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Research on the Control Algorithm of Coaxial Rotor Aircraft Based on Sliding Mode and PID

School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
Interdisciplinary Division of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong 999077, China
School of Computer Science and Technology, Shandong University of Technology, Shandong ZiBo 255000, China
Author to whom correspondence should be addressed.
Electronics 2019, 8(12), 1428;
Received: 16 October 2019 / Revised: 27 November 2019 / Accepted: 28 November 2019 / Published: 29 November 2019
(This article belongs to the Section Systems & Control Engineering)
In this paper, a sliding mode PID control algorithm of coaxial rotor aircraft has been proposed. After that, Adams/MATLAB simulation and experiments were used for verification. The results show that this control method can achieve satisfactory results. Firstly, when considering of the aerodynamic interaction between upper and lower rotor, it is difficult to establish an accurate mathematical model, and the aerodynamic interference between the upper and lower rotors and the brandishing motion of the blades are calculated by using the blade element theory and the dynamic inflow model, and the other parts which are not accurately modeled are compensated for by the control algorithm. Secondly, the sliding mode control algorithm and the PID control algorithm are combined to control the attitude of the aircraft. Among them, the PID control algorithm is used to establish the relationship between attitude and position, so that the aircraft can fly and hover more steadily. Thirdly, the three-dimensional model of the aircraft was imported into Adams to establish the dynamic simulation model. Then, the controller was established in Simulink, after that, and then the controller and the dynamic simulation model were combined for joint simulation. And the sliding mode PID control algorithm has been compared with traditional PID control algorithm through the simulation. Finally, the sliding mode PID control algorithm is verified by the experiment compared with the traditional PID algorithm. The results verify the superiority and practicability of the control method designed in this paper.
Keywords: coaxial rotor aircraft; control algorithm; hover; joint simulation; experiment coaxial rotor aircraft; control algorithm; hover; joint simulation; experiment
MDPI and ACS Style

Wei, Y.; Chen, H.; Li, K.; Deng, H.; Li, D. Research on the Control Algorithm of Coaxial Rotor Aircraft Based on Sliding Mode and PID. Electronics 2019, 8, 1428.

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