Control System Design And Implementation Of Quad Tilt Rotor Unmanned Aerial Vehicle

Tilt-rotor aircraft is a new type of aircraft,which makes up for the traditional fixed-wing and rotorcraft deficiencies,and it utilizes the advantages of rotor and fixed-wing complementary features.Tilt-rotor aircraft is a combination of rotor and fixed-wing aircraft,which has the advantages of vertical landing and hovering of rotorcraft,as well as high cruise speed and high efficiency of energy-efficiency of fixed-wing aircraft.Tilt-rotor aircraft have three modes of flight:vertical take-off and hover rotor mode,high cruise speed fixed-wing mode and the transition mode between the rotor and fixed-wing mode.In this paper,the quad-tiltrotor test machine is studied,along with the nonlinear flight dynamics mathematical model and the full-mode flight controller design of the quad-tiltrotor rotorcraft are studied.In this paper,the body motion equation is established according to Newton-Euler equation,then the equations of the aerodynamic model of rotor and fixed wing are established respectively,and the models of rotor and fixed wing are synthesized.Finally,in order to ensure the safe and stable switching between the flight modes,a tilting corridor model of the quad tiltrotor transition mode is established.In this paper,in order to highlight the influence of the main factors,the aerodynamic interference between the rotor and the wing is neglected.Secondly,according to the nonlinear model of the quad-tiltrotor,the linear model of the system is obtained at the rotor mode and fixed-wing mode's equilibrium points,and the rotor mode and fixed-wing mode's LQR controller are designed respectively.Finally,according to the transient characteristics of the rotor and fixed-wing's control input superposition,the transition mode gain controller is designed.Finally,the effect of controller is simulated on MATLAB.Finally,this paper introduces the general structure of quad-tiltrotor testing machine,the performance parameters of each component and the hardware and software architecture of Pixhawk.On the basis of the above,quad-tiltrotor control algorithms are designed on the open-source Pixhawk platform,and tested the control algorithm's performance in flight experiments,and analyzed flight data.