1. An external disturbance classification method of an unmanned aerial vehicle is characterized by comprising the following steps:

arranging a single-degree-of-freedom mechanical arm module to enable the configured mechanical arm of the unmanned aerial vehicle to be perpendicular to a contact surface, and arranging a force sensor module on the single-degree-of-freedom mechanical arm module to measure the normal force of the contact surface in real time;

when external disturbance is to be detected in advance, the single-degree-of-freedom mechanical arm module is configured to a preset contact surface position, and the force sensor module at the front end of the single-degree-of-freedom mechanical arm module measures the normal contact force between the unmanned aerial vehicle and the contact surface in real time;

estimating total disturbance on the unmanned aerial vehicle through a total disturbance estimation submodule according to the motor rotating speed and state information of the unmanned aerial vehicle;

and classifying according to the estimated total disturbance and the contact disturbance measured by the force sensor module, and resolving the estimated wind disturbance and contact disturbance through a wind disturbance and contact disturbance classification submodule.

2. The method of claim 1, wherein estimating the total disturbance experienced by the drone further comprises:

defining parameters:

m_bthe unmanned aerial vehicle mass;

I_bis the rotational inertia of the unmanned aerial vehicle;

is the state quantity of the unmanned aerial vehicle,for said unmanned plane position, η_bIs the Euler angle of the unmanned aerial vehicle;

for the first derivative of the state of the drone,for the speed of the drone,the angular velocity of the unmanned aerial vehicle;

for the second derivative of the drone state,for the acceleration of the unmanned aerial vehicle,the angular acceleration of the unmanned aerial vehicle is obtained;

W^b＝[f^b τ^b]^Tas of said unmanned aerial vehicleOutput of the motor, f^bFor the output of force, τ, of the motor^bOutputting torque for the motor;

for the total disturbance experienced by the drone,as the total disturbance force, the disturbance force,is the total disturbance torque;

is the wind disturbance to which the drone is subjected,the wind is used for disturbing the power,is the wind disturbance torque;

the decomposition form of the kinetic equation of the unmanned aerial vehicle is as follows:

wherein g is a gravitational constant, typically set to 9.81; e.g. of the type₃＝[0 0 1]^TIs a unit vector; s (—) is an antisymmetric matrix of the corresponding vectors;is a rotation matrix;is a matrix Q_bTransposing;

in the formula_b、θ_b、ψ_bRespectively a roll angle, a forward-leaning pitch angle and a yaw angle of the unmanned aerial vehicle; s represents a sin () function, c represents a cos () function;

the matrix form of the kinetic equation is:

wherein 0_m*nZero matrix, I, representing order m x n_m*nA unit diagonal matrix representing m x n;

reduced according to defined variables:

in the formula, M is an inertia matrix, C is a damping matrix, and G is a weight matrix;

wherein the real total disturbance experienced by the drone may be represented as a sum of contact disturbance and wind disturbance;

an expression of the real total disturbance experienced outside the drone:

definition ofIs the estimated total perturbation;

the relationship of the estimated total perturbation to the true total perturbation is defined in a first order form:

wherein K₁Determining a matrix for the diagonal positive;

will be provided withIntegrating to obtain:

for the estimated total perturbation, dt is the time interval between two solutions.

3. The method of claim 2, wherein the resolving the estimated wind and contact disturbances further comprises:

contact forceWherein theta is_bA forward pitch angle of the drone, f_cMeasuring a contact force for the force sensor module;

contact torque

The contact disturbance suffered by the unmanned aerial vehicle;

wherein the content of the first and second substances,for the purpose of the estimated total disturbance,to estimate the contact disturbance resolved by the force sensor module, is an estimated wind disturbance.

