Abstract
The quad tilt rotor (QTR) has the problem of manipulation redundancy due to the helicopter and fixed-wing manipulation mechanisms. Solving the problem of manipulation redundancy and develop an effective manipulation strategy is critical for QTR during conversion flight. A novel manipulation strategy based on states of QTR is proposed in this paper to solve the problem of manipulation redundancy in conversion mode. The longitude is controlled by the tilt angle of nacelle in helicopter mode and the course is controlled by the speed error of propellers in fixed-wing mode. The Active Disturbance Rejection Control (ADRC) is adopt into the flight control law, which can observe and compensate for internal and external disturbance. The simulation and flight test are carried out to verify the proposed manipulation strategy and the results show that the proposed manipulation strategy is effective and reasonable.
Highlights
The Quad Tilt Rotor (QTR) [1]–[3] Unmanned Aerial Vehicle (UAV) is a novel vehicle which has the advantages of both fixed-wing and helicopter
The altitude, forward velocity and tilt angle are introduced into the manipulation strategy to ensure the stability of the altitude and attitude in conversion process
Both the simulation and flight test results show that the manipulation strategy proposed in this paper can solve the manipulation redundancy in conversion mode very well, and the proposed tilting path can ensure the stability of the altitude and attitude in conversion corridor
Summary
The Quad Tilt Rotor (QTR) [1]–[3] Unmanned Aerial Vehicle (UAV) is a novel vehicle which has the advantages of both fixed-wing and helicopter. Aiming at the problem of manipulation redundancy , Wang et al [17] studied the rudder surface allocation strategy and control channel switching strategy of the aircraft in conversion mode, and developed an attitude controller which designed based on active disturbance rejection control (ADRC) [18]–[21] They assign the control authority of the rudder surface and the rotor according to the trigonometric function. 4) In order to effectively verify the manipulation strategy proposed in this paper, a prototype aircraft are designed Both the simulation and flight test results show that the manipulation strategy proposed in this paper can solve the manipulation redundancy in conversion mode very well, and the proposed tilting path can ensure the stability of the altitude and attitude in conversion corridor.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
