Research On Dynamics Modeling And Control Of A Tilt-Wing UAV

Due to the advantages of both the fixed wing and the helicopter,the tilt-wing UAV can not only fly but also take off and land vertically.Therefore,there is great demand and development space in military and civil fields.However,in transition mode,the system is prone to stress imbalance due to the change of body structure.This not only reduces the stability of flight,but also increases the difficulty of control system design in transition mode.Aiming at this problem,this paper takes the model of tilt-wing UAV XC-142 as reference model,and establishes the dynamics model based on Newton-Euler equation.On this basis,the Lyapunov exponent method and sliding mode variable structure control method are introduced to realize the smooth flight of the UAV from the angle of the mechanical structure optimization and the attitude control.The main contents include:(1)The construction of a prototype platform:With the reference to the XC-142 model,the prototype is designed from the structure of the body,the power plant and the hardware and software system.Then analyzed the flight principle and determined the flight control mode.(2)Dynamics modeling and the optimization of mechanical structure:Dynamics modeling of position and attitude angle is done by Newton-Euler equation.Based on the established dynamics model,the Lyapunov exponent method,which had been used to construct the quantitative relationship between the mechanical structure parameters of UAV and the stability of the system motion,is used to guide the mechanical design of the system.(3)The design of the controller:Based on the established dynamics model,sliding-mode controller and PID controller in transition mode and vertical take-off&landing mode are designed.And then,modeling and simulating these two algorithms in the simulink environment and comparing their attitude control effects.(4)The verification of flight experiment:verify the feasibility of the control system and optimize the mechanical structure on the platform of the tilt-wing UAV.