \frac{\partial L}{\partial \boldsymbol{x_L}}=&-\left(m_Q+m_h+m_L\right) g \boldsymbol{e_3} \\ \frac{d}{d t} \frac{\partial L}{\partial \dot{\boldsymbol{x}}_2}=&m_Q\left(\ddot{\boldsymbol{x}}_L-l_1 \ddot{\boldsymbol{p}}_1-l_1 \ddot{\boldsymbol{p}}_2\right)+m_h\left(\ddot{\boldsymbol{x}}_L-l_2 \ddot{\boldsymbol{p}}_2\right)+m_L \ddot{\boldsymbol{x}}_L \\ \frac{\partial L}{\partial \boldsymbol{p}_1}=&-m_Q g\boldsymbol{e_3} l_1 \\ \frac{d}{d t} \frac{\partial L}{\partial \dot{\boldsymbol{p}}_1}=&-m_Q l_1\left(\ddot{\boldsymbol{x}}_L-l_1 \ddot{\boldsymbol{p}}_1-l_2 \ddot{\boldsymbol{p}}_2\right) \\ \frac{\partial L}{\partial \boldsymbol{p}_2}=&-m_Q g \boldsymbol{e_3}l_2-m_h g \boldsymbol{e_3} l_2 \\ \frac{d}{d t} \frac{\partial L}{\partial \boldsymbol{p}_2}=&-m_Q l_2\left(\ddot{\boldsymbol{x}}_L-l_1 \ddot{\boldsymbol{p}}_1-l_2 \ddot{\boldsymbol{p}}_2\right)-m_h l_2\left(\ddot{\boldsymbol{x}}_L-l_2 \ddot{\boldsymbol{p}}_2\right) \\ \end{aligned}
∂xL∂L=dtd∂x˙2∂L=∂p1∂L=dtd∂p˙1∂L=∂p2∂L=dtd∂p2∂L=−(mQ+mh+mL)ge3mQ(x¨L−l1p¨1−l1p¨2)+mh(x¨L−l2p¨2)+mLx¨L−mQge3l1−mQl1(x¨L−l1p¨1−l2p¨2)−mQge3l2−mhge3l2−mQl2(x¨L−l1p¨1−l2p¨2)−mhl2(x¨L−l2p¨2)
另外关于
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\delta \boldsymbol{p}_1=\boldsymbol{\xi}_1 \times \boldsymbol{p}_1 \quad \delta \boldsymbol{p}_2=\boldsymbol{\xi}_2 \times \boldsymbol{p}_2
δp1=ξ1×p1δp2=ξ2×p2
现定义动作积分函数
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\begin{aligned} & \delta G=\int_{t_0}^{t_f}\left[\left(\frac{\partial L}{\partial \boldsymbol{x_L}}-\frac{d}{d t} \frac{\partial L}{\partial \dot{\boldsymbol{x}}_L}\right) \partial \boldsymbol{x_L}+\left(\frac{\partial L}{\partial \boldsymbol{p}_1}-\frac{d}{d t} \frac{\partial L}{\partial \dot{\boldsymbol{p}}_1}\right) \delta \boldsymbol{p}_1\right. \\ & \left.+\left(\frac{\partial L}{\partial \boldsymbol{p}_2}-\frac{d}{d t} \frac{\partial L}{\partial \boldsymbol{p}_2}\right) \delta \boldsymbol{p}_2\right] d t \end{aligned}
δG=∫t0tf[(∂xL∂L−dtd∂x˙L∂L)∂xL+(∂p1∂L−dtd∂p˙1∂L)δp1+(∂p2∂L−dtd∂p2∂L)δp2]dt
考虑到系统唯一外力为无人机升力