4. An external disturbance classification system of unmanned aerial vehicle, its characterized in that: the method comprises the following steps:

single degree of freedom arm module: the mechanical arm is arranged on the unmanned aerial vehicle and is perpendicular to the contact surface;

a force sensor module: the single-degree-of-freedom mechanical arm module is configured on the single-degree-of-freedom mechanical arm module and used for measuring the normal force of the contact surface in real time;

an external disturbance classification module, further comprising:

the total disturbance estimation submodule is used for estimating total disturbance on the unmanned aerial vehicle according to the motor rotating speed and state information of the unmanned aerial vehicle;

wind disturbance and contact disturbance classification submodule: and the system is used for classifying according to the estimated total disturbance and the contact disturbance measured by the force sensor and solving wind disturbance and contact disturbance.

5. The system of claim 4, wherein the single degree of freedom robotic arm module has a range of rotation of 0-90 °.

6. The external disturbance classification system of unmanned aerial vehicle of claim 4, wherein the force sensor module has a measurement range of 0-50N.

7. The external disturbance classification system for drones as defined in claim 4, wherein the total disturbance estimation sub-module further comprises:

defining parameters:

m_bthe mass of the unmanned aerial vehicle;

I_bis the rotational inertia of the unmanned aerial vehicle;

is that it isThe state quantity of the unmanned aerial vehicle,for said unmanned plane position, η_bIs the Euler angle of the unmanned aerial vehicle;

for the first derivative of the state of the drone,for the speed of the drone,the angular velocity of the unmanned aerial vehicle;

for the second derivative of the drone state,is the acceleration of the unmanned aerial vehicle,the angular acceleration of the unmanned aerial vehicle is obtained;

W^b＝[f^b τ^b]^Tfor the motor output of the unmanned aerial vehicle, f^bFor the output of force, τ, of the motor^bOutputting torque for the motor;

for the total disturbance experienced by the drone,as the total disturbance force, the disturbance force,is the total disturbance torque;

for the contact disturbance to which the drone is subjected,in order to be in contact with the force,is the contact torque;

is the wind disturbance to which the drone is subjected,the wind is used for disturbing the power,is the wind disturbance torque;

the decomposition form of the kinetic equation of the unmanned aerial vehicle is as follows:

wherein g is a gravitational constant, typically set to 9.81; e.g. of the type₃＝[0 0 1]^TIs a unit vector; s (—) is an antisymmetric matrix of the corresponding vectors;is a rotation matrix;is a matrix Q_bTransposing;

in the formula_b、θ_b、ψ_bRespectively a roll angle, a forward-leaning pitch angle and a yaw angle of the unmanned aerial vehicle; s represents a sin () function, c represents a cos () function;

the matrix form of the kinetic equation is:

wherein 0_m*nZero matrix, I, representing order m x n_m*nA unit diagonal matrix representing m x n;

reduced according to defined variables:

in the formula, M is an inertia matrix, C is a damping matrix, and G is a weight matrix;

wherein the real total disturbance experienced by the drone may be represented as a sum of contact disturbance and wind disturbance;

an expression of the real total disturbance experienced outside the drone:

definition ofIs the estimated total perturbation;

the relationship of the estimated total perturbation to the true total perturbation is defined in a first order form:

wherein K₁Determining a matrix for the diagonal positive;

will be provided withIntegrating to obtain:

for the estimated total perturbation, dt is the time interval between two solutions.

8. The external disturbance classification system for unmanned aerial vehicles of claim 7, wherein the wind disturbance and contact disturbance classification submodules further comprise:

contact forceWherein theta is_bA pitch angle for the drone to tilt forward;

contact torque

The contact disturbance suffered by the unmanned aerial vehicle;

wherein the content of the first and second substances,for the purpose of the estimated total disturbance,for the contact disturbance resolved by the force sensor module,is an estimated wind disturbance.

