Research on hanging load control method for collaborative suspension of multi-rotor UAV

The single UAV carries the load，the carrying capacity is limited，and multi-aircraft integration is the trend of the Times. Euler-Lagrange method is used in traditional rotor-load modeling. When dealing with the constraints of multi-UAV hanging load system，it is necessary to introduce multiple auxiliary variables，and the modeling process is complicated. Udwadia-Kalaba（U-K equation）is an effective attempt to solve the problem of cooperative load transport of rotorcraft by modeling the cooperative flight control of rotorcraft by treating the constraint conditions. By establishing the kinematics model and dynamics model of the rotor UAV，using the U-K equation to deal with the motion constraints，the influence of the load on the UAV is divided into horizontal and vertical directions，and the input of the step signal is used to solve and calculate. The cascade PID control model is designed on the control strategy of the system. To ensure that the rotary-wing UAV has good anti-interference ability and stability under the condition of multi-aircraft cooperation，simulink model is used to conduct simulation analysis in Matlab environment. The numerical simulation results show that the proposed control method achieves the stability，rapidity and accuracy of the formation system，and can achieve the goal of optimizing the cooperative control effect of the rotary-wing UAV.