Miniature full-vector control coaxial dual-rotor control system and control method thereof

Abstract

The invention provides a miniature full-vector control coaxial dual-rotor control system and a control method thereof. The control system comprises a full-vector motor base module, a coaxial motor module, a propeller power module, electronic equipment and the like. Force needed for changing the flight attitude is provided for the coaxial double-propeller miniature unmanned aerial vehicle in a vector control mode, the control system is provided with four actuators, the four actuators comprise two vector tilting steering engines and two propeller motors, the two vector tilting steering engines control the direction of pulling force of the propeller motors to achieve change of the flight attitude, and the two vector tilting steering engines control the direction of pulling force of the propeller motors. The method specifically comprises the control of a pitching attitude, a rolling attitude and a yawing attitude. The control system can be applied to various micro unmanned aerial vehicles so as to provide force needed by flight attitude change of the unmanned aerial vehicles, the overall mass of the unmanned aerial vehicles is reduced, the endurance time of the unmanned aerial vehicles is prolonged, and the control system has important significance and value in the future.

Description

Technical Field

[0001] The present invention relates to the field of control systems and the field of aviation technology, and particularly to a coaxial dual-rotor control system with micro full-vector control and its control method. Background Art

[0002] Micro coaxial dual-rotor unmanned aerial vehicles have the advantages of low cost, small size, compact structure, and strong load capacity, and have broad application prospects in military fields such as reconnaissance and surveillance, and key target strikes, as well as civilian fields such as power line inspection and remote sensing photography. The coaxial dual-rotor configuration belongs to a new configuration of unmanned aerial vehicle rotors, and is composed of a pair of upper and lower propellers that rotate in opposite directions around the same theoretical axis, and has the characteristic of torque self-balancing. This characteristic enables the aircraft using this configuration not to require an additional tail rotor, with a more compact structure, a small moment of inertia, and high maneuverability. In the 1990s, the coaxial dual-rotor helicopter K-50 was successfully developed and is known as the world's most advanced modern armed attack helicopter. With the rapid development of rotor unmanned aerial vehicle technology in recent years, some scholars have combined the wing configuration of coaxial helicopters with the size characteristics of quadrotor unmanned aerial vehicles to form small coaxial dual-rotor unmanned aerial vehicles. Currently, there are two typical attitude control system solutions for existing micro coaxial dual-rotor unmanned aerial vehicles, one is the tail rudder type coaxial dual-rotor control system, and the other is the swashplate type coaxial dual-rotor control system.

[0003] The characteristic of the tail rudder type coaxial dual-rotor control system is that it inherits the tail rudder type control method of missiles. The motor and the propeller are installed at the head of the unmanned aerial vehicle, and four control surfaces and servos are installed at the tail of the unmanned aerial vehicle. The airflow generated by the rotation of the propeller at the head of the unmanned aerial vehicle flows through the control surfaces to generate an attitude control moment. This type of small coaxial dual-rotor unmanned aerial vehicle is called ALMAV. Due to the adoption of the tail rudder type control system, it can be longitudinally arranged, with a simple structure and high stability, so it can adapt to gun barrel launching. The unmanned aerial vehicle is first placed in the gun barrel and can be fired out using the gun barrel during use. At this time, the motor is not started, and the attitude and direction are controlled by the tail rudder, quickly reaching the mission location, and then the propeller is started to control the unmanned aerial vehicle to perform tasks within the target area. Although the tail rudder type coaxial dual-rotor control system has a simple structure and high stability, the large control surfaces make the volume of the unmanned aerial vehicle large and the passing performance poor. At the same time, the large control surfaces make the wind resistance of the unmanned aerial vehicle poor, while using small control surfaces makes the control effect low and unable to provide the attitude control moment required by the unmanned aerial vehicle.

