Analysis of Airframe Parameters of OAT-bicopter to Optimize Pitch Stability

Unmanned aerial vehicle (UAV), a type of airborne mobile robot operated without human intervention, has become a research hotspot in recent years due to its numerous advantages. Among them, bicopter has attracted much attention for its superior maneuverability. However, the flight performance of the bicopter is easily affected by various airframe parameters, such as the position of the center of gravity, rotor inertia, and angle of the servo tilting axis. In this study, we conduct theoretical analysis of the Oblique Active Tilting(OAT) bicopter to identify optimal parameters for stable flight. First, we obtain the transfer function of the UAV’s pitch control system based on its pitch motion equation, and analyze its pitch stability using the characteristic equation. Then, we investigate the influence of parameters such as the position of the center of gravity, rotor inertia, and angle of the servo tilting axis on the UAV’s dynamic and steady-state performance, and propose a method to determine the optimal angle of the servo tilting axis. Finally, we validate the effectiveness of our proposed parameters through simulation experiments, demonstrating the theoretical and practical significance of our research for stable control and application of OAT-bicopters.