用简化模型实现无人机悬吊柔性电缆的实时精准控制
Nonlinear Predictive Control of the Continuum and Hybrid Dynamics of a Suspended Deformable Cable for Aerial Pick and Place
- 基于偏微分方程建模，通过降阶方法压缩计算量
- 控制器可稳定缆绳振动并处理挂载/脱载等动态切换
- 适合需要高精度柔性物体操控的无人机任务
本文提出一种针对可伸缩电缆的空中操作框架，结合高保真偏微分方程（PDE）模型与适用于实时控制的降阶模型（ROM）。采用有限差分法离散PDE，并利用本征正交分解提取主导变形模式，显著降低计算复杂度。基于该ROM设计非线性模型预测控制方案，可稳定缆绳振荡，并处理负载挂载与脱离等混合动态过程。仿真结果验证了降阶模型的稳定性、高效性与鲁棒性，以及控制器在多种工况下的有效性。额外仿真展示了该模型在受限环境中的轨迹规划应用，体现其多功能性。整体框架实现了携带柔性缆绳的无人飞行器（UAV）的实时、动力学感知控制。
原文摘要 · Abstract (English)
This paper presents a framework for aerial manipulation of an extensible cable that combines a high-fidelity model based on partial differential equations (PDEs) with a reduced-order representation suitable for real-time control. The PDEs are discretised using a finite-difference method, and proper orthogonal decomposition is employed to extract a reduced-order model (ROM) that retains the dominant deformation modes while significantly reducing computational complexity. Based on this ROM, a nonlinear model predictive control scheme is formulated, capable of stabilizing cable oscillations and handling hybrid transitions such as payload attachment and detachment. Simulation results confirm the stability, efficiency, and robustness of the ROM, as well as the effectiveness of the controller in regulating cable dynamics under a range of operating conditions. Additional simulations illustrate the application of the ROM for trajectory planning in constrained environments, demonstrating the versatility of the proposed approach. Overall, the framework enables real-time, dynamics-aware control of unmanned aerial vehicles (UAVs) carrying suspended flexible cables.
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