| Tilt-rotor aircraft combines the characteristics of VTOL and hover capabilities of the helicopter with the performance of high speed cruising of the fixed-wing aircraft.The main study of this paper is the nonlinear dynamic modeling method of tilt-rotor aircraft,the model provides the basis for the design of control system.And in this paper,the visual simulation platform is established to visualize the simulation data of tilt-rotor aircraft.Aiming at the complex structure of the tilt-rotor vehicle,the block modeling of tilt-rotor aircraft is carried out.Based on the block modeling method,tilt-rotor aircraft is divided into rotor nacelle,wings,airframe,horizontal tail,aircraft fin and landing gear,and the aerodynamic model is established respectively.The aerodynamic coupling characteristics of the components and the influence of rotor downwash on wings are fully considered in the process of block modeling.A nonlinear dynamic simulation model of tilt-rotor aircraft in full flight mode is established.According to the 6-DOF dynamic equation of tilt-rotor aircraft,a numerical simulation model is established in Matlab/simulink environment,and the control response characteristics are analyzed.The linear dynamic model of tilt-rotor aircraft is built up by using the method of "small perturbations" at trim point.The pitch attitude control loop is designed by using PID controller,the parameters tuning of the controller based on the method of trimming of model.For the coupling problem of roll and yaw channel,LQR optimal controller is designed to decouple,and the stabilized control of roll and yaw is realized.Combining with the data of the XV-15 tilt-rotor aircraft model,with integrated simulation of FlightGear and Simulink platform,the simulation test data of the tilt-rotor aircraft are visualized,thus the visual simulation platform of the tilt-rotor aircraft is established.The study in this paper lays the foundation for the related research of the tilt-rotor UAV. |
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