Abstract
Quadrotor fixed-wing hybrid vertical take-off and landing (VTOL) UAV, the so-called Quad-Plane, is susceptible to wind disturbance during the VTOL mode, which reduces its stability and limits its application. In order to dynamically analyze its response characteristics to wind disturbance and effectively optimize the wind disturbance rejection performance in VTOL mode, a dynamic flight simulation system based on the 6-DoF equations is established, in which the aerodynamic model of the Quad-Plane is established based on the wind tunnel test, the axial and lateral forces and moments of the rotor in wind disturbance are obtained through CFD simulation, and the Brushless DC (BLDC) motor, wind disturbance, and flight controller are modeled based on actual characteristics. The simulation system is verified and validated by comparing the simulation results with test results of a 5 kg real Quad-Plane. Using this system, the response characteristics of the Quad-Plane to the discrete and continuous wind disturbance are studied. In addition, the influences of major conceptual layout parameters that affect the wind disturbance rejection performance, such as take-off weight, weight distribution, Center of Gravity (CG) position, rotor incline angle, arm length, and arm angle, are studied. Finally, the approaches on designing a Quad-Plane with better wind disturbance rejection performance during the conceptual layout design are presented.
Highlights
UAV has been greatly developed in the past decades and is widely used in various application fields, such as cargo transportation, reconnaissance, power inspection, rescue, mapping, and aerial photography [1,2,3]
(4) Based on the flight simulation system, the main factors that need to be considered in the design process of the Quad-Plane, such as take-off weight, mass distribution, Center of Gravity (CG) position, and quadrotor system layout, are studied, and the approaches on designing a Quad-Plane with better wind disturbance rejection performance in the conceptual layout design are presented
The results show that the simulation system can obtain the response characteristics of the Quad-Plane under the wind disturbance with high accuracy
Summary
UAV has been greatly developed in the past decades and is widely used in various application fields, such as cargo transportation, reconnaissance, power inspection, rescue, mapping, and aerial photography [1,2,3]. (1) The calculation method of the lateral forces and moments of the quadrotor system when it is subjected to the atmospheric disturbance oblique to the rotor plane is derived, which improves the simulation accuracy of the quadrotor system (2) A dynamic flight simulation system of the QuadPlane is established, including high-precision submodules of aerodynamic, rotor, BLDC motor, wind disturbance, and flight control, which can analyze the response characteristics of the Quad-Plane under the wind disturbance effectively (3) The evaluation criteria of wind disturbance rejection performance of Quad-Plane is presented, and the dynamic response characteristics to the discrete and continuous wind disturbance are studied (4) Based on the flight simulation system, the main factors that need to be considered in the design process of the Quad-Plane, such as take-off weight, mass distribution, CG position, and quadrotor system layout, are studied, and the approaches on designing a Quad-Plane with better wind disturbance rejection performance in the conceptual layout design are presented
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