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fR \boldsymbol{e}_3
fRe3,由达朗贝尔原则知:
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\begin{aligned} \delta G=-\int_{t_0}^{t_1}fR \boldsymbol{e}_3\delta \boldsymbol{x_Q} d t =-\int_{t_0}^{t_1}\left(\delta \boldsymbol{x_L}-L_1 \delta \boldsymbol{p}_1-l_2 \partial \boldsymbol{p}_2\right)fR \boldsymbol{e}_3 d t \end{aligned}
δG=−∫t0t1fRe3δxQdt=−∫t0t1(δxL−L1δp1−l2∂p2)fRe3dt
现将对应项相等列写:
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\begin{aligned} \text{①}&\left(\frac{\partial L}{\partial \boldsymbol{x_L}}-\frac{d}{d t} \frac{\partial L}{\partial \dot{\boldsymbol{x}}_L}\right) \partial \boldsymbol{x_L}= \left[-\left(m_Q+m_h+m_L\right) g \boldsymbol{e_3} -m_Q\left(\ddot{\boldsymbol{x}}_L-l_1 \ddot{\boldsymbol{p}}_1-l_1 \ddot{\boldsymbol{p}}_2\right)-m_h\left(\ddot{\boldsymbol{x}}_L-l_2 \ddot{\boldsymbol{p}}_2\right)-m_L \ddot{\boldsymbol{x}}_L\right] \partial \boldsymbol{x_L} = -fR\boldsymbol{e}_3\delta \boldsymbol{x}_L\\ \text{②}&\left(\frac{\partial L}{\partial \boldsymbol{p}_1}-\frac{d}{d t} \frac{\partial L}{\partial \dot{\boldsymbol{p}}_1}\right) \delta \boldsymbol{p}_1 = \left[-m_Q g\boldsymbol{e_3} l_1+m_Q l_1\left(\ddot{\boldsymbol{x}}_L-l_1 \ddot{\boldsymbol{p}}_1-l_2 \ddot{\boldsymbol{p}}_2\right)\right]\left(\boldsymbol{\xi}_1 \times \boldsymbol{p}_1\right)=fR\boldsymbol{e}_3l_1\left(\boldsymbol{\xi}_1 \times \boldsymbol{p}_1\right)\\ \text{③}&\left(\frac{\partial L}{\partial \boldsymbol{p}_2}-\frac{d}{d t} \frac{\partial L}{\partial \dot{\boldsymbol{p}}_2}\right) \delta \boldsymbol{p}_2 =\left[-m_Qg \boldsymbol{e_3}l_2-m_h g \boldsymbol{e_3} l_2+m_Q l_2\left(\ddot{\boldsymbol{x}}_L-l_1 \ddot{\boldsymbol{p}}_1-l_2 \ddot{\boldsymbol{p}}_2\right)+m_h l_2\left(\ddot{\boldsymbol{x}}_L-l_2 \ddot{\boldsymbol{p}}_2\right) \right]\left(\boldsymbol{\xi}_2 \times \boldsymbol{p}_2\right)=fR\boldsymbol{e}_3l_2\left(\boldsymbol{\xi}_2 \times \boldsymbol{p}_2\right) \end{aligned}
