Tracking And Stabilizing Control Of Thrust-Vectored Tri-Tiltrotor UAV

Tilt rotor UAV is a kind of aircraft with both vertical take-off and landing and high-speed cruise capabilities.Since the 20 th century,researchers all over the world have paid close attention to it.In this paper,a tri-tiltrotor UAV with thrust vector mechanism is proposed.After the overall design and building of the physical platform,the dynamic model of the body is established,and the anti-interference tracking and attitude stabilization control algorithm of the UAV is explored.The main work and contributions of this paper are as follows.Firstly,an overall design scheme of tri-tiltrotor UAV is proposed.The advantages of flying wing layout and tri-rotor configuration are discussed.The aerodynamic shape of UAV is designed and verified by flow field simulation.Secondly,the thrust vector mechanism based on bi-directional tilt angle is proposed,and the dynamic and kinematic models of UAV in helicopter mode,transition mode and fixed wing mode are established.The parameters of UAV are identified based on rotor test bench,CAD software and CFD software.Thirdly,the autonomous flight strategy of UAV is designed,the SMDO-TECS flight control algorithm based on smooth switch scheduling is proposed,and the whole mode control allocation scheme of UAV is reconstructed.Then,based on ROS and APM SITL simulation environment,the simulation of UAV anti-jamming tracking and attitude stabilization control in full mode is carried out.Finally,on the basis of passing the ground experiment,the UAV trajectory tracking and hovering anti-jamming experiments in helicopter mode are carried out in the weather of level1 wind and level 5 wind respectively.Based on the stability of helicopter mode,the flight experiments of transition mode and fixed wing mode were carried out in the wind environment of level 1.The experimental results show that the UAV designed in this paper can complete the full mode autonomous flight experiment with high precision and fast convergence speed,and verify that the proposed control algorithm has good robustness and disturbance rejection performance.