Design Of The Flight Control System For Tilt-quadrotor

The tilt-rotor aircraft is a kind of aircraft that can take off and land vertically and can fly quickly.However,because of the transition from the rotor mode to the fixed wing mode,it is difficult to control and to realize the transition process.The center of gravity can remain at the center of the four rotors during the transition process due to the tilt-quadrotor aircraft adds a pair of rotors.This improvement enhance the stability of the longitudinal plane,therefore the robustness of the flight control law is better.When subjected to external interference,the anti-interference ability is greatly increased.The configuration of the tilt-quadrotor aircraft is based on “ten” type quadrotor aircraft.This paper proposed a step by step in flight control strategies during the transition process.The modular modeling method were established for the tilt-quadrotor flight dynamics model including rotor,wing,fuselage and tail.A cascade PID control method is adopted for the linear quadrotor flight mode and the fixed wing mode.The fuzzy adaptive PID method is applied to the nonlinear transition flight mode.The effect of roll,pitch,yaw and altitude control of the three modes is simulated and analyzed,and the visualization of the flight process of the aircraft is completed.Based on the PIXHAWK flight control,the whole flight control system is developed.Based on the hardware modules of the ARM chip,the corresponding test and communication program is developed.The experimental prototype is developed for the field test flight of the aircraft.The flight control system and flight control law are verified by the field test flight of the aircraft.