①②③(∂xL∂L−dtd∂x˙L∂L)∂xL=[−(mQ+mh+mL)ge3−mQ(x¨L−l1p¨1−l1p¨2)−mh(x¨L−l2p¨2)−mLx¨L]∂xL=−fRe3δxL(∂p1∂L−dtd∂p˙1∂L)δp1=[−mQge3l1+mQl1(x¨L−l1p¨1−l2p¨2)](ξ1×p1)=fRe3l1(ξ1×p1)(∂p2∂L−dtd∂p˙2∂L)δp2=[−mQge3l2−mhge3l2+mQl2(x¨L−l1p¨1−l2p¨2)+mhl2(x¨L−l2p¨2)](ξ2×p2)=fRe3l2(ξ2×p2)
注意,由于上式均涉及到向量乘法/叉乘运算,在进行约去时需要格外注意,必要时需结合物理受力情况进行分析:
关于①式:
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\left[-\left(m_Q+m_h+m_L\right) g \boldsymbol{e_3} -m_Q\left(\ddot{\boldsymbol{x}}_L-l_1 \ddot{\boldsymbol{p}}_1-l_1 \ddot{\boldsymbol{p}}_2\right)+m_h\left(\ddot{\boldsymbol{x}}_L-l_2 \ddot{\boldsymbol{p}}_2\right)+m_L \ddot{\boldsymbol{x}}_L\right]
[−(mQ+mh+mL)ge3−mQ(x¨L−l1p¨1−l1p¨2)+mh(x¨L−l2p¨2)+mLx¨L]
显然由系统重力、惯性力合成,与系统所受外力同向,即与
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f R e_3=\left(m_Q+m_h+m_L\right)\left(g Q_3+\dot{\nu}_L\right)-\left(m_Q+m_h\right) l_2 \ddot{\boldsymbol{p}}_2-m_Q l_1 \ddot{\boldsymbol{p}}_1
fRe3=(mQ+mh+mL)(gQ3+ν˙L)−(mQ+mh)l2p¨2−mQl1p¨1
关于②式:
根据向量叉乘运算性质,可化为:
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\left(\boldsymbol{p}_1\times\left[-m_Q g\boldsymbol{e_3} l_1+m_Q l_1\left(\ddot{\boldsymbol{x}}_L-l_1 \ddot{\boldsymbol{p}}_1-l_2 \ddot{\boldsymbol{p}}_2\right)\right]\right)\cdot\boldsymbol{\xi}_1=\left(\boldsymbol{p}_1\times fR\boldsymbol{e}_3l_1\right)\cdot\boldsymbol{\xi}_1
(p1×[−mQge3l1+mQl1(x¨L−l1p¨1−l2p¨2)])⋅ξ1=(p1×fRe3l1)⋅ξ1
已知
ξ
1
⋅
p
1
=
0
\boldsymbol{\xi}_1 \cdot \boldsymbol{p}_1 = 0
ξ1⋅p1=0,即向量
ξ
1
\boldsymbol{\xi}_1
ξ1与
p
1
\boldsymbol{p}_1
p1垂直,现若能说明
(
p
1
×
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m
Q
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3
l
1
+
m
Q
l
1
(
x
¨
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−
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p
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1
−
l
2
p
¨
2
)
]
)
\left(\boldsymbol{p}_1\times\left[m_Q g\boldsymbol{e_3} l_1+m_Q l_1\left(\ddot{\boldsymbol{x}}_L-l_1 \ddot{\boldsymbol{p}}_1-l_2 \ddot{\boldsymbol{p}}_2\right)\right]\right)
(p1×[mQge3l1+mQl1(x¨L−l1p¨1−l2p¨2)])与
(
p
1
×
f
R
e
3
)
\left(\boldsymbol{p}_1\times fR\boldsymbol{e}_3\right)
(p1×fRe3)同向,则可约去
ξ
1
