There are many variable factors and multiple signal interferences in the replacement site of the anti-vibration hammer,making it difficult to balance the gripping force and the gravity of the anti-vi-bration hammer,and the stability is poor.Therefore,a drone robot cooperative control algorithm is pro-posed.The internal structure of the damper is defined,the line weight and the anti-vibration force require-ments are considered,the grabbing force and the gravity of the damper are calculated,the imbalance factors are analyzed,and the optimal rotation center values at different time points are calculated according to the constructed UAV-rigid-flexible coupling system dynamic model,so as to restrict the maximum deviation range of the robot operation.According to the nonlinear dynamic inversion relationship of the UAV,the in-ner loop control is used to obtain the fitting ability between the robot's motion trajectory and the target trajectory,and the outer loop control is used to obtain the first and second derivative output values when the UAV turns,rises,falls and stagnates.The second derivative control threshold is used to complete the UAV robot cooperative control.The experimental results prove that joint flexibility trajectory control has strong stability,small attitude angle and position deviation of unmanned aerial vehicles,and high practical value.
关键词
防振锤更换/协同控制/最大偏离函数/控制阈值/二阶求导
Key words
replacement of damper/cooperative control/maximum deviation function/control threshold/second order derivation
维普
万方数据