Determination method of mode transition transition corridor for vertical take-off and landing UAV with three tilting propellers

Abstract

The invention discloses a three-inclination propeller vertical take-off and landing unmanned aerial vehicle mode conversion transition corridor determining method. The method includes the steps that a three-inclination propeller unmanned aerial vehicle dynamical model is established; the upper limit and the lower limit of the inclination angle are calculated according to the stress balance and moment balance conditions in a longitudinal symmetric plane of an unmanned aerial vehicle; and therefore the transition corridor range for achieving safe conversion is determined. By the adoption of the method, calculation is simple and effective, a determined transition corridor border shows the influences caused by parameter changes on a transition corridor, the transition corridor border is adjusted according to the change range of system parameters, and therefore the border range has higher robustness and higher engineering use value.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle control, and in particular relates to a method for determining a transition corridor in a mode conversion stage of a three-tilt propeller vertical take-off and landing unmanned aerial vehicle. Background technique [0002] Tilting rotor aircraft has both vertical take-off and landing and fast cruise capabilities, combining the advantages of rotorcraft and fixed-wing UAVs. A tilt-rotor aircraft like the "Osprey" is usually equipped with two engine nacelles at both ends of the wing. During the mode conversion process, the engine nacelles drive the rotor to tilt between horizontal forward and vertical upward, through the total rotor pitch, Rotor lateral cyclical pitch and rotor longitudinal cyclical pitch control the movement of the aircraft, while the vertical take-off and landing UAV with three tilting propellers relies on the tilting of the three propellers and the differential motion of the...

AI Technical Summary

Problems solved by technology

At present, the determination of the transition corridor of the tilt-rotor UAV adopts the pitch angle trim method. First, the nonlinear dynamic model of the tilt-rotor UAV is established, and the model is linearized, and then the stability derivative and control derivative of the linear system are analyzed. , characteristic root, frequency domain response and time domain response, take out the upper limit and lower limit of speed within the range of trim pitch angle, and determine the transition corridor, the determination process is cumbersome

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