Background

In recent years, the application field of the unmanned aerial vehicle is gradually widened, and besides the traditional applications of monitoring, photography, line patrol, agricultural plant protection and the like, the application of the unmanned aerial vehicle also expands the fields of curtain wall cleaning, industrial pipeline contact detection and the like. Compare with the mode that relies on the manpower traditionally, adopt unmanned aerial vehicle to go to carry out above application and have the advantage such as improvement work efficiency, increase operation security. In performing these applications, the drone needs to exert a certain force on the contact surface (curtain wall, duct, etc.) and maintain contact with the contact surface stably. In the contact process, the unmanned aerial vehicle receives the reaction force of contact surface, is an external contact disturbance to unmanned aerial vehicle. In practical applications, there is also another external disturbance, wind disturbance, for example, when performing curtain wall cleaning tasks, there is a complex wind disturbance in the vicinity of the building. Some current disturbance estimation methods can estimate the total external disturbance (i.e. the superposition of contact and wind disturbances) to which the drone is subjected in real time. The estimated total external disturbance is further classified, and the unmanned aerial vehicle can accurately calculate the wind disturbance and the contact disturbance in real time, so that the unmanned aerial vehicle can more accurately execute the application.

Most of the existing unmanned aerial vehicle systems only consider a single disturbance condition: in an environment where wind disturbances exist, the drone executes only some non-contact type applications; when performing contact-type applications, most are done indoors or in a windless environment. Some unmanned aerial vehicles are provided with force sensors at the front ends for measuring the contact force of the system and the contact surface, and the method can only measure the contact disturbance about the contact point. The method for estimating the disturbance can only estimate the total disturbance after the superposition of the contact disturbance and the wind disturbance, and a related research institution distinguishes the wind disturbance and the contact disturbance by adopting a frequency classification method on the basis of the estimated total disturbance, but the method can only be suitable for the collision contact disturbance of high-frequency transient state and the wind disturbance of low-frequency change and is not suitable for the contact disturbance of long-time low-frequency. These result in a difficult or inaccurate execution of contact-type applications by drones in high wind turbulence environments.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a method and a system for classifying external disturbance of an unmanned aerial vehicle and a readable storage medium.

The external disturbance classification method of the unmanned aerial vehicle provided by the invention comprises the following steps:

arranging a single-degree-of-freedom mechanical arm module to enable the configured mechanical arm of the unmanned aerial vehicle to be perpendicular to a contact surface, and arranging a force sensor module on the single-degree-of-freedom mechanical arm module to measure the normal force of the contact surface in real time;

when external disturbance is to be detected in advance, the single-degree-of-freedom mechanical arm module is configured to a preset contact surface position, and the force sensor module at the front end of the single-degree-of-freedom mechanical arm module measures the normal contact force between the unmanned aerial vehicle and the contact surface in real time;

estimating total disturbance on the unmanned aerial vehicle through a total disturbance estimation submodule according to the motor rotating speed and state information of the unmanned aerial vehicle;

and classifying according to the estimated total disturbance and the contact disturbance measured by the force sensor module, and resolving the estimated wind disturbance and contact disturbance through a wind disturbance and contact disturbance classification submodule.

Optionally, the estimating of the total disturbance experienced by the drone further comprises:

defining parameters:

m_bthe unmanned aerial vehicle mass;

I_bis the rotational inertia of the unmanned aerial vehicle;

is the state quantity of the unmanned aerial vehicle,for said unmanned plane position, η_bIs the Euler angle of the unmanned aerial vehicle;

for the first derivative of the state of the drone,for the speed of the drone,the angular velocity of the unmanned aerial vehicle;

for the second derivative of the drone state,for the acceleration of the unmanned aerial vehicle,the angular acceleration of the unmanned aerial vehicle is obtained;

W^b＝[f^b τ^b]^Tfor the motor output of the unmanned aerial vehicle, f^bFor the output of force, τ, of the motor^bOutputting torque for the motor;

is the total disturbance received by the drone, f_u ^wAs the total disturbance force, the disturbance force,is the total disturbance torque;

for the wind disturbance that the unmanned aerial vehicle receives, f_t ^wThe wind is used for disturbing the power,disturbing the moment of force for wind；

