外文翻譯--一種四旋翼系統(tǒng)的力阻抗控制方法設(shè)計(jì)(英文）

1、An Impedance Force Control Approach to a Quad-rotor System Seul Jung Intelligent Systems quad-rotor systems, force control, attitude control I. INTRODUCTION Quad-rotor systems have attractive system characteristi

2、cs as an unmanned aerial vehicle (UAV). The quad-rotor UAV (QUAV) is equipped with four rotors to have a capability of omni-directional movements as well as a stable hovering posture in the air. The capability of stab

3、le hovering posture allows many possible applications in practice including typical surveillance and monitoring tasks. Recently, many efforts of controlling QUAVs have been made. QUAV systems are a typical underactuate

4、d system that has 4 actuators to control 6 variables. This underactuated characteristic attracts attention from researchers in both control and robotic communities. Dynamic modeling and control algorithms of QUAV

5、are presented based on simulation studies [1-11]. A sliding mode control approach [1], a linear control method [2], a dynamic inversion method [4], and other advanced control methods [6-9] are presented to solve the a

6、ttitude control problems. An intelligent control approach of using neural network is proposed [10, 11]. In addition, interests on QUAV are enormously increased to develop physical systems along with the development of

7、 related technologies such as sensors, actuators, and digital hardware. Real control performances of QUAV are demonstrated [12-19]. Stabilized attitude control [12,13], aggressive maneuvering control [14], landing co

8、ntrol [15], and visual servoing control applications [16-18] have been presented. Interesting design and implementation of QUAV that performs both driving and flying tasks are presented and demonstrated [19, 20].

9、Therefore, the hovering capability of QUAV allows possible applications in the area of public monitoring systems such as highway traffic conditions, accidents on the roads, and fire in the buildings. A majority of QUAV

10、 applications is about the attitude control and navigation, which are mainly position controlled system. In addition to the attitude control performances, taking an advantage of the hovering capability of quad-rotor s

11、ystems, the sophisticated contact force control is feasible in the altitude direction. Although force control methods are actively used in the area of robot manipulation to interact with the object [21-30], the idea c

12、an be extended to the quad-rotor system. Quad-rotor systems perform not only attitude control but also force control in order to interact with the environment. In this paper, therefore, the impedance force control ap

13、plication of the quad-rotor system is presented to perform a possible task as shown in Figure 1, which requires the contact force control method. Simulation studies of force tracking control tasks are performed to eva

14、luate the capability of following the desired force under the presence of disturbances. Performances of the proposed force control scheme are evaluated by extensive simulation studies. Fig. 1 Possible task of a quad-

15、rotor system 2013 International Conference on Unmanned Aircraft Systems (ICUAS) May 28-31, 2013, Grand Hyatt Atlanta, Atlanta, GA978-1-4799-0817-2/13/$31.00 ©2013 IEEE 805where g is the gravitational acceleration.

16、Note that 0 ? ? y x f fand T z f f ?where T f is the total thrust force since we have four rotors to control elevation, roll, pitch, and yaw angles. In the same way, the moment equation can be described as ) ( V V V

17、I I M ? ? ? ? ? ? ? ? ?(11) where T M ] [ ? ? ? ? ? ? ? is the moment force and I is the moment of the system given as ? ? ???? ? ????ZZYYXXIIII0 00 00 0(12) where ZZ YY XX I I I , ,are the moments of inertia about X,

18、Y, Z axis, respectively. Solving the equation (11) with respect to V ? ? yields ? ? ? ? ? ? ???? ? ? ? ? ? ????? ? ? ? ? ? ???? ? ? ? ? ? ???????? ? ???? ? ?????????ZZYYXXZZYY XXYYXX ZZXXZZ YYIIIq p II Ir p II Ir q II

19、 Irqp111? ?? ?? ?? ?? ?? ?(13) It is convenient to represent the dynamic equations of (10) and (13) specified in the vehicle frame into the global frame through the relationship of (2) and (5). The dynamic equation in

20、the global frame under the assumption of neglecting Coriolis terms and gyroscopic effects yields ???? ?? ?? ?? ?? ? ? ? ?? ? ? ? ????? ?? ?? ?? ?? ?? ?? ?? ?? ?ZZYYXXTTTIIImg f z mf y mf x mcos cos) cos sin sin sin (co

21、s) sin sin cos sin (cos(14) Although we have 6 variables to represent the system, we have only 4 inputs so that the quad-rotor is an under- actuated system. We consider the altitude, z , roll, pitch, and yaw angles, ?

22、? ? , , , for control variables. Therefore, each force has the following relation with the induced force from each rotor in the matrix form. f CT ? ?(15) where T C is the torque transformation matrix. Equation (15) be

23、comes ? ? ? ???? ? ? ???? ? ? ???? ? ? ???? ??? ?? ? ? ? ???? ? ? ? ???LRBF TFFFFC C C CL LL Lf0 00 01 1 1 1??????(16) where T f is the total thrust force and ? ? ? ? ? ? , , are the torque of roll, pitch, and yaw ang

24、le, respectively, L is the distance from the center of the mass of the system to the center of each rotor and C is a constant factor. III. ATTITUTE CONTROL SCHEME The angles of the quad-rotor system are regulated by

25、 controlling the velocity of each rotor. Moving directions of the system are determined by combining the magnitudes of each velocity of the rotor. Although there are six variables to describe the quad-rotor system, th

26、ere are only 4 actuators, which means that control for all six variables are difficult. Thus the basic movements such as reaching a certain altitude and hovering and posing the attitude are considered. The hovering mo

27、tion is related with control of roll, pitch, and yaw angles ( ? ? ? , , ), and the altitude motion is related with control of the thrust force. Since the quad-rotor system is a symmetrical structure, yaw angle control

28、is not considered seriously in this case. From roll, pitch, yaw and thrust control inputs in (16), a force input to each rotor is determined by inverting the matrix (16). Each rotor force is described as c Ru C f ?(17)

29、 where the rotor transformation matrix R C is defined as ? ? ? ? ???? ? ? ? ???? ? ? ? ? ? ? ???? ? ? ? ? ? ? ?????? ??? ? ? ???? ? ? ??????uuuuC LC LC LC LFFFF TLRBF41 0 21 4 / 141 0 21 4 / 14121 0 4 / 14121 0 4 / 1(18

30、) where ? ? ? u u u uT , , ,are control inputs for thrust, roll, pitch, yaw angles, respectively. The altitude can be controlled by the gravity force compensation. From (14) the PID control method is used for the thr