四旋翼吊运系统滑模抗摆控制方法

doi:10.13229/j.cnki.jdxbgxb.20241340

Abstract

Abstract:

A control scheme using non-singular fast sliding mode control and a Nonlinear Extended State Observer （NESO） is proposed to solve the problem of reduced trajectory tracking performance caused by load swinging during transport in quadrotor load transportation systems.First，the dynamic model of the quadrotor system is built using Lagrange-Euler equations.The system is divided into three parts： position control， attitude control， and swing angle suppression.Controllers are designed for each part.NESO is used to estimate and compensate for uncertainties，disturbances，and noise in real time.Simulations show that this method reduces the maximum load swing angle by about 30%，and significantly cuts swing duration and load oscillation times compared to methods without swing control.It also improves the trajectory tracking accuracy of position and attitude controls.This scheme balances robustness and efficiency through decoupled and coordinated control，offering a practical solution for quadrotor transportation systems.

Key words: navigation，guidance，and control, quadrotor transportation system, non-singular fast terminal sliding mode, nonlinear extended state observer, swing suppression

CLC Number:

TP273

Bin WEN,Wen-dan LV,Qi-cheng MEI,Ya-hui WEI,Kai WU. Sliding mode anti-sway control methods for quadrotor transportation systems[J].Journal of Jilin University(Engineering and Technology Edition), 2026, 56(7): 1798-1810.

Figures/Tables 15

Fig.1

Table 1

Explanation of variables used in model construction"

符号	意义
$x, y, z$	四旋翼质心的位置在惯性坐标系的位置坐标
$M$	无人机的质量
$α$	吊挂绳在 $y o z$ 平面的投影与 $z$ 轴的夹角
$ω 1 ? 4$	4个旋翼的转速
$l$	四旋翼的轴距
$?, θ, ψ$	绕机体坐标系 $x b, y b, z b$ 三轴逆时针转动的角度
$m$	负载的质量
$β$	吊挂绳与 $y o z$ 平面的夹角
$g$	重力加速度
$L$	吊挂绳的长度

Table 1

Fig.2

Table 2

Parameters of the quadrotor transportation system model"

符号	参数	符号	参数
$M$	2.00 kg	$m$	0.40 kg
$l$	0.20 m	$L$	0.30 m
$I x, I y$	1.25 Ns²/rad	$I z$	2.5 Ns²/rad

Table 2

Table 3

Sliding mode controller parameters"

符号	参数	符号	参数
$a x, y, z$	0.8	$c x, y, z$	0.5
$k 1 (x, y, z)$	1	$k 2 (x, y, z)$	1
$a ?, θ, ψ, α, β$	5	$c ?, θ, ψ, α, β$	1
$k 1 (?, θ, ψ, α, β)$	2	$k 2 (?, θ, ψ, α, β)$	2

Table 3

Table 4

Parameters of the third-order extended state observer"

符号	参数	符号	参数
$μ 1 x, y, z$	100	$μ 1 (?, θ, ψ)$	50
$μ 2 x, y, z$	50	$μ 2 (?, θ, ψ)$	10
$μ 3 x, y, z$	20	$μ 3 (?, θ, ψ)$	10

Table 4

Fig.3

Table 5

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Table 6

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负载质量/kg	最大摆动幅度/rad		摆动持续时间/s
负载质量/kg	有抑制	无抑制	有抑制	无抑制
0.2	0.456	0.742	5.006	>20
0.3	0.456	0.744	5.018	>20
0.4	0.456	0.744	5.022	>20
0.5	0.455	0.732	5.032	>20
0.6	0.454	0.707	5.040	>20

指标	本文方法	ADRC^［16］	BPNN-ADRC ^［17］
最大摆动幅度/rad	0.451	0.595	0.574
摆动持续时间/s	5.022	5.285	5.101
振荡次数/次	1	3	2

Sliding mode anti-sway control methods for quadrotor transportation systems

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References 17

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