Control System Research On The Vtol Stage Of Quad Tilt Rotor UAV

Quad tilt rotor UAV, which possesses the advantages of both unmanned helicoptersand unmanned fixed-wing aircraft, is a new type of UAV with large carrying capacity aswell as high cruising speed.This thesis is focused on the control system design for vertical takeoff and landingstage of quad tilt rotor UAV. Firstly, the attitude and position control scheme isestablished for this stage, then the model during this state is set up using classicmechanics methods and its parameters are determined with systematic identificationprocedures.Secondly, the block diagrams are built for each control loop of quad tilt rotor UAV.Then the classical control methods are adopted to design three attitude angle andposition loops for UAV system. The simulation results verify the effectiveness of thedesigned control law.Moreover, the detailed configurations of the hardware structure, interface circuitand power supply scheme of quad tilt rotor UAV control system are designed. Thelow-power design and electromagnetic compatibility design are also analyzed. Afterbuilding the hardware platform, ADuCRF101microcontroller is programmed with Keilcompiler. The closed-loop control of position and attitude is achieved by receiving thefeedback measurement of MEMS inertial components and auxiliary sensors. And thewirelessly communication function is implemented through the integrated RFtransceiver within ADuCRF101.Finally, by building the UAV system debugging and monitoring interface withVisual Basic, the real-time regulation and display of both flight control parameters andclose-loop data are achieved. With careful debugging and calibration of actuators andsensors, the flight experiment of quad tilt rotor UAV is successfully carried out. Thetested results show that the UAV can perform stable vertical takeoff and landingfunction, which proves the effectiveness of both the designed control law andhardware/software configurations.