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Optimization of Coaxial Dual-rotor Servo Control Algorithm Based on Dual-loop PID
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Long LI1, 2, Bo-da LI3, Hai-long SUN4, Yan-dong GUO4, Jian-bo CAO5, Bai-yan HE2
Science Technology and Engineering | 2025, 25(21) : 9166 - 9172
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Science Technology and Engineering | 2025, 25(21): 9166-9172
• Papers·Aeronautics and Astronautics •
Optimization of Coaxial Dual-rotor Servo Control Algorithm Based on Dual-loop PID
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Long LI1, 2, Bo-da LI3, Hai-long SUN4, Yan-dong GUO4, Jian-bo CAO5, Bai-yan HE2
Affiliations
  • 1 College of Aeronautics and Astronautics, Taiyuan University of Technology, Taiyuan 030024, China
  • 2 College of Mechanical Engineering, Tianjin University, Tianjin 300072, China
  • 3 College of Civil Engineering, Taiyuan University of Technology, Taiyuan 030024, China
  • 4 College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan 030024, China
  • 5 Xingyu Electronics (Ningbo) Co., Ltd., Ningbo 315000, China
Published: 2025-07-28 doi: 10.12404/j.issn.1671-1815.2404948
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The rudder in the coaxial twin-rotor is a complex mechatronic position-following control system, and its control accuracy plays a key role in manipulating the flight attitude. Because the common rudder is lacking in adapting to the unique flight environment of the aircraft, the accuracy of tracking declination and the stability performance need to improve. The manipulation principle and structure of micro UAV were analyzed, the mathematical models of position loop, current loop double PID steering gear control system and transition position loop Fuzzy PID steering gear control system were established respectively. Combined with the actual flight conditions, the dynamic and static characteristics of the coaxial twin-rotor steering gear control system were analyzed by using Fuzzy editor and Simulink module. The results show that the rudder control system with current loop PID and position loop Fuzzy PID control has 28.6% less overshoot, 28% less adjustment time and faster response than the dual PID control system. Meanwhile, the Fuzzy PID parameters are adjusted in real time to track the changes, which can adapt to the complex and variable flight conditions of the coaxial twin-rotor more quickly. The obtained control system based on dual-loop Fuzzy PID shows high accuracy and meets the requirements of stable, accurate and robust working under complex working conditions, which is of great significance for the control system design of coaxial dual-rotor aircraft.

coaxial dual-rotor  /  steering engine  /  Fuzzy PID control  /  Simulink simulation  /  dynamic response
Long LI, Bo-da LI, Hai-long SUN, Yan-dong GUO, Jian-bo CAO, Bai-yan HE. Optimization of Coaxial Dual-rotor Servo Control Algorithm Based on Dual-loop PID[J]. Science Technology and Engineering, 2025 , 25 (21) : 9166 -9172 . DOI: 10.12404/j.issn.1671-1815.2404948
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Year 2025 volume 25 Issue 21
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Article Info
doi: 10.12404/j.issn.1671-1815.2404948
  • Receive Date：2024-07-21
  • Online Date：2026-01-13
  • Published：2025-07-28
Article Data
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History
  • Received：2024-07-21
  • Revised：2025-04-09
Funding
Affiliations
    1 College of Aeronautics and Astronautics, Taiyuan University of Technology, Taiyuan 030024, China
    2 College of Mechanical Engineering, Tianjin University, Tianjin 300072, China
    3 College of Civil Engineering, Taiyuan University of Technology, Taiyuan 030024, China
    4 College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan 030024, China
    5 Xingyu Electronics (Ningbo) Co., Ltd., Ningbo 315000, China
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