Abstract
In this paper, a sliding mode PID control algorithm of coaxial rotor aircraft has been proposed. After that, Adams/MATLAB simulation and experiments were used for verification. The results show that this control method can achieve satisfactory results. Firstly, when considering of the aerodynamic interaction between upper and lower rotor, it is difficult to establish an accurate mathematical model, and the aerodynamic interference between the upper and lower rotors and the brandishing motion of the blades are calculated by using the blade element theory and the dynamic inflow model, and the other parts which are not accurately modeled are compensated for by the control algorithm. Secondly, the sliding mode control algorithm and the PID control algorithm are combined to control the attitude of the aircraft. Among them, the PID control algorithm is used to establish the relationship between attitude and position, so that the aircraft can fly and hover more steadily. Thirdly, the three-dimensional model of the aircraft was imported into Adams to establish the dynamic simulation model. Then, the controller was established in Simulink, after that, and then the controller and the dynamic simulation model were combined for joint simulation. And the sliding mode PID control algorithm has been compared with traditional PID control algorithm through the simulation. Finally, the sliding mode PID control algorithm is verified by the experiment compared with the traditional PID algorithm. The results verify the superiority and practicability of the control method designed in this paper.
Highlights
In recent years, more and more scientists and engineers have been paying attention to UnmannedAerial Vehicles (UAVs), especially micro-UnmannedAerial Vehicles (UAVs)
In orderIntoorder make aircraft havehave a more stable stable flight path and attitude, a hybrid control algorithm based on sliding mode control and PID
Flight path and attitude, a hybrid control algorithm based on sliding mode control and PID control is control is proposed
Summary
More and more scientists and engineers have been paying attention to Unmanned. Sliding mode and controlcontrol algorithm with better adaptability and robustness applied to Firstly, the coaxial rotor Secondly, aircraft with complex actuators, which makes the control tomore the aircraft control simulation to solve the difficult problem of mathematical modeling and is applied to the coaxial rotor aircraft with complex control actuators, which makes the attitude rapid and stable. At last, including the prototype is usedgear for and can be to better model the advantages dynamic system of the actual aircraft, the steering mechanism, so the reliability is higher [16] This makes the simulation in this paper reliable and experimental test, the mathematical model, iscontrol and simulation results its transmission mechanism, so the reliability higheralgorithm [16].
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