The Research Of Control System Based On Tilting Rotor UAV

At present,mostly drones is multi-rotor and fixed-wing.Multi-rotor drones can achieve vertical take-off and landing,but it speed is slow.Fixed-wing drones have good maneuverability and can cruise at high speeds,but it need to take off by runways.For some specific occasions,neither can meet the flight requirements.The tilt-rotor UAV designed is combination of multi-rotor aircraft and fixed-wing aircraft.It is capable of both vertical take-off and landing and high-speed cruising.It is the development trend of future drones.As a new type of aircraft,a tilting rotor UAV has the advantages of high flight efficiency,low noise,high payload,and good maneuverability.At present,there are more and more researches on tilting rotor UAV at home and abroad,especially for the control system of tilting rotors.This dissertation focuses on the control system of tilting rotor UAV.According to the design requirements,the tilt rotor UAV can fly steadily in all three flight modes.Especially for the transition process,it is required to switch from the multi-rotor mode to the fixed-wing mode.The specific research work of this article is as follows:Firstly,the tilt rotor UAV configuration structure is designed.Its flight modes are divided into multi-rotor flight mode,transition process mode and fixed wing mode.The flight principles under three flight modes are introduced.Due to its complicated aerodynamics during flight,it is necessary to establish the dynamic model of the tilting rotor UAV in three flight modes respectively,and make the hypothesis to simplify the dynamic model and derive its equation of motion and rotation equation.Then introduced the hardware structure and principle of the tilt rotor UAV,introduced the selection of the main control chip,sensors and external equipment,and described its principle.Then,with the dynamic system of the tilting rotor aircraft,from the motor,propeller,ESC,and battery selection,the required lift is determined by the weight and load of the aircraft,and the matching relationship between the four is determined.Combine a set of the best power system.Then design the controller for the dynamic model.The attitude loop and positionloop controllers are designed in multi-rotor mode,and the Bode diagram of the is analyzed to obtain the best parameters.In the transition process,Particle Swarm Optimization(PSO)algorithm was chosen to search for optimal controller parameters and effect weights,and Matlab was used to simulate attitude angle and position.Finally,the software design consists of communication module,remote control module,pose estimation module,and attitude control module.The most important one is the program design of posture estimation.The actual flight test was conducted to verify the feasibility of the control system and analyze the attitude information during the actual flight.