[0004] The characteristics of the swashplate coaxial dual-rotor control system are that it inherits the control method of the coaxial helicopter control system. Two servo motors are used to drive the swashplate to tilt. The tilt of the swashplate drives the pitch of the lower rotor to change periodically. The periodic change of the pitch makes the force on the rotor blades change periodically, thereby providing the attitude control torque we need. For example, the muFly and ALRobots CoaXial coaxial dual-rotor helicopters with different sizes and configurations developed by the Swiss Federal Institute of Technology both adopt the swashplate coaxial dual-rotor control system. The entire control system is installed inside the UAV frame. Two coaxial motor shafts extend out of the frame and are respectively connected to the upper propeller and the lower propeller. The swashplate is connected to the lower propeller. When the UAV takes off, the propeller provides lift. When attitude changes are required, the tilt of the swashplate drives the rotation plane of the lower propeller to tilt, while the rotation plane of the upper propeller remains unchanged, thus realizing the attitude change of the UAV. Although the swashplate coaxial dual-rotor control system makes the UAV highly maneuverable and has high passability, the structure of the entire control system is quite complex, with extremely high requirements for structural strength. Therefore, its stability and reliability are relatively low, and the processing requirements are high. Summary of the Invention

[0005] In order to solve the problems of the prior art, the present invention provides a micro full-vector control coaxial dual-rotor control system and its control method, which significantly speeds up the response speed and enhances the anti-shock performance at the same time, enabling the UAV to respond to various changes more quickly and stably in complex environments. It has wide applicability and can be applied to various micro and small UAVs, providing the force required for the flight attitude change of the UAV, reducing the overall mass, and increasing the endurance time, having important application value and development prospects.

[0006] The present invention provides a micro full-vector control coaxial dual-rotor control system, including a vector motor base module, a coaxial motor module, a propeller power module, and electronic equipment. The electronic equipment is connected to the propeller power module.

[0007] The vector motor base module includes a motor base, an upper universal joint, a middle universal joint, a lower universal joint, a buckle, a body connecting piece, a servo fixing bracket, a servo, a servo arm, and a ball hinge pull rod; the upper universal joint is connected to the middle universal joint by a cylindrical pin, and the middle universal joint is connected to the lower universal joint by a cylindrical pin; the lower universal joint is fixedly connected to the body connecting piece, the motor base is fixedly connected to the upper universal joint, and the motor base is inclined relative to the body connecting piece; the servo is fixedly connected to the servo fixing bracket, the servo arm is fixedly connected to the servo, and the ball hinge pull rod is fixedly connected to the servo arm; the servo fixing piece is connected to the body connecting piece by a buckle, a buckle hole is provided on the servo fixing piece, and after the servo fixing piece passes through the body connecting piece, the buckle is stuck in the buckle hole of the servo fixing piece to fix the three; the ball hinge pull rod is fixedly connected to the motor base, and the servo drives the motor base to tilt forward and backward and left and right through the servo arm and the ball hinge pull rod in sequence.

[0008] The coaxial motor module includes a reverse motor rotor, a reverse motor stator, a motor bracket, a forward motor stator, a forward motor rotor, a forward motor output shaft, a reverse motor head, a motor buckle, a bearing, and a thrust ring; the motor bracket is fixed to the forward motor stator and the reverse motor stator by interference fit, the forward motor output shaft passes through the bearing, the reverse motor rotor, the reverse motor stator, the motor bracket, and the forward motor stator in sequence and is fixed to the forward motor rotor by a setscrew, and the rotation of the forward motor rotor drives the rotation of the forward motor output shaft; the reverse motor head is fixedly connected to the reverse motor rotor; the bearing is fixed to the reverse motor head by interference fit so that the reverse motor rotor and the forward motor output shaft are coaxial; the thrust ring is fixed to the forward motor output shaft by a setscrew, and the bottom of the thrust ring contacts the top of the reverse motor head to prevent the bearing from axially moving along the forward motor output shaft; the motor buckle is fixed to the motor bracket by interference fit, and the motor buckle is connected to the motor base by a stud.

[0009] The propeller power module includes a forward motor output shaft connecting piece, a forward propeller connecting piece, a forward propeller, a reverse motor rotor connecting piece, a reverse propeller connecting piece, a reverse propeller, and a propeller clamp; the reverse motor rotor connecting piece is fixedly connected to the reverse motor head; the reverse propeller connecting piece is fixed to the reverse motor rotor connecting piece by a cylindrical pin; the reverse propeller is fixedly connected to the reverse propeller connecting piece, and the forward propeller is fixedly connected to the forward propeller connecting piece; the forward propeller connecting piece is fixed to the forward motor output shaft connecting piece by a cylindrical pin; the forward motor output shaft connecting piece is fixed to the forward motor output shaft by a propeller clamp, and the rotation of the forward motor rotor drives the rotation of the forward propeller.