The decomposition form of the kinetic equation of the unmanned aerial vehicle is as follows:

wherein g is a gravitational constant, typically set to 9.81; e.g. of the type₃＝[0 0 1]^TIs a unit vector; s (—) is an antisymmetric matrix of the corresponding vectors;is a rotation matrix;is a matrix Q_bTransposing;

in the formula_b、θ_b、ψ_bRespectively the roll angle, the forward inclined pitch angle and the yaw angle of the unmanned aerial vehicle; s represents a sin () function, c represents a cos () function;

the matrix form of the kinetic equation is:

wherein 0_m*nZero matrix, I, representing order m x n_m*nA unit diagonal matrix representing m x n;

reduced according to defined variables:

in the formula, M is an inertia matrix, C is a damping matrix, and G is a weight matrix;

W_u ^w＝W_i ^w+W_t ^w

wherein the real total disturbance experienced by the drone may be represented as a sum of contact disturbance and wind disturbance;

an expression of the real total disturbance experienced outside the drone:

definition ofIs the estimated total perturbation;

the relationship of the estimated total perturbation to the true total perturbation is defined in a first order form:

wherein K₁Determining a matrix for the diagonal positive;

will be provided withIntegrating to obtain:

for the estimated total perturbation, dt is the time interval between two solutions.

Optionally, the calculating the estimated wind and contact disturbances further comprises:

contact force f_i ^w＝[-f_ccosθ_b 0f_csinθ_b]Wherein theta_bA forward pitch angle of the drone, f_cMeasuring a contact force for the force sensor module;

the contact disturbance suffered by the unmanned aerial vehicle;

wherein the content of the first and second substances,for the purpose of the estimated total disturbance,to pass through the force sensor dieThe estimated contact disturbance of the block solution,is an estimated wind disturbance.

An external disturbance classification system for a drone, comprising:

single degree of freedom arm module: the mechanical arm is arranged on the unmanned aerial vehicle and is perpendicular to the contact surface;

a force sensor module: the single-degree-of-freedom mechanical arm module is configured on the single-degree-of-freedom mechanical arm module and used for measuring the normal force of the contact surface in real time;

an external disturbance classification module, further comprising:

the total disturbance estimation submodule is used for estimating total disturbance on the unmanned aerial vehicle according to the motor rotating speed and state information of the unmanned aerial vehicle;

wind disturbance and contact disturbance classification submodule: and the system is used for classifying according to the estimated total disturbance and the contact disturbance measured by the force sensor and solving wind disturbance and contact disturbance.

Optionally, the single degree of freedom robot arm module has a range of rotation of 0-90 °.

Optionally, the measurement range of the force sensor module is 0-50N.

Optionally, the total disturbance estimation sub-module further comprises:

defining parameters:

m_bthe mass of the unmanned aerial vehicle;

I_bis the rotational inertia of the unmanned aerial vehicle;

is the state quantity of the unmanned aerial vehicle,for said unmanned plane position, η_bIs the Euler angle of the unmanned aerial vehicle;

for the first derivative of the state of the drone,for the speed of the drone,the angular velocity of the unmanned aerial vehicle;

for the second derivative of the drone state,for the acceleration of the unmanned aerial vehicle,the angular acceleration of the unmanned aerial vehicle is obtained;

W^b＝[f^b τ^b]^Tfor the motor output of the unmanned aerial vehicle, f^bFor the output of force, τ, of the motor_bOutputting torque for the motor;

is the total disturbance received by the drone, f_u ^wAs the total disturbance force, the disturbance force,is the total disturbance torque;

for contact disturbances experienced by the drone, f_i ^wIn order to be in contact with the force,is the contact torque;

for the wind disturbance that the unmanned aerial vehicle receives, f_t ^wThe wind is used for disturbing the power,is the wind disturbance torque;

the decomposition form of the kinetic equation of the unmanned aerial vehicle in resolving the wind disturbance and the contact disturbance is as follows:

wherein g is a gravitational constant, typically set to 9.81; e.g. of the type₃＝[0 0 1]^TIs a unit vector; s (—) is an antisymmetric matrix of the corresponding vectors;is a rotation matrix;is a matrix Q_bTransposing;

in the formula_b、θ_b、ψ_bRespectively the roll angle, the forward inclined pitch angle and the yaw angle of the unmanned aerial vehicle; s represents a sin () function, c represents a cos () function;

the matrix form of the kinetic equation is:

wherein 0_m*nZero matrix, I, representing order m x n_m*nA unit diagonal matrix representing m x n;

reduced according to defined variables:

in the formula, M is an inertia matrix, C is a damping matrix, and G is a weight matrix;

