Design Of Tilting Four-rotor UAV Model

In the development process of aircraft,compared with the rotorcraft,the fixed-wing aircraft has the advantages of fast speed,long distance and large load,while the advantage of the rotorcraft lies in the vertical take-off and landing without site selection and low-altitude and low-speed hover monitoring.In order to combine the advantages of fixed-wing aircraft and rotary-wing aircraft,tilt-rotor aircraft was invented,which can not only take off and land vertically and hover at low altitude,but also have high flying speed and long range,air transport capacity is also better than the ordinary helicopter.In recent years,the research on unmanned aircraft has made rapid progress,and the research on tilt-rotor uav based on manned tilt-rotor aircraft technology is in the ascendant.Due to its outstanding advantages: vertical take-off and landing do not need a specific take-off and landing point,but can hover and monitor,the research on it has gradually become a hot spot.This structural feature of tilt-rotor uav is that each wing end is equipped with tilt-rotor components capable of vertical and horizontal rotation,so it has helicopter mode,tilt-transition mode and aircraft mode.Under the first two modes,the control of control variables is complicated,which brings great difficulties to the design of flight control system.The thesis mainly studies the design of the control system of the tilting four-rotor uav.Based on dSPACE system,this thesis designed a flight control simulation system for tilting four-rotor uav,and conducted system modeling and simulation experiments through Simulink/RTW development tools.The thesis first introduces the tilt-rotor aircraft from the comparison between the fixed-wing aircraft and the rotor aircraft,from the manned tilt-rotor aircraft to the tilt-rotor unmanned aircraft and the tilt-rotor four-rotor uav,and analyzes the research status in this field at home and abroad.To study the tilting quadrotor uav,it is necessary to clarify the research object.In this thesis,the mathematical model of the tilting quadrotor uav is constructed in the MATLAB/Simulink environment.Meanwhile,the tracking differentiator is introduced,and the nonlinear cascade PID control system model is established.Mathematical model is established,and further research,the control law based on the analysis of the system software architecture,the introduction of the tool software is introduced in this thesis,we study the dSPACE,and on this basis,the analysis of system model,establish a rotated four rotor aircraft flight dynamics equations of motion,and the research of rotor and fuselage aerodynamic force or torque.On the basis of the established mathematical model,the control system of the aircraft is designed by using the neural network error compensation algorithm,and the system modes such as attitude control are studied to analyze its composition and function.After both the model object and the control law have been designed,the performance of the model under the control law needs to be verified.Therefore,the simulation model is established in Simulink software,and flight simulation verification tests are carried out respectively in combination with helicopter mode and tilting transition mode.The simulation results show that it is technically feasible to design and develop a flight control system on the basis of model dynamics and other algorithms to control a tilt-rotor uav,which is worthy of further study.Finally,the research results of the thesis are summarized.In the thesis,the flight control law designed is simulated and verified by building a virtual prototype model,so as to obtain the optimal scheme of the control system,which partly solves the problems of non-popularization and long r&d cycle in most real-time simulation systems at present.At the same time,the research direction of the tilting four-rotor uav is prospected.