[0010] In the vector motor base module, the cylindrical pin passes through the cylindrical pin holes of the upper universal joint and the middle universal joint and is fixed by interference fit; the cylindrical pin passes through the cylindrical pin holes of the middle universal joint and the lower universal joint and is fixed by interference fit.

[0011] The fixed connections in the vector motor base module, coaxial motor module, and propeller power module are screw-nut connections.

[0012] In the propeller power module, the cylindrical pins respectively pass through the cylindrical pin holes of the reverse propeller connecting piece and the reverse motor rotor connecting piece, and are fixed by interference fit with the cylindrical pin holes of the reverse motor rotor connecting piece; the cylindrical pins respectively pass through the cylindrical pin holes of the forward motor output shaft connecting piece and the forward propeller connecting piece, and are fixed by interference fit with the cylindrical pin holes of the forward motor output shaft connecting piece.

[0013] The electronic device includes a flight controller, an electronic speed controller, a battery, a receiver, a buck module, and a power module; the flight controller is used to receive and process signals and output motor signals and control the servo to rotate; the electronic speed controller is used to supply power to the brushless motor and adjust the speed; the battery is used to supply power to the entire control system; the receiver is used to receive signals and transmit the signals to the flight controller; the power module is used to measure the voltage of the battery and supply power to the flight controller and the electronic speed controller; the buck module is used to reduce the battery voltage to supply power to the servo.

[0014] The present invention also provides a control method for a coaxial dual-rotor control system with micro full-vector control. Using the above coaxial dual-rotor control system with micro full-vector control, the force required to change the flight attitude is provided to the coaxial dual-rotor micro-unmanned aerial vehicle in a vector control manner. This control system has a total of four actuators, including two vector tilting servos and two propeller motors. The two vector tilting servos control the direction of the pulling force of the propeller motors to achieve changes in the flight attitude, specifically including the control of pitch attitude, roll attitude, and yaw attitude.

[0015] The control of the pitch attitude means that the pitch vector tilting servo rotates to tilt the motor base forward and backward, so that the coaxial motor module and the propeller power module tilt forward and backward, driving the propeller power module to generate a horizontal component force, generating a pitch moment and causing the aircraft to move forward and backward; the control of the roll attitude means that the roll vector tilting servo rotates to tilt the motor base left and right, so that the coaxial motor module and the propeller power module tilt left and right, driving the propeller power module to generate a horizontal component force, generating a roll moment and causing the aircraft to move laterally; the control of the yaw attitude means that the forward motor and the reverse motor in the coaxial motor module differentially increase and decrease the power to drive the propeller module to differentially increase and decrease the speed, generating a yaw moment, and thus realizing the control of the yaw attitude.

[0016] The beneficial effects of the present invention are as follows: 1. The full-vector servo control method adopted significantly speeds up the response speed and enhances the anti-impact performance at the same time, enabling the unmanned aerial vehicle to respond to various changes more quickly and stably in a complex environment.

[0017] 2. A full-vector motor base is designed, removing complex mechanical structures, greatly improving the stability of the system, and reducing the probability of faults.

[0018] 3. The optimized system structure is compact, small in size and light in weight, effectively improving the space utilization rate and endurance time of micro coaxial UAVs, enabling them to perform tasks for a longer time.

[0019] 4. The design of parts that are easy to process not only reduces production costs, but also improves the reliability of the system, reducing the difficulty and cost of maintenance.

[0020] 5. This control system has wide applicability and can be applied to various micro and small UAVs, providing the forces required for flight attitude changes of UAVs, reducing the overall mass, and increasing the endurance time, with important application value and development prospects. Description of the Drawings

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0022] Figure 1 is the overall external perspective view of the coaxial dual-rotor control system with full-vector control of the present invention; Figure 2 is the overall external front view of the coaxial dual-rotor control system with full-vector control of the present invention; Figure 3 is the overall external top view of the coaxial dual-rotor control system with full-vector control of the present invention; Figure 4 is the structural diagram of the vector motor base module of the coaxial dual-rotor control system with full-vector control of the present invention; Figure 5 is the structural diagram of the coaxial motor module of the coaxial dual-rotor control system with full-vector control of the present invention; Figure 6 is the structural diagram of the propeller power module of the coaxial dual-rotor control system with full-vector control of the present invention; Figure 7 is the schematic diagram of the electronic equipment of the coaxial dual-rotor control system with full-vector control of the present invention; Figure 8 is the schematic diagram of the vector tilting process of the coaxial dual-rotor control system with full-vector control of the present invention.

