Flight Control System Design On The Tilt Rotor UAV

Tilt-rotor UAV-a combination of rotor and fixed-wing UAVs.It can take off and land vertically like a rotor UAV,and also can cruise at high speed for a long time like a fixedwing UAV.Although the advantages of the tilt-rotor UAV are outstanding,the design of the flight control system and the structure of the aircraft are very difficult.At present,only a few countries in the world are more mature about this technology in this field.This paper is aimed at the research on the flight control system of the tilting rotorcraft.Firstly,the development and research status of tilt-rotor UVA at home and abroad are investigated,and the development and research status of flight control system,inertial navigation technology and flight control algorithm are analyzed.The background and significance of tilt-rotor UAV flight control system research are summarized.Secondly,the dynamic analysis of the tilting rotor UAV is carried out to construct a dynamic model.According to its control scheme,it is divided into four-rotor mode and fixed-wing mode.Then the respective control schemes and force analysis are obtained through two different control modes.And power components such as motor and steering gear have been modeled and power module has been analyzed.Then,in the design of integrated navigation,quaternion is used to calculate attitude angle and estimate attitude,barometer,accelerometer and GPS are used to fuse weighted altitude data,and Kalman filter is applied to the output data of each sensor.Physical shock absorber is used for IMU to reduce the interference of vibration.Each sensor is selected and the circuit schematic diagram is given.the tilting rotor UAV platform is designed for the subsequent debugging and practical application of the flight control system.The real flight control system equipped with a platform tests the feasibility of the design of software and hardware of the flight control system.Therefore,the tilting rotor UAV in this paper is designed according to specific requirements,and the prototype is produced.Finally,according to the mission profile,the flight sub-missions of tilt-rotor UAV are divided.The cascade PID control is used in the control.The attitude,height and position of different modes are simulated and verified by MATLAB.According to the simulation results,relevant conclusions are drawn after making relevant analysis,and the flight test results are given.The control flow of the software part is straightened out,and the flight control has been fixed on the tilt rotor UAV for actual flight debugging.The parameters of the PID control are optimized continuously until a satisfactory flight state is achieved.