测控技术2025，Vol.44Issue(4)：1-6,15,7.DOI:10.19708/j.ckjs.2024.06.232
一种横列式双旋翼无人机建模与控制律设计
Modeling and Control Law Design for Side-by-Side Twin-Rotor UAV
摘要
Abstract
To solve the problems of low energy utilization and mutual interference between rotors in traditional configuration rotor unmanned aerial vehicles(UAVs),a side-by-side twin-rotor UAV is designed.The servo mo-tors are used to drive the tilting rotor disc to change the angle of the propeller to achieve the control of UAV.Firstly,the dynamics and kinematics models of the UAV are established based on the proposed attitude and po-sition control scheme.Then,flight control laws for the six loops of pitch,roll,yaw,forward,lateral,and altitude are designed,and the effectiveness of the designed controller is verified through simulation.Finally,the de-signed UAV is subjected to integrated modeling and simulation using MATLAB/Simulink-FlightGear.The ex-perimental results show that the designed controller has good stability and control accuracy.关键词
横列式双旋翼/动力学建模/控制律设计/整机联合仿真Key words
side-by-side twin-rotor/dynamics modeling/control law design/joint simulation of whole aircraft分类
信息技术与安全科学引用本文复制引用
杜博汶,付元华..一种横列式双旋翼无人机建模与控制律设计[J].测控技术,2025,44(4):1-6,15,7.基金项目
中央引导地方科技发展资金项目(2021Szvup022) （2021Szvup022）