\boldsymbol{\xi}_1
ξ1,而同向问题可转化为
p
1
、
[
m
Q
g
e
3
l
1
+
m
Q
l
1
(
x
¨
L
−
l
1
p
¨
1
−
l
2
p
¨
2
)
]
、
f
R
e
3
\boldsymbol{p}_1、\left[m_Q g\boldsymbol{e_3} l_1+m_Q l_1\left(\ddot{\boldsymbol{x}}_L-l_1 \ddot{\boldsymbol{p}}_1-l_2 \ddot{\boldsymbol{p}}_2\right)\right]、fR\boldsymbol{e}_3
p1、[mQge3l1+mQl1(x¨L−l1p¨1−l2p¨2)]、fRe3是否共平面,对无人机本体做受力分析,可发现以上三项正分别代表了无人机所受重力、升力、第一根挂绳拉力三个方向,故三者必共平面,由此可约去
ξ
1
\boldsymbol{\xi}_1
ξ1,方程变为(将
l
1
l_1
l1约去):
p
1
×
[
−
m
Q
g
e
3
+
m
Q
(
x
¨
L
−
l
1
p
¨
1
−
l
2
p
¨
2
)
]
=
p
1
×
f
R
e
3
\boldsymbol{p}_1\times\left[-m_Q g\boldsymbol{e_3}+m_Q \left(\ddot{\boldsymbol{x}}_L-l_1 \ddot{\boldsymbol{p}}_1-l_2 \ddot{\boldsymbol{p}}_2\right)\right] =\boldsymbol{p}_1\times fR\boldsymbol{e}_3
p1×[−mQge3+mQ(x¨L−l1p¨1−l2p¨2)]=p1×fRe3
关于③式:
依照②式的推导方法,同理得到:
p
2
×
[
−
m
Q
g
e
3
l
2
−
m
h
g
e
3
l
2
+
m
Q
l
2
(
x
¨
L
−
l
1
p
¨
1
−
l
2
p
¨
2
)
+
m
h
l
2
(
x
¨
L
−
l
2
p
¨
2
)
]
=
p
2
×
f
R
e
3
l
2
\boldsymbol{p}_2\times\left[-m_Qg \boldsymbol{e_3}l_2-m_h g \boldsymbol{e_3} l_2+m_Q l_2\left(\ddot{\boldsymbol{x}}_L-l_1 \ddot{\boldsymbol{p}}_1-l_2 \ddot{\boldsymbol{p}}_2\right)+m_h l_2\left(\ddot{\boldsymbol{x}}_L-l_2 \ddot{\boldsymbol{p}}_2\right) \right]=\boldsymbol{p}_2\times fR\boldsymbol{e}_3l_2
p2×[−mQge3l2−mhge3l2+mQl2(x¨L−l1p¨1−l2p¨2)+mhl2(x¨L−l2p¨2)]=p2×fRe3l2
但是对于③式中的
(
m
Q
+
m
h
)
(
−
g
e
3
+
x
¨
L
)
\left(m_Q+m_h\right)\left(-g\boldsymbol{e}_3+\ddot{\boldsymbol{x}}_L\right)
(mQ+mh)(−ge3+x¨L),由于该向量方向由后括号决定,其方向经受力分析可得与
p
2
\boldsymbol{p}_2
p2同向,则其与
p
2
\boldsymbol{p}_2
p2叉乘结果为0。故可化简为(将
l
2
l_2
l2约去):
p
2
×
[
m
Q
(
−
l
1
p
¨
1
−
l
2
p
¨
2
)
+
m
h
(
−
l
2
p
¨
2
)
]
=
p
2
×
f
R
e
3
\boldsymbol{p}_2\times\left[m_Q \left(-l_1 \ddot{\boldsymbol{p}}_1-l_2 \ddot{\boldsymbol{p}}_2\right)+m_h \left(-l_2 \ddot{\boldsymbol{p}}_2\right) \right]=\boldsymbol{p}_2\times fR\boldsymbol{e}_3
p2×[mQ(−l1p¨1−l2p¨2)+mh(−l2p¨2)]=p2×fRe3
3.进一步化简
在上一节得到了三个方程:
④
f
R
e
3
=
(
m
Q
+
m
h
+
m
L
)
(
g
Q
3
+
ν
˙
L
)
−
(
m
Q
+
m
h
)
l
2
p
¨
2
−
m
Q
l
1
p
¨
1
⑤
p
1
×
[
−
m
Q
g
e
3
+
m
Q
(
x
¨
L
−
l
1
p
¨
1
−
l
2
p
¨
2
)
]
=
p
1
×
f
R
e
3
