Abstract
The Tilt Rotor Unmanned Aerial Vehicle (TRUAV) has attracted increasing attention due to their ability to perform Vertical Take-Off and Landing and their high-speed cruising abilities. In the conversion mode, the TRUAV is a nonlinear multi-channel cross coupling system affected by both the varying rotor thrust vector and the wing lift. In order to ensure the safety and steadiness of the flight, the tilt angles of rotors need change smoothly and steadily. For planning the tilt angles in the conversion mode, this paper build the dynamics model of the proposed TRUAV. Considering a series of dynamic constraints, mechanism performance constraints and flight index requirements, design the initial, terminal and process constraints and the objective functions. Adopt Gauss pseudospectral method(GPM) with multistep iteration strategy to plan the tilt angles. The results show that the motion of tilt angles planned is smooth, steady and rational, which represents the TRUAV could realize a smooth flight in the conversion mode.
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