Abstract
The tilt quad rotor (TQR) has the problem of manipulation redundancy due to the aerodynamic structure changing in conversion mode. The tilting path is limited by the conversion corridor. In order to solve the problem of manipulation redundancy in conversion mode and find out the optimal tilting path in conversion corridor, the aerodynamic model of the TQR based on Goldstein vortex theory is established to obtain the manipulation derivative matrix and conversion corridor. A novel manipulation strategy is proposed, 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. To find out the optimal tilting path in conversion corridor, a novel tilting strategy is proposed based on Ant Colony Optimization (ACO) algorithm and compared with another three tilting path. To verify the credibility of the flight dynamics model, the effectiveness of manipulation strategy and tilting path optimization, the simulation and flight test were carried out. 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.
Highlights
The tilt quad rotor [1]–[6] (TQR) is a novel vehicle which combines the characteristics of helicopter and fixed wing aircraft
The manipulation redundancy of TQR will appear in the conversion process
4) 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 tilt quad rotor [1]–[6] (TQR) is a novel vehicle which combines the characteristics of helicopter and fixed wing aircraft. Wang et al [22] proposes a Negative-buoyancy Quad tilt quad rotor Autonomous Underwater Vehicle, for which an attitude-tracking controller is designed for the hover and transition modes based on a disturbance-rejection control scheme They do not consider the manipulation strategy and flight trajectory of the whole tilting process under different flight missions. Lu and Wang [31] proposes an eventbased model which lists the events related with all phases of cooperation with partners and puts events into a dynamic supply chain network in order to understand factors that affect supply chain partnership integration They develop a multi-objective supply chain partnership integration problem by maximizing trustworthiness, supplier service, qualified products rate and minimizing cost, and apply a hybrid algorithm with particle swarm optimization and ant colony optimization that aims to efficiently solve the problem.
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