W_u ^w＝W_i ^w+W_t ^w

wherein the real total disturbance experienced by the drone may be represented as a sum of contact disturbance and wind disturbance;

an expression of the real total disturbance experienced outside the drone:

definition ofIs the estimated total perturbation;

the relationship of the estimated total perturbation to the true total perturbation is defined in a first order form:

wherein K₁Determining a matrix for the diagonal positive;

will be provided withIntegrating to obtain:

for the estimated total perturbation, dt is the time interval between two solutions.

Optionally, the wind disturbance and contact disturbance classification submodel further includes:

contact force f_i ^w＝[-f_ccosθ_b 0 f_csinθ_b]Wherein θ is_bA pitch angle for the drone to tilt forward;

the contact disturbance suffered by the unmanned aerial vehicle;

wherein the content of the first and second substances,for the purpose of the estimated total disturbance,for the contact disturbance resolved by the force sensor module,is an estimated wind disturbance.

Compared with the prior art, the invention has the following beneficial effects:

the invention provides an external disturbance classification method and system for an unmanned aerial vehicle, which comprises the following steps:

1. wind disturbances and contact disturbances can be classified;

2. the assumption on frequency does not exist for contact disturbance and wind disturbance, and the accuracy is high;

3. the method of combining the force sensor and the disturbance estimation has good reliability;

4. the method is suitable for long-time low-frequency contact disturbance, so that the unmanned aerial vehicle can accurately execute contact application under the environment of large wind disturbance.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

fig. 1 is a schematic diagram of an external disturbance classification system of an unmanned aerial vehicle according to the present invention;

fig. 2 is a block diagram of the external disturbance classification system of the unmanned aerial vehicle according to the present invention.

In the figure:

1. a single degree of freedom mechanical arm module; 2. a force sensor module; 3. unmanned aerial vehicle.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

Examples

Fig. 1 is a schematic view of an external disturbance classification system of an unmanned aerial vehicle provided in the present invention, and as shown in fig. 1, the external disturbance classification method of an unmanned aerial vehicle in the present invention may include the following steps:

arranging a single-degree-of-freedom mechanical arm module to enable a mechanical arm of the unmanned aerial vehicle to be perpendicular to a contact surface, and arranging a force sensor module on the single-degree-of-freedom mechanical arm module to measure a normal force of the contact surface in real time;

when external disturbance is to be detected in advance, a single-degree-of-freedom mechanical arm module is configured to a preset contact surface position, and a force sensor module at the front end of the single-degree-of-freedom mechanical arm module measures the normal contact force of the unmanned aerial vehicle and the contact surface in real time;

estimating total disturbance on the unmanned aerial vehicle through a total disturbance estimation submodule according to the motor rotating speed and state information of the unmanned aerial vehicle;

classifying according to the estimated total disturbance and the contact disturbance measured by the force sensor module, and resolving the estimated wind disturbance and contact disturbance through a wind disturbance and contact disturbance classification submodule;

the method for estimating the total disturbance of the unmanned aerial vehicle by the total disturbance estimation submodule comprises the following steps:

in this embodiment, first, parameters are defined:

m_bthe mass of the unmanned aerial vehicle;

I_bis the rotational inertia of the unmanned aerial vehicle;

is the state quantity of the unmanned aerial vehicle,for unmanned plane position, η_bIs the Euler angle of the unmanned plane;

for the first derivative of the state of the drone,the speed of the unmanned aerial vehicle is taken as the speed,the angular velocity of the unmanned aerial vehicle;

for the second derivative of the unmanned aerial vehicle state,is the acceleration of the unmanned aerial vehicle,angular acceleration of the unmanned aerial vehicle;

