Modeling and attitude control of Bi-copter

TLDR

Multi‑rotor UAVs are a hot topic in UAV research. This work introduces a twin‑rotor copter with tilting dynamics and investigates its motion principles and attitude‑stabilizing controller design. The authors develop a dynamic model, construct a prototype, and determine its physical parameters to support controller implementation. Flight experiments demonstrate that the PID attitude controller accurately tracks the desired attitude, confirming its effectiveness.

Abstract

Multi rotor unmanned aerial vehicle is a hot topic in the field of UAV research. This paper presents a twin rotor copter whose dynamic system is able to tilt. We have a research on the principle of motion and the design of attitude stabilizing controller. Firstly, the dynamics model of the twin rotor aircraft is established. Then the prototype is designed and built to obtain the relevant physical parameters. Finally, the real flight attitude tracking curve was measured by flight experiment which verifies the correctness and effectiveness of the proposed PID attitude controller of the Bi-copter.