Research And Design Of Flight Controller For Tilt-Rotor UAV

Tilt-rotor uav is equivalent to a combination of fixed-wing uav and four-rotor uav.With different power systems in different flight states,it can not only take off and land vertically,but also fly horizontally at a high speed.Compared with helicopters,fixed wing and quad-rotor aircraft,it has great advantages in maneuverability,flight speed and mission efficiency,and has broad application prospects in civil and military fields.The paper mainly studies and designs the flight controller of the tilt-rotor uav,establishes the Matlab/Simulink simulation model of the flight controller,and conducts simulation research.The main research contents as follows:(1)Aerodynamic modeling of aircraft.Analyze the composition of each component of the aircraft and the interaction between them,select appropriate control parameters,try to overcome the interference between fixed wing,quadrotor wing and fuselage,and analyze the resistance of fixed wing under different flight states.The relationship between four-rotor speed and lift force was obtained by linear fitting method,and the aerodynamic model of each part of the uav was established.(2)Research on flight controller algorithm of different modes of aircraft.According to the established aerodynamics model,the flight stability was studied.Flight controllers in helicopter,transition and horizontal flight modes were designed.The flight control algorithm adopted cascade PID control,and the feasibility of flight controllers in three modes was verified through simulation experiments on Matlab/Simulink simulation platform.(3)Aircraft control system design.According to the flight controller in three modes of the designed aircraft,the hardware composition,software and hardware design of the aircraft are selected according to the simulation results and relevant parameters,and the feasibility is verified by the aircraft experiment.The tilt-rotor uav flight controller designed in this paper can meet the requirements of flight attitude control and stability in three modes: helicopter,transition and flat flight.The experiment verifies that the flight controller designed in this paper can meet the requirements of the set attitude Angle and flight height in the helicopter mode,the force switching between the quadrotor and fixed wing in the transition mode is smooth,and the fixed-height turning and flight in the flat flight mode are feasible to some extent.