PID control and simulation of moving mass quadcopter UAV

Abstract

Based on the quadrotor drones we see today, in this paper, a mass center control mechanism installed on the body is proposed to control the flying attitude of the UAV. The moving mass control technology changes the position of the center of mass by moving the position of the mass block of the system. The technology is used in a wide range of aircraft, from drones to gravity satellites. The moving mass center mechanism mentioned in this paper is composed of three sliding blocks that can slide along the spatial axes and are controlled by a linear motor. The linear motor controls the slider movement to generate the torque along different channel directions, to realize the attitude change of the UAV. In this paper, through the kinematics analysis of the quadrotor UAV, combined with PID control and simulation, finally realized the modification of the UAV’s flight attitude with moving mass technology. The simulation results show that the quadrotor UAV can complete the attitude conversion stably with the help of the mass center control mechanism.