Simulation And Experimental Research On Tilt-Deformation Quadcopter

The quadcopter has the advantages of high maneuverability,vertical take-off and landing,etc.,and is widely used in aerial photography,agricultural insurance,disaster search and rescue and other fields.However,the underactuated and strong coupling characteristics of traditional quadrotors make it impossible to independently control their flight attitude and position,and their poor passability in narrow internal spaces such as earthquake disaster sites restricts their ability to perform tasks.In this paper,a tilting quadrotor aircraft is designed to meet the flight requirements of narrow space.It can pass through the narrow flying space with a tilt attitude,which has important theoretical significance and application prospects.A tilt-deformed four-rotor aircraft structure is designed.On the basis of the traditional four-rotor aircraft,a degree of freedom of tilting is added.The four rotors are driven by a steering gear to synchronize and co-rotate to achieve the independence of the aircraft's pitch attitude.control.Using Fluent fluid simulation software,the lift and torque generated by the rotor at different rotation speeds and different tilt angles were analyzed,and the effect of the tilt angle on the rotor lift and torque and the total lift and torque of the aircraft was obtained.A flight experiment system was built to test the lift generated by the rotor at different rotation speeds and different tilt angles,and the effectiveness of the aerodynamic simulation model was verified.The dynamic model of the tilt-deformation quadrotor aircraft was established.The MATLAB SimMechanics was used for dynamic simulation.The cascade PID controller with tilt angle control was designed.The aircraft visual simulation system was developed to realize the tilt-deformation quadrotor aircraft.The simulation of flight through a narrow space analyzes the tilt-deformation quadrotor aircraft.The simulation of flight through a narrow space analyzes the dynamic response and trajectory tracking performance of the flight in tilt attitude.The flight control system of the tilting quadrotor aircraft was designed,the principle prototype was developed,and flight experiments were carried out for different flight modes.The results show that the aircraft can fly stably in the normal flight mode,and can also hover and fly stably with a tilt of 60°.Experiments verify the effectiveness of the flight simulation system and control scheme.