多旋翼无人机无需有效载荷参数的吊重摆动估计与阻尼控制
Payload Swing Estimation and Damping Without Payload Parameters for Multirotor UAVs
- University of Fukui（福井大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
针对多旋翼无人机吊重运输的摆动扰动问题，提出仅用机载IMU和油门指令的无载荷参数摆动估计与阻尼方法，经实验验证具备鲁棒阻尼效果。
AI中文摘要：
多旋翼无人机通过线缆悬吊有效载荷进行运输的方式灵活，但会产生周期性摆动扰动，降低跟踪性能并引发不稳定风险。现有抗摆动方法需额外传感器或精确辨识线缆长度与有效载荷质量，限制了现场部署。本文提出一种仅利用机载IMU和油门指令的摆动估计与阻尼控制方法，无需有效载荷参数。扩展卡尔曼滤波器将未知摆长频率作为估计状态提取周期性扰动，主动阻尼控制器向姿态环添加修正角以耗散摆锤能量。飞行实验证实，在测试范围内线缆长度与质量变化时，该方法具备鲁棒阻尼效果。
英文摘要：
Cable-suspended payload transport by multirotor UAVs is flexible but generates periodic swing disturbance that degrades tracking and risks instability. Existing anti-swing methods require additional sensors or precise identification of cable length and payload mass, limiting field deployment. We propose a swing-estimation and damping method using only the onboard IMU and throttle command, requiring no payload parameters. An extended Kalman filter extracts the periodic disturbance with the unknown pendulum frequency as an estimated state, and an active damping controller adds a correction angle to the attitude loop to dissipate pendulum energy. Flight experiments confirm robust damping across a tested range of cable-length and mass variations.