[0023] In the attached drawings: 1. Vector motor base module; 2. Coaxial motor module; 3. Propeller power module; 4. Electronic device; 101. First screw; 102. Motor base; 103. Upper part of universal joint; 104. First cylindrical pin; 105. Snap; 106. Servo mount; 107. Nut; 108. Ball joint pull rod; 109. Rudder arm; 110. Servo; 111. Airframe connector; 112. Bottom of universal joint; 113. Middle of universal joint; 201. Forward rotation motor output shaft; 202. Thrust washer; 203. Second screw; 204. Bearing; 205. Third screw; 206. Reverse rotation motor stator; 207. Stud; 208. Motor bracket; 209. Forward rotation motor rotor; 210. Forward rotation motor stator; 211. Set screw; 212. Motor snap; 213. Reverse rotation motor rotor; 214. Reverse rotation motor head; 301. Forward rotation propeller; 302. Forward rotation propeller connector; 303. Reverse rotation propeller; 304. Reverse rotation propeller connector; 305. Reverse rotation motor rotor connector; 306. Second cylindrical pin; 307. Fourth screw; 308. Forward rotation motor output shaft connector; 309. Fifth screw; 310. Blade grip; 401. Flight controller; 402. Buck converter module; 403. Receiver; 404. Electronic speed controller; 405. Power module; 406. Battery. Detailed implementation mode

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0025] The present invention provides a coaxial dual-rotor control system with full vector control, as Figures 1-6 shown, including a vector motor base module 1, a coaxial motor module 2, a propeller power module 3, an electronic device 4, and other parts.

[0026] The vector motor base module includes a motor base 102, an upper universal joint 103, a middle universal joint 113, a lower universal joint 112, a buckle 105, a body connecting piece 111, a servo fixing bracket 106, a servo 110, a servo arm 109, a ball joint pull rod 108, a first screw M2 101, a nut M2 107, a first cylindrical pin 104, etc. The upper universal joint 103 is connected to the middle universal joint 113 by the first cylindrical pin 104. The first cylindrical pin 104 passes through the cylindrical pin holes of the upper universal joint 103 and the middle universal joint 113 and is fixed by interference fit. The middle universal joint 113 is connected to the lower universal joint 112 by the first cylindrical pin 104. The first cylindrical pin 104 passes through the cylindrical pin holes of the middle universal joint 113 and the lower universal joint 112 and is fixed by interference fit. The lower universal joint 112 is connected to the body connecting piece 111 by the first screw M2 101. The first screw M2 101 passes through the screw holes of the lower universal joint 112 and the body connecting piece 111 respectively for fixation. The motor base 102 is connected to the upper universal joint 103 by the first screw M2 101. The first screw M2 101 passes through the screw holes of the upper universal joint 103 and the motor base 102 respectively for fixation, enabling the motor base 102 to tilt relative to the body connecting piece 111. The servo 110 is connected to the servo fixing bracket 106 by the first screw M2 101 and the nut M2 107. The first screw M2 101 passes through the screw holes of the servo 110 and the servo fixing piece 106 respectively, and then cooperates with the nut M2 107 for fixation. The servo arm 109 is fixed to the servo 110 by the first screw M2 101. The first screw M2 101 passes through the screw holes of the servo 110 and the servo arm 109 respectively for fixation. The ball joint pull rod 108 is fixed to the servo arm 109 by the first screw M2 101. The first screw M2 101 passes through the screw holes of the ball joint pull rod 108 and the servo arm 109 respectively for fixation. The servo fixing piece 106 is connected to the body connecting piece 111 by the buckle 105. After the servo fixing piece 106 passes through the body connecting piece 111, the buckle 105 will be stuck in the buckle hole of the servo fixing piece 106 to fix the three. The ball joint pull rod 108 is fixed to the motor base 102 by the first screw M2 101. The first screw M2 101 passes through the screw holes of the ball joint pull rod 108 and the motor base 102 respectively for fixation, enabling the servo 110 to drive the motor base 102 to tilt forward and backward and left and right. In this way, the vector motor base module is assembled.

