Flight control systems of a quad tilt rotor Unmanned Aerial Vehicle for a large attitude change

Abstract

Quad tilt rotor Unmanned Aerial Vehicle (UAV) solves the problem of underacuated system in general quadrotor UAV. The quad tilt rotor UAV can control position and attitude independently by tilting directions of propellers. However, the flight control system in a wide range of attitudes has not been discussed yet, e.g. a UAV flying and hovering with a 90 [ • ] pitch angle and can flip over when the range of the tilting motor rotates wide enough. In this paper, we present the attitude transition flight control system for pitch angles ranging 0 [ • ] to 90 [ • ] since flight condition with a 90 [ • ] pitch angle significantly differs from that in a conventional quadrotor UAV flight, and then adequate control system and sufficient experimental validation are necessary for stable flight in a wide range of attitude conditions.

Trajectory tracking control of thrust-vectoring UAVs

“…These aerial vehicles are endowed with a propulsion system that can deliver both a net torque and a force with respect to the aircraft frame, which makes them end-effector-like devices. Among the different technological solutions, non-coplanar multirotor configurations have shown great potentiality in terms of fast disturbance rejection and maneuvrability [10,4,8,20,19,15,18]. Indeed, while the standard coplanar architecture combines good performance and a simple mechanical design, it is inherently under-actuated as it cannot match at the same time position and orientation tracking requirements [6], as the control force can be applied only in the vertical direction of the aircraft frame.…”

“…ter approach has been applied to the tricopter [11], in which three propellers can tilt independently around a fixed axis through servo-actuators. A similar but redundant configuration with four tiltable propellers has been proposed and experimentally validated in [20] and more recently in [16] and in [18]. A fully actuated hexacopter with fixed tilted rotors has been developed in [12].…”

The Synthesis of Electric Drives Characteristics of the UAV of “Convertiplane–Tricopter” Type

“…The range of angles of attack, ensuring a stable flight, is 6 -12о. Large values can lead to the disruption of the airflow stream, the lift coefficient growth fall of the convertiplane [1,3,14].…”

“…Convertiplane can be considered as one of the most promising types of UAVs, because it combines helicopter features -a vertical takeoff (landing), and aircraft features -a flight in a horizontal plane if there is a wing, by changing the traction vector of propellers [5][6][7][8][13][14][15]. The advantage of such device is the energy consumption reduction of the on-board system that can be achieved by turning the traction forces of the propellers in the direction of movement, and using the flying wing, as the significant part of the aerodynamic force is formed upon it.…”

“…The values of the matrixes and vectors mentioned above, and the way of their finding are given in publications [12][13][14][15]. The general analysis methods of the equations of kinematics and dynamics of flying devices are shown in the following works [5][6][7][8][9].…”