Design and Control of a New Coaxial Copter UAV

Coaxial copter UAVs have been widely used in different scenes, including Mars exploration, because of their safety, efficiency, and endurance advantages. In the design of a coaxial copter UAV, a typical structure is to choose a closer rotor spacing and place the centroid below the coaxial rotor, which leads to the poor maneuverability of a coaxial UAV. This letter introduces a new configuration scheme proposed for maneuverability, and the dynamic model and control strategy scheme are established. The servo response characteristic of the servo rotor is analyzed. This letter investigates the maneuverability mechanism of the coaxial copter UAV, and the theoretical analysis is carried out based on dynamics. According to the experiment of the tension of the rotor spacing, the control scheme for the new configuration copter UAV is described. The control parameters are adjusted by using the cascade PID control method. The particle swarm optimization algorithm is combined to shorten the debugging process of the PID parameters of the new configuration UAV. The hovering control of the coaxial copter UAV configuration with a faster angular response is obtained.