VTOL Flying Car Flight Control Research

Flying car is a kind of vehicle that can both drive on the ground to complete ground transportation tasks and fly in the air to complete aerial flight tasks,and its amphibious characteristics on land and air can help solve the urban road traffic congestion problem and improve the efficiency of daily travel.However,most of the existing flying cars have a single structure,i.e.,they are equipped with only fixed-wing structure or only rotor-wing structure,which cannot meet the demand of high-speed and long-endurance and flexible take-off as well as landing at the same time,which affects the further development and promotion of flying cars.In order to solve this problem,this paper researches a vertical take-off and landing composite wing flying car scheme,which has the advantages of flexible take-off and landing locations,high flight efficiency,long flight duration and high flight speed with both rotor and foldable fixed wing.The paper analyzes the origin,development history and current status of flying cars,and summarizes the current status of research on the structure,layout and flight control related technologies of existing flying cars at home and abroad.The flying car of this paper has both rotor structure and fixed-wing structure,including four rear rotors for vertical take-off and landing,a propeller at the tail,foldable fixed-wing,and rear-wheel drive for ground driving.The paper firstly determines the structural parameters of the flying car,analyzes the feasibility of the structure,conducts mechanical analysis,studies the dynamics modeling of the flying car based on the Newton-Euler method,and obtains more accurate aerodynamic parameters through CFD hydrodynamic simulation.The structure and control strategy of the control system are studied in the paper.In order to meet the control requirements of rotor mode and fixed-wing mode,the control system is designed based on LQR control and self-antidisturbance control theory,respectively,and the control effect is analyzed by comparing with the classical PID control,and the weight distribution control strategy is designed in order to meet the control requirements of the transition mode.Based on the dynamics model and control method established in the previous paper,modeling with MATLAB/Simulink is used to build a simulation platform for the flying car,to test the attitude control and vertical takeoff function of the flying car respectively,to verify the overall attitude and position control function of the flying car,to compare the control effect of different control methods,and to verify the flying car through the flight mission mode simulation test.The simulation test results show that the vertical takeoff and landing vehicle control system can achieve accurate position attitude tracking and meet the functional requirements of flight control,which can provide reference and technical support for the control design of similar configuration flying vehicles.