On oscillations of a quadrotor-slung pendulum with a cavity partially filled with liquid

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Resumo

Dynamics of a pendulum suspended to a quadrotor and having a spherical cavity partially filled with the ideal liquid is considered. It is supposed that the system moves in the vertical plane. The drag force acting on the pendulum is taken into account. In order to simulate oscillations of the liquid inside the cavity, a phenomenological “pendulum” model is used. An algorithm for constructing the quadrotor acceleration control is proposed that ensures the transition of the system to the steady horizontal flight with the specified speed along with damping of oscillations of both the pendulum and the liquid inside it (including in the presence of a constant wind).

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Sobre autores

A. Holub

Lomonosov Moscow State University

Email: seliutski@imec.msu.ru

Institute of Mechanics

Rússia, Moscow

B. Lokshin

Lomonosov Moscow State University

Email: seliutski@imec.msu.ru

Institute of Mechanics

Rússia, Moscow

Yu. Selyutskiy

Lomonosov Moscow State University

Autor responsável pela correspondência
Email: seliutski@imec.msu.ru

Institute of Mechanics

Rússia, Moscow

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2. Fig. 1. Pendulum with liquid suspended from a quadcopter.

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3. Fig. 2. Dependence of the values ​​of u, v, φ, ψ on time under control (4.1).

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4. Fig. 3. Examples of acceleration and braking processes during control (4.3) in the absence of wind.

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5. Fig. 4. Examples of acceleration and braking processes during control (4.3) for different wind speed values.

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