⑥
p
2
×
[
m
Q
(
−
l
1
p
¨
1
−
l
2
p
¨
2
)
+
m
h
(
−
l
2
p
¨
2
)
]
=
p
2
×
f
R
e
3
\begin{aligned} &④ f R e_3=\left(m_Q+m_h+m_L\right)\left(g Q_3+\dot{\nu}_L\right)-\left(m_Q+m_h\right) l_2 \ddot{\boldsymbol{p}}_2-m_Q l_1 \ddot{\boldsymbol{p}}_1\\ &⑤\boldsymbol{p}_1\times\left[-m_Q g\boldsymbol{e_3} +m_Q \left(\ddot{\boldsymbol{x}}_L-l_1 \ddot{\boldsymbol{p}}_1-l_2 \ddot{\boldsymbol{p}}_2\right)\right] =\boldsymbol{p}_1\times fR\boldsymbol{e}_3\\ &⑥\boldsymbol{p}_2\times\left[m_Q \left(-l_1 \ddot{\boldsymbol{p}}_1-l_2 \ddot{\boldsymbol{p}}_2\right)+m_h \left(-l_2 \ddot{\boldsymbol{p}}_2\right) \right]=\boldsymbol{p}_2\times fR\boldsymbol{e}_3 \end{aligned}
④fRe3=(mQ+mh+mL)(gQ3+ν˙L)−(mQ+mh)l2p¨2−mQl1p¨1⑤p1×[−mQge3+mQ(x¨L−l1p¨1−l2p¨2)]=p1×fRe3⑥p2×[mQ(−l1p¨1−l2p¨2)+mh(−l2p¨2)]=p2×fRe3
现做进一步化简。
准备:
∵
p
˙
1
=
ω
1
×
p
1
∴
p
¨
1
=
ω
˙
1
×
p
1
+
ω
1
×
(
ω
1
×
p
1
)
=
ω
˙
1
×
p
1
−
p
1
p
¨
2
=
ω
˙
2
×
p
2
−
p
2
\begin{aligned} \because& \dot {\boldsymbol{p}}_1 = \boldsymbol{\omega}_1\times\boldsymbol{p}_1\\ \therefore&\ddot{\boldsymbol{p}}_1 =\dot{\boldsymbol{\omega}}_1\times\boldsymbol{p}_1+\boldsymbol{\omega}_1\times\left(\boldsymbol{\omega}_1\times\boldsymbol{p}_1\right)=\dot{\boldsymbol{\omega}}_1\times\boldsymbol{p}_1-\boldsymbol{p}_1\\ &\ddot{\boldsymbol{p}}_2 =\dot{\boldsymbol{\omega}}_2\times\boldsymbol{p}_2-\boldsymbol{p}_2 \end{aligned}
∵∴p˙1=ω1×p1p¨1=ω˙1×p1+ω1×(ω1×p1)=ω˙1×p1−p1p¨2=ω˙2×p2−p2
关于⑤式
现对⑤式做如下处理:
p
1
×
[
−
m
Q
g
e
3
+
m
Q
(
x
¨
L
−
l
1
p
¨
1
−
l
2
p
¨
2
)
]
=
p
1
×
f
R
e
3
p
1
×
[
−
m
Q
l
1
p
¨
1
+
m
Q
(
−
g
e
3
+
x
¨
L
)
−
m
Q
m
h
m
h
+
m
L
l
2
p
¨
2
−
m
Q
m
L
m
h
+
m
L
l
2
p
¨
2
]
=
p
1
×
f
R
e
3
\begin{aligned} \boldsymbol{p}_1\times\left[-m_Q g\boldsymbol{e_3} +m_Q \left(\ddot{\boldsymbol{x}}_L-l_1 \ddot{\boldsymbol{p}}_1-l_2 \ddot{\boldsymbol{p}}_2\right)\right] =\boldsymbol{p}_1\times fR\boldsymbol{e}_3\\ \boldsymbol{p}_1\times\left[-m_Ql_1 \ddot{\boldsymbol{p}}_1+m_Q\left(-g\boldsymbol{e}_3+\ddot{\boldsymbol{x}}_L \right)-\frac{m_Qm_h}{m_h+m_L}l_2\ddot{\boldsymbol{p}}_2-\frac{m_Qm_L}{m_h+m_L}l_2\ddot{\boldsymbol{p}}_2\right] =\boldsymbol{p}_1\times fR\boldsymbol{e}_3 \end{aligned}