[0027] The coaxial motor module includes a reverse motor rotor 213, a reverse motor stator 206, a motor bracket 208, a forward motor stator 210, a forward motor rotor 209, a forward motor output shaft 201, a reverse motor head 214, a motor buckle 212, a bearing 204, a thrust ring 202, a third screw M2.5 205, a stud M2.5 207, a second screw M2 203, etc. The motor bracket 208 is fixed to the forward motor stator 210 and the reverse motor stator 206 by interference fit. The forward motor output shaft 201 passes through the forward motor stator 210, the motor bracket 208, the bearing 204, the reverse motor stator 206, and the reverse motor rotor 213, and is fixed to the forward motor rotor 209 by the set screw 211, so that the rotation of the forward motor rotor 209 drives the rotation of the forward motor output shaft 201. The reverse motor head 214 is connected to the reverse motor rotor 213 by the second screw M2 203, and the second screw M2 203 is respectively fixed through the screw holes of the reverse motor head 214 and the reverse motor rotor 213. The bearing 204 is fixed to the reverse motor head 214 by interference fit, so as to make the reverse motor rotor 213 and the forward motor output shaft 201 coaxial. The thrust ring 202 is fixed on the forward motor output shaft 201 by the set screw 211, and the bottom of the thrust ring 204 contacts the top of the reverse motor head 214, so as to prevent the bearing 204 from axially moving along the forward motor output shaft 201. The motor buckle 212 is fixed to the motor bracket 208 by interference fit. The stud M2.5 207 is connected to the motor buckle 212 by the third screw M2.5 205, and the third screw M2.5 205 is respectively fixed through the screw holes of the motor buckle 212 and the stud M2.5 207. The stud M2.5 207 is fixed to the motor base 102 by the third screw M2.5 205, and the third screw M2.5 205 is respectively fixed through the screw holes of the motor base 102 and the stud M2.5 207. In this way, the coaxial motor module is assembled.

[0028] The propeller power module includes a forward rotation motor output shaft connector 308, a forward rotation propeller connector 302, a forward rotation propeller 301, a reverse rotation motor rotor connector 305, a reverse rotation propeller connector 304, a reverse rotation propeller 303, a propeller clamp 310, a screw M4 309, a fourth screw M2 307, a second cylindrical pin 306, etc. The reverse rotation motor rotor connector 305 is connected to the reverse rotation motor head 214 through the fourth screw M2 307, and the fourth screw M2 307 is respectively fixed through the screw holes of the reverse rotation motor rotor connector 305 and the reverse rotation motor head 214. The reverse rotation propeller connector 304 and the reverse rotation motor rotor connector 305 are fixed through the second cylindrical pin 306. The second cylindrical pin 306 respectively passes through the cylindrical pin holes of the reverse rotation propeller connector 304 and the reverse rotation motor rotor connector 305, and is fixed by interference fit with the cylindrical pin hole of the reverse rotation motor rotor connector 305. The reverse rotation propeller 303 and the reverse rotation propeller connector 304 are fixed through the fifth screw M4 309, and the fifth screw M4 309 is respectively fixed through the screw holes of the reverse rotation propeller 303 and the reverse rotation propeller connector 304. The forward rotation propeller 301 and the forward rotation propeller connector 302 are connected through the fifth screw M4 309, and the fifth screw M4 309 is respectively fixed through the screw holes of the forward rotation propeller 301 and the forward rotation propeller connector 302. The forward rotation propeller connector 302 and the forward rotation motor output shaft connector 308 are fixed through the second cylindrical pin 306. The second cylindrical pin 306 respectively passes through the cylindrical pin holes of the forward rotation motor output shaft connector 308 and the forward rotation propeller connector 302, and is fixed by interference fit with the cylindrical pin hole of the forward rotation motor output shaft connector 308. The forward rotation motor output shaft connector 308 and the forward rotation motor output shaft 201 are fixed through the propeller clamp 310, which plays a role in driving the forward rotation propeller 301 to rotate when the forward rotation motor rotor 209 rotates. In this way, the propeller power module is assembled.

