Design, Modeling and Attitude Control of a Novel Moving-Mass Control Coaxial Dual-Rotor UAV

The coaxial dual-rotor unmanned aerial vehicles have demonstrated its value in various fields due to its com-pact structure and flexible maneuverability. However, its attitude control currently relies on the complex structure. To mitigate this issue, this paper proposes a new moving-mass control coaxial dual-rotor unmanned aerial vehicles (MCDUAV). The MCDUAV’s attitude control module is designed to generate an additional attitude control moment arm between the rotor lift and the system centroid by moving its internal moving-mass, thereby achieving attitude control. To reduce system nonlinearity and coupling arising from the installation of the moving-mass, the Newton-Euler method is used to construct the MCDUAV’s six-degree-of-freedom mathematical model. Furthermore, the MCDUAV’s roll and pitch channel controllers are designed, and the dual channel control experiment based on attitude control module prototype is tested by hanging the prototype on a fixed frame to simulate the attitude motion of the MCDUAV. The results show that the attitude control module can realize the roll and pitch control with an average control ability of 23 degrees per second.