W^b＝[f^b τ^b]^Tfor motor output of unmanned aerial vehicle, f^bFor the output of force, τ, of the motor^bOutputting torque for the motor;

for total disturbance received by the drone, f_u ^wAs the total disturbance force, the disturbance force,is the total disturbance torque;

for contact disturbances experienced by the drone, f_i ^wIn order to be in contact with the force,is the contact torque;

for wind disturbances, f, received by the drone_t ^wThe wind is used for disturbing the power,is the wind disturbance torque;

the decomposition form of the kinetic equation of the unmanned plane is as follows:

some of the variables have been defined above, where g is the gravitational constant, typically set to 9.81; e.g. of the type₃＝[0 0 1]^TIs a unit vector;s (—) is an antisymmetric matrix of the corresponding vectors,is a rotation matrix;is a matrix Q_bThe transposing of (1).

In the formula_b、θ_b、ψ_bRespectively the roll angle, pitch angle and yaw angle of the unmanned aerial vehicle; s represents a sin () function, c represents a cos () function;

the kinetic equation is in matrix form:

wherein 0_m*nZero matrix, I, representing order m x n_m*nA unit diagonal matrix representing m x n;

reduced according to defined variables:

in the formula, M is an inertia matrix, C is a damping matrix, and G is a weight matrix;

W_u ^w＝W_i ^w+W_t ^wformula 8

Wherein the total disturbance experienced by the drone may be expressed as the sum of the contact disturbance and the wind disturbance.

The disturbance estimation method comprises the following steps:

defining the momentum:

derivative of momentum:

whereinC_b ^TIs a matrix C_bTransposing; formula 11

Expression of the real total disturbance experienced outside the robot:

definition ofIs the estimated total perturbation;

the relationship of the estimated total perturbation to the true total perturbation is defined in a first order form:

wherein K₁Determining a matrix for the diagonal positive;

integrating equation 13 to yield:

is the estimated total perturbation, where dt is the time interval between two solutions;

the method for solving the estimated wind disturbance and contact disturbance by the contact disturbance classification submodule comprises the following steps:

the force sensor module measures the contact force f_cThe contact force is converted to contact disturbance in the body axis system by the following coordinate conversion:

contact force f_i ^w＝[-f_ccosθ_b 0 f_csinθ_b]Formula 17, wherein θ_bIs made withoutA pitch angle at which the robot 3 is tilted forward;distance between installation position of mechanical arm and gravity center of unmanned aerial vehicle, namely distance between installation position of mechanical arm and gravity center of unmanned aerial vehicle in attached figure 1

Classifying the disturbances:

for the purpose of the estimated total disturbance,the contact disturbance resolved by the force sensor module.

As shown in fig. 2, the present embodiment further provides an external disturbance classification system for an unmanned aerial vehicle, including:

single degree of freedom arm module 1: install at 3 front ends of unmanned aerial vehicle, real-time compensation unmanned aerial vehicle 3 pitch angle that leans forward, in this embodiment, compensated unmanned aerial vehicle 3 pitch angle theta that leans forward promptly_bThe mechanical arm is kept horizontal, and the mechanical arm is always kept horizontal;

the force sensor module 2: the device is arranged at the front end of the single-degree-of-freedom mechanical arm module 1, and measures the normal contact force, namely contact disturbance, of the unmanned aerial vehicle 3 and the contact surface in real time;

a disturbance estimation module: estimating the total disturbance of the unmanned aerial vehicle 3 according to the motor speed and the state information of the unmanned aerial vehicle 3;

an external disturbance classification module, further comprising:

the total disturbance estimation submodule is used for estimating total disturbance on the unmanned aerial vehicle according to the motor rotating speed and the state information of the unmanned aerial vehicle;

wind disturbance and contact disturbance classification submodule: the method is used for classifying according to the estimated total disturbance and the contact disturbance measured by the force sensor, and solving the wind disturbance and the contact disturbance.

In an alternative embodiment, the single degree of freedom robot arm module 1 has a rotation range of 0-90 °.

In an alternative embodiment, the force sensor module 2 has a measurement range of 0 to 50N.