[0029] The electronic device, as Figure 7 shown, includes a flight controller 401, an electronic speed controller 404, a battery 406, a receiver 403, a buck module 402, a power module 405, etc. The flight controller 401 is used to receive and process signals and output motor signals and control the rotation of the servo. The electronic speed controller 404 is used to supply power to the brushless motor and adjust the speed. The battery 406 is used to supply power to the entire control system. The receiver 403 is used to receive signals and transmit the signals to the flight controller. The power module 405 is used to measure the voltage of the battery and supply power to the flight controller and the electronic speed controller. The buck module 402 is used to reduce the battery voltage to supply power to the servo.

[0030] The present invention also provides a control method for a coaxial dual-rotor control system with micro full-vector control. The vector tilting process is asFigure 8 As shown. The main feature of the control system of the present invention is that it can provide the force required to change the flight attitude for coaxial dual-rotor micro UAVs through vector control. Specifically, this control system has a total of four actuators, including two vector tilting servos and two propeller motors. The two vector tilting servos can control the direction of the pulling force of the propeller motors to achieve changes in flight attitude, specifically including the control of pitch attitude, roll attitude, and yaw attitude.

[0031] The control of the pitch attitude means that the pitch vector tilting servo rotates to tilt the motor base forward and backward, so that the coaxial motor module and the propeller power module tilt forward and backward, driving the propeller power module to generate a horizontal component force, generating a pitch moment and making the aircraft move forward and backward. The control of the roll attitude means that the roll vector tilting servo rotates to tilt the motor base left and right, so that the coaxial motor module and the propeller power module tilt left and right, driving the propeller power module to generate a horizontal component force, generating a roll moment and making the aircraft move laterally. The control of the yaw attitude means that the forward-rotating motor and the reverse-rotating motor in the coaxial motor module differentially increase and decrease the power to drive the propeller module to differentially increase and decrease the rotational speed, generating a yaw moment, and thus realizing the control of the yaw attitude.

[0032] Each embodiment in this specification is described in a progressive manner. The same or similar parts between each embodiment can be referred to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, the above is only the preferred embodiment of the present invention. Since it is basically similar to the method embodiment, the description is relatively simple. For the relevant parts, refer to the partial description of the method embodiment. The above is only the specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. For any person skilled in the art in the technical field disclosed by the present invention, for those of ordinary skill in the technical field, changes or substitutions that can be easily thought of without departing from the principle of the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A micro full vector controlled coaxial twin-rotor control system, characterized in that: It includes a vector motor seat module, a coaxial motor module, a propeller power module and electronic equipment, and the electronic equipment is connected to the propeller power module; The vector motor seat module includes a motor seat, an upper part of a universal joint, a middle part of a universal joint, a bottom part of a universal joint, a buckle, a body connecting piece, a steering gear fixing frame, a steering gear, a rudder arm, and a ball joint pull rod; the upper part of the universal joint is connected to the middle part of the universal joint by a cylindrical pin, and the middle part of the universal joint is connected to the lower part of the universal joint by a cylindrical pin; the bottom part of the universal joint is fixedly connected to the body connecting piece, the motor seat is fixedly connected to the upper part of the universal joint, and the motor seat is tilted relative to the body connecting piece; the steering gear is fixedly connected to the steering gear fixing frame, the rudder arm is fixedly connected to the steering gear, and the ball joint pull rod is fixedly connected to the rudder arm; the steering gear fixing piece is connected to the body connecting piece by a buckle, and a buckle hole is provided on the steering gear fixing piece. After the steering gear fixing piece passes through the body connecting piece, the buckle is clamped on the buckle hole of the steering gear fixing piece to fix the three; the ball joint pull rod is fixedly connected to the motor seat, and the steering gear drives the motor seat to tilt forward and backward and left and right through the rudder arm and the ball joint pull rod in turn; The coaxial motor module includes a reversing motor rotor, a reversing motor stator, a motor bracket, a forward motor stator, a forward motor rotor, a forward motor output shaft, a reversing motor head, a motor buckle, a bearing, and a thrust ring; the motor bracket is fixed to the forward motor stator and the reversing motor stator by interference fit, and the forward motor output shaft passes through the bearing, the reversing motor rotor, the reversing motor stator, the motor bracket, and the forward motor stator in sequence and is connected to the forward motor rotor by a top screw, and the rotation of the forward motor rotor drives the forward motor output shaft to rotate; the reversing motor head is fixedly connected to the reversing motor rotor; the bearing is fixed to the reversing motor head by an interference fit, so that the reversing motor rotor and the forward motor output shaft are coaxial; the thrust ring is fixed to the forward motor output shaft by a top screw, and the bottom of the thrust ring contacts the top of the reversing motor head to prevent the bearing from moving axially along the forward motor output shaft; the motor buckle is fixed to the motor bracket by an interference fit, and the motor buckle is connected to the motor seat by a stud; The propeller power module includes a forward motor output shaft connecting member, a forward propeller connecting member, a forward propeller, a reverse motor rotor connecting member, a reverse propeller connecting member, a reverse propeller, and a propeller clamp; the reverse motor rotor connecting member is fixedly connected to the reverse motor head; the reverse propeller connecting member and the reverse motor rotor connecting member are fixedly connected by a cylindrical pin; the reverse propeller is fixedly connected to the reverse propeller connecting member, and the forward propeller is fixedly connected to the forward propeller connecting member; the forward propeller connecting member and the forward motor output shaft connecting member are fixed by a cylindrical pin; the forward motor output shaft connecting member and the forward motor output shaft are fixed by a propeller clamp, and the rotation of the forward motor rotor drives the forward propeller to rotate.

