【无人机】两个四旋翼推进的电缆的设计与控制（Matlab 实现）

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📋📋📋本文目录如下：🎁🎁🎁

目录

💥1 概述

📚2 运行结果

🎉3 参考文献

🌈4 Matlab代码实现

💥1 概述

在现代工程与自动化领域，利用无人机技术进行高空作业、货物运输或特殊任务执行的需求日益增长。两个四旋翼飞行器协同推进的电缆系统，即悬链机器人，是一种创新解决方案，它结合了四旋翼飞行器的灵活性与悬链机器人的负载能力，为高空作业提供了新的可能性。设计和控制由两个四旋翼飞行器推进的电缆系统，是一项跨学科的工程挑战，它结合了飞行器动力学、控制理论、材料科学和计算机技术。随着技术的不断进步，这类系统将在未来的工业和商业应用中发挥重要作用，提供更高效、更安全的高空作业解决方案。

📚2 运行结果

主函数部分代码：

close all; clc; clear all;

addpath('Geometry-control-functions');

%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%% INITIALZING SYSTEM PARAMETERS %%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% moment of Inertia in Kg(m^2)
    params.mass = 0.3 ;
% moment of Inertia in Kg(m^2)
    params.J = diag([0.557, 0.557, 1.05]*10e-2);
% acceleration via gravity contant
    params.g = 9.81 ;
% interial fram axis
    params.e1 = [1;0;0] ;
    params.e2 = [0;1;0] ;
    params.e3 = [0;0;1] ;
% distance of center of mass from fram center in m
    params.d = 0.315;
% fixed constant in m
    params.c = 8.004*10e-4;
%defining parameters different for each trajectories
params.x_desired =  nan;
params.gen_traj = 1;        %change here
params.vel = nan;
params.acc = nan;
params.b1d = nan;
params.w_desired =  [0;0;0];
params.k1 = diag([15, 15 ,15]);
params.k2 = diag([5, 5, 10]);
params.kR = 200;
params.kOm = 1;

params.l = 2.0;

%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%% INTIALIZING - INTIAL PARAMETERS x,v,R,w %%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Intial position
    x_quad_A = [-0.08; 0.8; 1.];
    x_quad_B = [0.08; 0.8; 1.];
%     xQ0 = [1;3;2];
% Intial velocity
    v_quad_0 = zeros(3,1);
% Initial orientation
R0 = RPYtoRot_ZXY(0*pi/180, 0*pi/180, 180*pi/180);
%R0 = eye(3);
% Intial angular velocity
    w0= zeros(3,1);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Concatenating the entire initial condition into a single vector
    qA = [x_quad_A; v_quad_0; reshape(R0,9,1); w0];
    qB = [x_quad_B; v_quad_0; reshape(R0,9,1); w0];
    x0 = [qA ; qB];
    x0 = [qA; qB];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%%%%%%%% SIMULATION
odeopts = odeset('RelTol', 1e-8, 'AbsTol', 1e-9) ;
% odeopts = [] ;
tend = 25;

🎉3 参考文献

文章中一些内容引自网络，会注明出处或引用为参考文献，难免有未尽之处，如有不妥，请随时联系删除。

[1]李方正,刘振,刘昆,等.基于模糊滑模的四旋翼无人机固定时间姿态跟踪[J/OL].控制工程:1-10[2024-07-17].https://doi.org/10.14107/j.cnki.kzgc.20230871.

[2]胡少华.基于牛顿-欧拉法的四旋翼无人机飞行姿态自抗扰控制系统设计[J/OL].计算机测量与控制:1-12[2024-07-17].http://kns.cnki.net/kcms/detail/11.4762.tp.20240712.1445.010.html.

🌈4 Matlab代码实现