Implementation Of Micro Swashplateless Twin Rotor Aircraft

Micro UAVs are currently a hot spot in UAV research.Among them,the aircraft without a swashplate is a new configuration aircraft,It mainly replaces the complicated swash plate structure in the helicopter through specific mechanisms or control methods,to simplify the aircraft system.As a key reserve technology,swashplate-less aircraft has important research value.This paper implements a micro horizontal twin-rotor aircraft without a swash-plate.First of all,starting from the design of the rotor hub with tilting hinges,which is the basic mechanism of the swashplateless aircraft.And then The dynamics and kinematics models of the rotor and the body in the horizontal twin-rotor aircraft are analyzed and discussed,and the model is appropriately simplified to design and implement the attitude controller.According to the rotor hub Based on the variable pitch principle,a brushless motor driver based on the field-oriented control(FOC)technology is designed.According to the motor model,the basic current loop and speed loop controllers are realized.And compared and discussed several variable-pitch control methods,and finally realized the specific rotor flap control algorithm in the motor driver by using current closed loop and speed open loop.In the realization of the attitude controller,the quaternion is used to replace the directional cosine matrix to reduce the computational complexity of the attitude estimation algorithm,and the measured values of the gyroscope and accelerometer are combined through complementary filtering to estimate smoother attitude angle for control.Due to the coupling of the control of each axis of the aircraft,in the design of the attitude con-troller,the flap control of each axis is simplified and restricted to reduce the coupling of each axis.Finally,according to the realized motor driver and attitude controller,the cor-responding attitude control and self-stability experiments were designed,and the actual test of the aircraft was carried out in the single-degree-of-freedom and three-degree-of-freedom test platform.The effectiveness of the controller is verified,and the flying principle of the dual-rotor swashplateless aircraft is preliminarily verified.