Research On Dynamics And Control For Double Moving Mass Quadrotor UAV

The research focus of moving mass control technology in the attitude control of reentry vehicles only remains theoretical.The parameters perturbation during the flight of aircrafts,the disturbance torque in unknown environment and the time lag of moving mass control system can’t be simulated by accurate modeling methods.This article combines the moving mass control technology with the quadrotor aircraft to design a double moving mass quadrotor UAV can not only make up for the shortcomings that are difficult to experiment in moving mass control technology,but also provide a new idea for the attitude control of the rotorcraft.The main work content is as follows:First introduce the basic configuration of the double moving mass quadrotor UAV studied in this article.Through the Newton-Euler equation,the eight-degree-of-freedom dynamic equation of moving mass quadrotor UAV is established in the body coordinate system.The parameters of the UAV are classified,the principles for determining each parameter are discussed and a set of preset values are given.Finally,the system attitude dynamics is simulated on the basis of the preset values,and it is pointed out that moving mass control technology can change the attitude of the quadrotor UAV,and the yaw angle of the uninstalled moving mass to a certain extent due to coupling between the channels.Considering the influence of system parameters on the system’s attitude control ability and channel coupling,the attitude control dynamics and moving mass dynamics are analyzed from the perspective of dynamic analysis,and the disturbance factors that affect attitude movement and slider movement performance are analyzed.Through the simulation method to study the determination of the design parameters of the variable center of mass.Research has shown that when reducing the coupling between channels and enhancing the system’s attitude control ability,the requirements for the quality and stroke of the slider are contradictory;when the slider installation position deviates from the main axis of the body’s inertia,the coupling between the channels is enhanced but the system’s attitude control ability is affected.Is uncertain.Finally,the functions of the quadrotor are based on attitude control.Considering that the variable-centroid quadrotor UAV is a coupled system with input nonlinearity and bounded disturbance torque,the dual-loop attitude and slider of the exponential reaching law are designed.Sliding mode controller,simulation pointed out that the dual-loop sliding mode controller can achieve stable attitude control in consideration of bounded control input,body parameter error and perturbation,environmental interference,etc.,and has good robustness.