考虑滑块动态特性的变质心四旋翼无人机双回路控制

The study focuses on the severe attitude jitter brought on by the extra disturbance torque generated by the dynamic properties of the moving mass. It investigates the moving mass parameter design and attitude/servo dual-loop control of the mass-actuated quadrotor UAV. Firstly, the influence of the moving mass introduction on the system is clarified and various additional disturbance torque introduced by dynamic characteristics of the moving mass is given by establishing an eight-degree-of-freedom motion model of mass-actuated quadrotor UAV. Next, in order to lessen the coupling and disturbance of the moving mass to the system, characteristics including the installation position, mass, and various maximum displacements of the moving mass are examined and constructed.Finally, an attitude/servo dual-loop dynamic sliding mode controller is designed with the mass driving force as the control input, and the nonlinear disturbance observer is used to estimate and compensate for the composite disturbance. The results of the simulation demonstrate that the controller has high anti-interference performance and robustness when taking into account the dynamic features of the moving mass. It can also achieve attitude control of the mass-actuated quadrotor UAV.