折叠式共轴反桨无人机飞行控制技术研究

针对折叠式共轴反桨无人机的飞行控制问题，提出一种用于位置和姿态的反馈控制系统的反步滑模控制 算法。通过对无人机飞行状态进行分析，建立无人机的动力学模型，采用反步滑模控制算法设计折叠式共轴双旋翼 无人机的姿态和位置控制算法，并研发试验样机进行飞行测试实验。实验结果表明：对比传统串级比例-积分-微分 (proportional integral derivative，PID)控制算法，所提出的位置和姿态对反步滑模控制算法能有效地提高飞行稳定性。

Research on Flight Control Technology of Folding Coaxial Reverse-propeller UAV

A backstepping sliding mode control algorithm was proposed for the position and attitude feedback control system of a foldable coaxial reverse-propeller UAV. The dynamic model of the UAV is established by analyzing the flight state of the UAV. The attitude and position control algorithm of the folding coaxial dual-rotor UAV is designed by using the backstepping sliding mode control algorithm, and the flight test experiment is carried out by developing the test prototype. Experimental results show that, compared with the traditional cascade proportional-integral-derivative (PID) control algorithm, the proposed backstepping sliding mode control algorithm can effectively improve the flight stability.