p1×[−mQge3+mQ(x¨L−l1p¨1−l2p¨2)]=p1×fRe3p1×[−mQl1p¨1+mQ(−ge3+x¨L)−mh+mLmQmhl2p¨2−mh+mLmQmLl2p¨2]=p1×fRe3
其中
m
Q
(
−
g
e
3
+
x
¨
L
)
−
m
Q
m
h
m
h
+
m
L
l
2
p
¨
2
=
m
Q
m
h
+
m
L
[
(
m
h
+
m
L
)
(
−
g
e
3
+
x
¨
L
)
−
m
h
l
2
p
¨
2
]
m_Q\left(-g\boldsymbol{e}_3+\ddot{\boldsymbol{x}}_L \right)-\frac{m_Qm_h}{m_h+m_L}l_2\ddot{\boldsymbol{p}}_2=\frac{m_Q}{m_h+m_L}\left[\left(m_h+m_L\right)\left(-g\boldsymbol{e}_3+\ddot{\boldsymbol{x}}_L \right)-m_hl_2\ddot{\boldsymbol{p}}_2\right]
mQ(−ge3+x¨L)−mh+mLmQmhl2p¨2=mh+mLmQ[(mh+mL)(−ge3+x¨L)−mhl2p¨2]
式中中括号内容为挂钩及负载所受合外力,方向必与
p
1
\boldsymbol{p}_1
p1同向,故在叉乘运算中化为0,⑤式变为:
p
1
×
[
−
m
Q
l
1
p
¨
1
−
m
Q
m
L
m
h
+
m
L
l
2
p
¨
2
]
=
p
1
×
f
R
e
3
\boldsymbol{p}_1\times\left[-m_Ql_1 \ddot{\boldsymbol{p}}_1-\frac{m_Qm_L}{m_h+m_L}l_2\ddot{\boldsymbol{p}}_2\right] =\boldsymbol{p}_1\times fR\boldsymbol{e}_3
p1×[−mQl1p¨1−mh+mLmQmLl2p¨2]=p1×fRe3
另外:
p
1
×
p
¨
1
=
p
1
×
[
ω
˙
1
×
p
1
−
p
1
]
=
ω
˙
1
p
1
×
p
¨
2
=
p
1
×
[
ω
˙
2
×
p
2
−
p
2
]
\begin{aligned} &\boldsymbol{p}_1\times\ddot{\boldsymbol{p}}_1=\boldsymbol{p}_1\times[\dot{\boldsymbol{\omega}}_1\times\boldsymbol{p}_1-\boldsymbol{p}_1]=\dot{\boldsymbol{\omega}}_1\\ &\boldsymbol{p}_1\times\ddot{\boldsymbol{p}}_2=\boldsymbol{p}_1\times[\dot{\boldsymbol{\omega}}_2\times\boldsymbol{p}_2-\boldsymbol{p}_2] \end{aligned}
p1×p¨1=p1×[ω˙1×p1−p1]=ω˙1p1×p¨2=p1×[ω˙2×p2−p2]
于是⑤式化为:
−
m
Q
l
1
ω
˙
1
−
m
Q
m
L
m
h
+
m
L
l
2
p
1
×
[
ω
˙
2
×
p
2
−
p
2
]
=
p
1
×
f
R
e
3
-m_Ql_1\dot{\boldsymbol{\omega}}_1-\frac{m_Qm_L}{m_h+m_L}l_2\boldsymbol{p}_1\times[\dot{\boldsymbol{\omega}}_2\times\boldsymbol{p}_2-\boldsymbol{p}_2]=\boldsymbol{p}_1\times fR\boldsymbol{e}_3
−mQl1ω˙1−mh+mLmQmLl2p1×[ω˙2×p2−p2]=p1×fRe3
关于⑥式
因为:
p
2
×
p
¨
1
=
p
2
×
[
ω
˙
1
×
p
1
−
p
1
]
p
2
×
p
¨
2
=
p
2
×
[
ω
˙
2
×
p
2
−
p
2
]
=
ω
˙
2
\begin{aligned} &\boldsymbol{p}_2\times\ddot{\boldsymbol{p}}_1=\boldsymbol{p}_2\times[\dot{\boldsymbol{\omega}}_1\times\boldsymbol{p}_1-\boldsymbol{p}_1]\\ &\boldsymbol{p}_2\times\ddot{\boldsymbol{p}}_2=\boldsymbol{p}_2\times[\dot{\boldsymbol{\omega}}_2\times\boldsymbol{p}_2-\boldsymbol{p}_2]=\dot{\boldsymbol{\omega}}_2 \end{aligned}