In an alternative embodiment, the total disturbance estimation sub-module further comprises:

defining parameters:

m_bthe mass of the unmanned aerial vehicle;

I_bis the rotational inertia of the unmanned aerial vehicle;

is the state quantity of the unmanned aerial vehicle,for unmanned plane position, η_bIs the Euler angle of the unmanned plane;

for the first derivative of the state of the drone,the speed of the unmanned aerial vehicle is taken as the speed,the angular velocity of the unmanned aerial vehicle;

for the second derivative of the unmanned aerial vehicle state,is the acceleration of the unmanned aerial vehicle,angular acceleration of the unmanned aerial vehicle;

W^b＝[f^b τ^b]^Tfor motor output of unmanned aerial vehicle, f^bFor outputting power to electric motor，τ^bOutputting torque for the motor;

for total disturbance received by the drone, f_u ^wAs the total disturbance force, the disturbance force,is the total disturbance torque;

for contact disturbances experienced by the drone, f_i ^wIn order to be in contact with the force,is the contact torque;

for wind disturbances, f, received by the drone_t ^wThe wind is used for disturbing the power,is the wind disturbance torque;

the decomposition form of the kinetic equation of the unmanned aerial vehicle in resolving the wind disturbance and the contact disturbance is as follows:

wherein g is a gravitational constant, typically set to 9.81; e.g. of the type₃＝[0 0 1]^TIs a unit vector; s (—) is an antisymmetric matrix of the corresponding vectors;is a rotation matrix;is a matrix Q_bTransposing;

in the formula_b、θ_b、ψ_bRespectively the roll angle, the forward inclined pitch angle and the yaw angle of the unmanned aerial vehicle; s represents a sin () function, c represents a cos () function;

the matrix form of the kinetic equation is:

wherein 0_m*nZero matrix, I, representing order m x n_m*nA unit diagonal matrix representing m x n;

reduced according to defined variables:

in the formula, M is an inertia matrix, C is a damping matrix, and G is a weight matrix;

W_u ^w＝W_i ^w+W_t ^w

wherein the real total disturbance experienced by the drone may be represented as the sum of the contact disturbance and the wind disturbance;

expression of the real total disturbance experienced outside the robot:

definition ofIs the estimated total perturbation;

the relationship of the estimated total perturbation to the true total perturbation is defined in a first order form:

wherein K₁Determining a matrix for the diagonal positive;

will be provided withIntegrating to obtain:

for the estimated total perturbation, dt is the time interval between two solutions.

In an optional embodiment, the wind disturbance and contact disturbance classification submodel further comprises:

contact force f_i ^w＝[-f_ccosθ_b 0 f_csinθ_b]Wherein θ is_bA pitch angle for the drone to lean forward;

contact disturbance suffered by the unmanned aerial vehicle;

wherein the content of the first and second substances,for the purpose of the estimated total disturbance,for the contact disturbance resolved by the force sensor module,is an estimated wind disturbance.

(3) The working principle is as follows:

adopt single degree of freedom arm module 1 can keep arm perpendicular to contact surface all the time, and force sensor module 2 is placed and can be measured the normal force of contact surface in real time on single degree of freedom arm module 1, according to the angle and the mounted position of arm, can calculate the outside contact disturbance about 3 organism coordinate systems of unmanned aerial vehicle.

The total external disturbance received by the unmanned aerial vehicle 3 in the body coordinate system can be estimated by adopting a disturbance estimation method, and the contact disturbance and the wind disturbance can be calculated according to the contact disturbance calculated by measurement and the estimated total external disturbance.

The external disturbance classification system in this example is used for implementing the above-mentioned external disturbance classification method for the unmanned aerial vehicle.

In this embodiment, a readable storage medium is further provided, on which a computer program is stored, and when the computer program is executed by a machine, the method for classifying external disturbances of a drone is implemented.

The single-degree-of-freedom robot arm module 1 in this embodiment includes a robot arm and a robot arm attitude compensation device (not shown in the figure) in the related art.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.