Abstract
The quad tilt rotor (QTR) has complex dynamics characteristics, especially in conversion mode. It is difficult to model the QTR dynamics and the environmental factors have a great influence on it. To solve the problem of control in conversion mode of QTR, this paper carries out the design of the controller based on improved active disturbance rejection control (ADRC). We propose the 3D simulation based on FlightGear to better reflect the state of quad tilt rotor in conversion mode. The simulation results show that the flight control system is effective. The 3D real scene simulation can directly observe the status of every control mechanism, which can provide a better and more intuitive analysis for manipulation strategy.
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