Unmanned aerial vehicle suspension anti-swing and control method

The invention discloses an unmanned aerial vehicle hanging anti-swing and control method. The method comprises the following steps that a tilt angle sensor is installed in a hanging system; applying a dip angle correction formula to the original longitudinal and transverse dip angle data; applying an angular velocity correction formula to the original longitudinal and transverse angular velocity data; applying a swing speed calculation formula to the longitudinal and transverse angular speed correction values; applying an acceleration feedback quantity calculation formula to the longitudinal and transverse swing speed correction values to obtain an acceleration feedback quantity; the acceleration feedback quantity is superposed to longitudinal and transverse acceleration control targets; according to the energy formula, the appropriate acceleration feedback quantity can achieve the anti-swing target that the swing energy of the hung object is attenuated along with time. The method has the advantages that by e