Research On Attitude Stabilization Control Method Of Coaxial Aircraft Hovering Flight

The structure and aerodynamic characteristics of the coaxial double rotor aircraft are different from the traditional single rotor helicopter.During the hover flight,the traditional single stage PID is used to control the helicopter.The dynamic process time is longer and the overshoot is easy to occur during the flight.Some intelligent control algorithms have a large amount of computation,and the real-time calculation can't be done in the embedded system.In order to solve the above problems,this paper first designs the structure of the components of the coaxial two rotor aircraft in the 3D modeling software,and sets up a set of experimental prototype through 3D printing,machine tool processing and direct purchase,and then builds a mathematical model based on the kinematic analysis and dynamic analysis.The parameters in the mathematical model are obtained by the test platform flight test and direct measurement.Then the attitude calculation algorithm is designed for the hovering flight of the coaxial double rotor aircraft.Based on the MTI data,the simulated attitude calculation algorithm is simulated and analyzed.Finally,the coaxial double rotor aircraft is designed.In the hover flight,a self anti disturbance PID control algorithm based on partial attitude decoupling is proposed on the basis of PID control,fuzzy control and auto disturbance rejection control.Through numerical simulation,the proposed attitude control algorithm is deeply analyzed,and the effectiveness of the algorithm is verified by field flight test.The experimental results show that the attitude control algorithm for the hovering flight design of the coaxial double rotor aircraft can achieve better control results in both numerical simulation and field flight test.