Umbrella ladder cluster attitude control method and device considering collision prevention and stability simultaneously

The embodiment of the invention relates to the technical field of wind power generation, in particular to an umbrella ladder cluster attitude control method and device considering collision prevention and stability at the same time. The method comprises the following steps: determining an aerial umbrella ladder system as a multi-rigid body system formed by connecting a plurality of mass points in series, and further deducing a target system dynamic model taking the effective windward area of a power umbrella capable of being freely opened and closed as a control quantity; acquiring a generalized coordinate of each aerial umbrella ladder system in the umbrella ladder cluster to determine a mixed state error used for representing the anti-collision performance of each aerial umbrella ladder system and a synchronous error used for representing the stability of each aerial umbrella ladder system; and determining a control law of each aerial umbrella ladder system in the umbrella ladder cluster based on the target