Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
Modeling, simulation and control of quadrotor for transportation of a load suspended by a cable.
Submission Author:
Gabriel Gomes Passos , SP
Co-Authors:
Gabriel Gomes Passos, yohan diaz
Presenter: Gabriel Gomes Passos
doi://10.26678/ABCM.COBEM2021.COB2021-0598
Abstract
Unmanned Aerial Vehicles (UAV) have been used in several applications such as monitoring and security missions, filming and photography, mapping and pulverization in agricultural areas and, particularly, load transportation. This last application presents itself as a very useful and efficient alternative for military operations, delivering packages and civil constructions. Quadrotors, more specifically, have gained notoriety in recent years due to the relative simplicity of their dynamics, their low cost of research and production when compared to other vehicles, in addition to their vast operational capacity. Its ability to take off and land vertically, hover and its high maneuverability guarantee the ability to follow any 3D trajectory, reaching target positions that traditional aircraft are not capable of. The transport of slung loads suspended by cables presents advantages over grasping the load to the drone structure for this type of operation, however the presence of the load introduces great instabilities to the drone during the flight. For that reason, it is necessary to carry out research in this area, detailing the design and implementation of control techniques to stabilize the load and control the trajectory of the drone. Therefore, the main objective of this work is to implement a control strategy that allows a quadrotor to transport a slung load to a target position quickly, precisely and with good damping of oscillations. To reach this objective, a nonlinear 3D model of the system dynamics, composed of the quadrotor and the load suspended by a rigid cable, is developed using the Euler-Lagrange method. Based on this model, the controller is developed using the Universal Integrative Regulator nonlinear control technique, based on sliding mode control with the addition of a conditional integrator (CISMC). Moreover, a classic PID controller is tuned to control the same system in order to obtain a reference to assess the benefits of the CISMC controller. The validation of both the model and the compared controllers are done through numerical simulations via MATLAB/Simulink. In the present work, it is expected to obtain positive results of performance and stability of the system, achieving shorter response times and less oscillations when the non-linear controller is applied. It is expected, with the CISMC technique, to eliminate or at least overcome the inherent instability problems of the studied system, which classical control techniques cannot handle.
Keywords
Quadrotor, slung load, non linear control, Universal Integral Regulator, PID controller
