一种共轴双旋翼飞行器悬停控制联合仿真

The Adams/MATLAB co-simulation platform is used to study the hover control of a coaxial dual-rotor aircraft with a steering mechanism around which three steering gears are uniformly distributed. Since there is currently no accurate mathematical model for the aerodynamic interference between the upper and lower rotors, the aerodynamic interference and flapping motion of aircraft are approximately modeled using the blade element theory and the Pitt-Peters dynamic inflow model. The inaccurately modeled part is compensated using a control algorithm. The robust tactical sliding mode control algorithm and proportion integration differentiation (PID) algorithm are used to control the aircraft attitude. And the PID algorithm is used to establish the relationship between aircraft attitude and position so that the aircraft has the ability to hover according to the spatial coordinate point. The assembly model is imported into Adams to establish a dynamic model, and a controller is built in Simulink for co-simulation. The research result shows that the proposed control method is effective, and the maximum dynamic error of hovering position of aircraft is less than ±0.2 m.