Research On Flight Dynamics Simulation And Control Algorithm Of Coaxial Twin Rotor UAV

Compared with multi-rotor UAV and fixed-wing UAV,coaxial dual-rotor UAV has the advantages of simple and compact structure,aerodynamic symmetry and so on,which can meet the special task requirements that many other types of UAVs can’t complete.However,the control system of coaxial twin-rotor UAV is complex,the aerodynamics of the whole system is complex,and the coupling of each flight motion is strong,so it is difficult to establish the mathematical model and three-dimensional model of UAV,and there is no perfect model and control algorithm of coaxial twin-rotor UAV at home and abroad.To solve the above problems,this paper designs a coaxial twin-rotor UAV model by referring to domestic and foreign literatures,and studies the control algorithm of coaxial twin-rotor UAV through co-simulation and comparison with the experimental results of prototype test.In this paper,the coaxial twin-rotor UAV model is built by 3D software,and then its own test prototype is assembled by referring to relevant literature at home and abroad.According to the dynamics and kinematics of coaxial twin-rotor UAV,a six-degree-of-freedom mathematical model is established,and the acquisition of relevant parameters of the mathematical model is expounded.Secondly,aiming at the control system design of coaxial twin-rotor UAV,the PID controller commonly used in the traditional control field is adopted.In order to make the UAV control system more stable,a cascade PID control method is designed based on the traditional PID controller.With the help of ADAMS dynamic simulation software and MATLAB,the feasibility of single-stage PID and cascade PID control methods is verified.Finally,the cascade PID control algorithm with higher stability is adopted to carry out flight test on the prototype.By comparing the simulation results with the test results,the feasibility of the designed control algorithm for coaxial twin-rotor UAV attitude control is verified.Finally,the simulation and flight test results show that the control algorithm designed in this paper can effectively control the attitude of coaxial twin-rotor UAV.