2. A micro full vector controlled coaxial twin-rotor control system according to claim 1, characterized in that: In the vector motor seat module, the cylindrical pin passes through the cylindrical pin holes at the upper part and the middle part of the universal joint and is fixed by interference fit; the cylindrical pin passes through the cylindrical pin holes at the middle part and the lower part of the universal joint and is fixed by interference fit.

3. A micro full vector controlled coaxial twin-rotor control system according to claim 1, characterized in that: The fixed connection among the vector motor seat module, the coaxial motor module and the propeller power module is a screw-nut connection.

4. A micro full vector controlled coaxial twin-rotor control system according to claim 1, characterized in that: In the propeller power module, the cylindrical pins respectively pass through the cylindrical pin holes of the reversing propeller connecting piece and the reversing motor rotor connecting piece, and are fixed by interference fit with the cylindrical pin holes of the reversing motor rotor connecting piece; the cylindrical pins respectively pass through the cylindrical pin holes of the forward motor output shaft connecting piece and the forward propeller connecting piece, and are fixed by interference fit with the cylindrical pin holes of the forward motor output shaft connecting piece.

5. The micro full vector controlled coaxial twin-rotor control system according to claim 1, characterized in that: The electronic equipment includes a flight control, an electronic speed regulator, a battery, a receiver, a step-down module, and a power module; the flight control is used to receive and process signals and output motor signals and control the rotation of the servo; the electronic speed regulator is used to power the brushless motor and adjust the speed; the battery is used to power the entire control system; the receiver is used to receive signals and transmit the signals to the flight control; the power module is used to measure the battery voltage and power the flight control and the electronic speed regulator; the step-down module is used to reduce the battery voltage to power the servo.

6. A control method for a micro full vector controlled coaxial twin-rotor control system, using the micro full vector controlled coaxial twin-rotor control system according to any one of claims 1 to 5, characterized in that: Vector control is used to provide the coaxial twin-propeller micro-UAV with the force required to change its flight attitude. The control system has four actuators, including two vector tilt-servo servos and two propeller motors. The two vector tilt-servo servos control the direction of the propeller motor pulling force to achieve changes in flight attitude, specifically the control of pitch attitude, roll attitude and yaw attitude.

7. The control method of a micro full vector controlled coaxial twin-rotor control system according to claim 6, characterized in that: The control of the pitch attitude refers to that the pitch vector tilt servo rotates to tilt the motor seat forward and backward, thereby tilting the coaxial motor module and the propeller power module forward and backward, driving the propeller power module to generate a horizontal component force, generating a pitch torque and causing the aircraft to move forward and backward; the control of the roll attitude refers to that the roll vector tilt servo rotates to tilt the motor seat left and right, thereby tilting the coaxial motor module and the propeller power module left and right, driving the propeller power module to generate a horizontal component force, generating a rolling torque and causing the aircraft to move laterally; the control of the yaw attitude refers to that the differential increase or decrease power of the forward motor and the reverse motor in the coaxial motor module drives the propeller module to differentially increase or decrease the speed, generating a yaw torque, thereby realizing the control of the yaw attitude.

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