Research on Automatic Arm Control Strategy of Tube-Launched Folding Multicopter Based on Nonlinear PD Method

Tube-launched folding multicopters are characterized by their portability and rapid deployment, making them widely used in both military and civilian fields. This paper proposes an automatic arm deployment control strategy for the tube-launched folding multicopter based on a nonlinear PD (Proportional-Differential) method. First, the dynamic transition process of the multicopter from launch to hovering flight is analyzed, and the dynamic modeling of arm deployment process and ejection process is carried out. Second, an automatic arm deployment control strategy is designed, including a nonlinear PD control method and an arm deployment trigger condition detection method, addressing the issues of arm position control and deployment timing. Finally, simulations and field experiments are conducted to verify the feasibility of the automatic arm deployment control strategy based on the nonlinear PD method. The results demonstrate that the tube-launched folding multicopter can achieve rapid and stable arm deployment, providing a solution for the automatic deployment control of electric folding arms in tube-launched folding multicopters.