p2×p¨1=p2×[ω˙1×p1−p1]p2×p¨2=p2×[ω˙2×p2−p2]=ω˙2
所以⑥式化为:
− m Q l 1 p 2 × [ ω ˙ 1 × p 1 − p 1 ] − ( m Q + m h ) l 2 ω ˙ 2 = p 2 × f R e 3 -m_Ql_1\boldsymbol{p}_2\times[\dot{\boldsymbol{\omega}}_1\times\boldsymbol{p}_1-\boldsymbol{p}_1]-\left(m_Q+m_h\right)l_2\dot{\boldsymbol{\omega}}_2=\boldsymbol{p}_2\times fR\boldsymbol{e}_3 −mQl1p2×[ω˙1×p1−p1]−(mQ+mh)l2ω˙2=p2×fRe3
三、整理
将上述得到的式子整理,并加入无人机旋转动力学方程等:
(
m
Q
+
m
h
+
m
L
)
(
g
e
3
+
ν
˙
L
)
−
(
m
Q
+
m
h
)
l
2
p
¨
2
−
m
Q
l
1
p
¨
1
=
f
R
e
3
−
m
Q
l
1
ω
˙
1
−
m
Q
m
L
m
h
+
m
L
l
2
p
1
×
[
ω
˙
2
×
p
2
−
p
2
]
=
p
1
×
f
R
e
3
−
(
m
Q
+
m
h
)
l
2
ω
˙
2
−
m
Q
l
1
p
2
×
[
ω
˙
1
×
p
1
−
p
1
]
=
p
2
×
f
R
e
3
J
Q
Ω
˙
+
Ω
×
J
Q
Ω
=
M
x
˙
L
=
ν
˙
L
R
˙
=
R
Ω
^
p
˙
1
=
ω
1
×
p
1
p
˙
2
=
ω
2
×
p
2
\begin{aligned} \left(m_Q+m_h+m_L\right)\left(g \boldsymbol{e}_3+\dot{\boldsymbol{\nu}}_L\right)-\left(m_Q+m_h\right) l_2 \ddot{\boldsymbol{p}}_2-m_Q l_1 \ddot{\boldsymbol{p}}_1&=f R e_3\\ -m_Ql_1\dot{\boldsymbol{\omega}}_1-\frac{m_Qm_L}{m_h+m_L}l_2\boldsymbol{p}_1\times[\dot{\boldsymbol{\omega}}_2\times\boldsymbol{p}_2-\boldsymbol{p}_2]&=\boldsymbol{p}_1\times fR\boldsymbol{e}_3\\ -\left(m_Q+m_h\right)l_2\dot{\boldsymbol{\omega}}_2-m_Ql_1\boldsymbol{p}_2\times[\dot{\boldsymbol{\omega}}_1\times\boldsymbol{p}_1-\boldsymbol{p}_1]&=\boldsymbol{p}_2\times fR\boldsymbol{e}_3\\ J_Q\dot{\boldsymbol{\Omega}}+\boldsymbol{\Omega}\times J_Q\boldsymbol{\Omega}&=M\\ \dot{\boldsymbol{x}}_L&=\dot{\boldsymbol{\nu}}_L\\ \dot R &= R\hat{\Omega}\\ \dot {\boldsymbol{p}}_1 &= \boldsymbol{\omega}_1\times\boldsymbol{p}_1\\ \dot {\boldsymbol{p}}_2 &= \boldsymbol{\omega}_2\times\boldsymbol{p}_2 \end{aligned}
(mQ+mh+mL)(ge3+ν˙L)−(mQ+mh)l2p¨2−mQl1p¨1−mQl1ω˙1−mh+mLmQmLl2p1×[ω˙2×p2−p2]−(mQ+mh)l2ω˙2−mQl1p2×[ω˙1×p1−p1]JQΩ˙+Ω×JQΩx˙LR˙p˙1p˙2=fRe3=p1×fRe3=p2×fRe3=M=ν˙L=RΩ^=ω1×p1=ω2×p2
总结
至此完成无人机二级摆系统几何建模,其优势在于形式简介,相较于传统引入四个摆角进行建模公式数量少且直观,随后可基于建模方程进行控制器设计。