仅用机载传感器实现无人机吊挂物无参数抗摆控制
Payload Swing Estimation and Damping Without Payload Parameters for Multirotor UAVs
- 用扩展卡尔曼滤波估计未知摆动频率，不依赖吊索长度和载荷质量
- 通过姿态环补偿角主动耗散摆动能量，实测在多种参数下均有效
- 无需额外传感器，适合实际飞行场景快速部署
多旋翼无人机吊挂运输灵活但会产生周期性摆动干扰，影响追踪精度并引发失稳。现有抗摆方法需额外传感器或精确识别吊索长度与载荷质量，限制了现场应用。本文提出一种仅使用机载IMU和油门指令的摆动估计与阻尼方法，无需载荷参数。采用扩展卡尔曼滤波器将未知摆动频率作为状态变量进行估计，并通过主动阻尼控制器在姿态回路中添加修正角度以耗散摆动能量。飞行实验验证了该方法在不同吊索长度和质量变化范围内的鲁棒阻尼效果。
原文摘要 · Abstract (English)
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.
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