无人机挂机械臂送快递，PID控制更稳准
Integrated Design and Control of a Robotic Arm on a Quadcopter for Enhanced Package Delivery
- 用固件设计+仿真工具一体化建模，整合机械臂与四旋翼
- PID控制器在不同负载下轨迹跟踪更准，均方根误差更低
- 适合做无人配送的工程实现参考，尤其关注飞行稳定性
本文提出一种将机械臂集成到四旋翼无人机的完整设计流程，重点涵盖物理建模、系统集成和控制器开发。采用SolidWorks进行机械设计，MATLAB Simscape进行仿真与控制分析，解决无人机与机械臂集成中的机械与控制难题。开发并对比了两种控制器：比例-积分-微分（PID）控制器和模型参考自适应控制器（MRAC）。通过大量仿真验证，结果显示在不同负载条件下，PID控制器在轨迹跟踪性能和均方根（RMS）误差方面表现更优，证明其在保持飞行稳定性和精确操作方面的有效性；同时，MRAC展现出对动态变化的更好适应性。
原文摘要 · Abstract (English)
This paper presents a comprehensive design process for the integration of a robotic arm into a quadcopter, emphasizing the physical modeling, system integration, and controller development. Utilizing SolidWorks for mechanical design and MATLAB Simscape for simulation and control, this study addresses the challenges encountered in integrating the robotic arm with the drone, encompassing both mechanical and control aspects. Two types of controllers are developed and analyzed: a Proportional-Integral-Derivative (PID) controller and a Model Reference Adaptive Controller (MRAC). The design and tuning of these controllers are key components of this research, with the focus on their application in package delivery tasks. Extensive simulations demonstrate the performance of each controller, with PID controllers exhibiting superior trajectory tracking and lower Root Mean Square (RMS) errors under various payload conditions. The results underscore the efficacy of PID control for stable flight and precise maneuvering, while highlighting adaptability of MRAC to changing dynamics.
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