The Design And Collaborative Control Simulation Of EVTOL’s Retractable Wings

Suspension structure is needed to support car body when eVTOL travels as ground vehicle,and wings are needed to provide lift and flight control when eVTOLis used as an aircraft,in the two modes of ground driving and flight,the wing and suspension are redundant mechanical structures and weights.Based on this requirement,this paper studies the design and cooperative control simulation of eVTOL’s retractable wings,the main contents are as follows.Aiming at the "dead weight" problem of the eVTOL structure,this paper designs a retractable wing aerodynamic layout that integrates the wing and the suspension.The aerodynamic structures of the wing root rotating shaft,the large deflection hollow wing and the wing tip propeller hub motor wheel are simulated.The motion states of the retractable wing system in the ground driving phase,the vertical take-off and landing phase and the cruise flight phase were analyzed.The aerodynamic performance indicators of the basic airfoil of the retractable wing were analyzed,and the shape structure of the wing tip motor propeller was preliminarily designed.Due to disturbance factors such as rotary shaft damping and air resistance,the retractable wings will cause the two wings to be out of sync,which will greatly affect the eVTOL fuselage balance and reduce the safety.Coordinated control of the two wing angles is required.Firstly,the equivalent simulation 3D modeling of the retractable wing is carried out by Solid Works.Then the wing Multibody multibody simulation model and the propeller thrust model are built by MATLAB Simulink/Simscape,and dynamically display the model control process.Finally,Simulink is used to design the controller error feedback calculation module,the controller output saturation limit module and the signal visualization module.The simulation results of the traditional PID and fuzzy adaptive PID control strategies for the cooperative control of the retractable wings are compared and analyzed.Through fuzzy ring membership function and true value output,the error value,error rate of change and gain coefficient domain are set,and the fuzzy rules are combined to determine,and finally the fuzzy PID gain coefficient is obtained.By analyzing the simulation results of the angle difference of the retracted wing and the speed of the propellers of the two wings,it is concluded that both the traditional PID and the fuzzy adaptive PID can achieve the synergistic control effect of the retracted wing angle,and the fuzzy adaptive PID control strategy is better than the traditional PID control strategy in all dynamic performance indicators.