Design of automatic disturbance rejection controller for multi aircraft with slung load

DOI:	10.11809/bqzbgcxb2025.03.030
Keywords:	aircraft; attitude control; slung system; dynamic wind disturbance model; automatic disturbance rejection controller
Abstract:	Aiming at the problems of large flight disturbance and low control accuracy of multi machine combined suspension, the design method of multi machine suspension self immunity controller is proposed. Compared with the single machine hanging system, the control problem of multi machine hanging system is more complicated, so we establish a four container hanging vehicle model, design the control allocation module of the combined vehicle, and realize the decoupling control of the vehicle. A dynamic wind disturbance model is established, and an anti disturbance control law is designed for the combined vehicle based on the self anti disturbance controller to realize the single unit control strategy under the multi machine combination. The expansion state observer is utilized to estimate the unknown perturbation of the system, and its control quantity is corrected to improve the control accuracy, enhance the system anti perturbation performance, and reduce the influence of the unknown perturbation on the system. The simulation of wind disturbance resistant control of multi machine suspension is carried out, and the calculation results show that the multi machine suspension has better wind disturbance resistant performance under the designed simulation scenario, and the self resistant controller can effectively suppress the disturbance, and the effect is better than that of the traditional PID control.
Issue:	Vol. 46 No. 3 (2025)
Published:	2025-03-31
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