Control method of combined type unmanned aerial vehicle based on passive hinge tilting

Abstract

The invention belongs to the field of aircraft design and control, and particularly relates to a control method of a combined type unmanned aerial vehicle based on passive hinge tilting. The composite unmanned aerial vehicle carries a tilting device and a fixed wing, the tilting of the tilting device is controlled by differential speed of motors at the two ends of the tilting device, and vertical take-off and landing and tilting transition of the unmanned aerial vehicle are controlled by adopting a PID control law. The main control board controls the main power motor and provides main power for the vertical take-off and landing stage and the horizontal cruise stage of the unmanned aerial vehicle. The sub-control board controls tilting motors at the two ends of the tilting device and provides power for enabling the tilting device to tilt. When the unmanned aerial vehicle takes off and lands, the tilting device is in a locked state, and after the unmanned aerial vehicle reaches a cruise height, the unmanned aerial vehicle is controlled to fly horizontally through the tilting device to complete a cruise task; and after the cruise is finished, the unmanned aerial vehicle is controlled to enter a hovering state through the tilting device. According to the invention, decoupling of forward flight and pitch angle attitude is realized, multiple purposes are realized, and flight tasks can be completed in a complex environment.

Description

Technical Field

[0001] The present invention belongs to the field of aircraft design and control, and particularly relates to a control method for a compound unmanned aerial vehicle based on passive hinge tilting. Background Art

[0002] With the continuous progress of unmanned aerial vehicle (UAV) technology, its application scenarios are becoming increasingly extensive, and it has been widely used in aerial photography, logistics transportation, military reconnaissance, etc. In terms of flight principles, UAVs can be divided into three categories: fixed-wing UAVs, multi-rotor UAVs, and compound UAVs. Fixed-wing UAVs generate lift through wings, with high aerodynamic efficiency, long endurance, and large payloads. However, fixed-wing takeoff and landing require a certain runway space, which limits their application scenarios. Multi-rotor UAVs use multiple rotors to generate lift and control forces, and can achieve vertical takeoff and landing without being restricted by the space of the takeoff and landing sites. However, their propellers are arranged horizontally relative to the fuselage, with low aerodynamic efficiency, and their load capacity and endurance are far less than those of fixed-wing aircraft under the same conditions. To combine the advantages of high aerodynamic efficiency of fixed wings and vertical takeoff and landing of multi-rotors, there are currently various compound UAVs on the market that combine wings and rotors.

[0003] There are mainly three types of compound UAVs: The first type uses a fixed motor to drive the propeller to achieve vertical takeoff and landing, and then uses other motors to provide forward pulling force to achieve horizontal flight. The disadvantage is that there is a great deal of power redundancy in the cruise state, resulting in a significant increase in dead weight and cruise resistance. The second type tilts the power device by rotating the motor base or wing through a servo motor to provide the lift for vertical takeoff and landing and the pulling force for horizontal flight. The disadvantages are high control difficulty, complex tilting mechanism, and the phenomenon of stalling when the servo motor is subjected to a large torque, which accelerates the wear and heat generation of the servo motor, making the UAV have low reliability and certain safety hazards. The third type is that the UAV completes vertical takeoff and landing at 90° vertically, and then rotates the motor that can be rotated in front of the control surface or wing to the horizontal state to complete the flight. The disadvantages are that the high-speed airflow of the propeller generates resistance when passing through the fuselage during vertical takeoff and landing, reducing the payload, and the control method for switching to the horizontal attitude is complex and has low reliability.

[0004] The above compound UAVs generally have problems such as large dead weight, complex control methods, and low reliability. Moreover, to ensure the success of modal conversion, the tilting speed is usually slow. To expand the application scenarios of compound UAVs and ensure their safety during use, it is necessary to design a new control method for compound UAVs with simple control, high reliability, and fast tilting speed. Summary of the Invention

[0005] Aiming at the problem of the complex control method of existing compound UAVs, the present invention proposes a control method for a compound UAV based on passive hinge tilting, which simplifies the tilting structure and its control method.

[0006] A control method for a compound unmanned aerial vehicle based on passive hinge tilting, the specific steps are as follows:

[0007] Step 1, for a compound unmanned aerial vehicle equipped with a tilting device and a fixed wing, construct its aircraft control system, and set the parameters required for flight by the ground control system;

[0008] The tilting device includes a short rod, two tilting motors, a main power motor, and a fixing device, which are integrally installed outside the wing at the end of the wing tip. The fixing device is fixed to the carbon tube passing through the wing through a bearing. The middle of the short rod passes through the bottom of the fixing device, and the two tilting motors are respectively fixed at both ends of the short rod, and the main power motor is installed on the fixing device.

[0009] The flight control system includes a main control board and two sub-control boards. The main control board is used to control the rotation speeds of the main power motor and the balance motor, and the sub-control board is used to control the rotation speeds of the tilting motors.

[0010] The parameters required for flight include: takeoff and landing speed, cruise altitude, tilt angular velocity, cruise speed, tilt channel control parameters, main motor channel control parameters, balance motor channel control parameters, control parameters of each control surface of the fixed wing; among them, the control parameters of the tilt channel, main power motor channel, balance motor channel, and each control surface channel of the fixed wing respectively refer to the PID parameters of the tilt motor, main power motor, balance motor, and each control surface controller of the fixed wing.

[0011] Step 2, during takeoff, the unmanned aerial vehicle enters the takeoff mode, and the aircraft reaches the cruise altitude through the flight control system;

[0012] When the unmanned aerial vehicle is in the takeoff mode, the tilting device is locked and in a horizontal state. The pull force provided by the rotor driven by the main power motor is vertical, responsible for controlling the takeoff speed of the unmanned aerial vehicle. The tail balance motor is responsible for the balance control of the fuselage pitch attitude, and the tilting motor is responsible for controlling the roll and yaw attitudes of the fuselage;

[0013] The control structure at this time is a hierarchical control structure based on a PID controller. The altitude control is achieved by relying on the altitude outer loop position loop; the roll attitude control of the horizontal position is achieved by relying on the lateral distance channel of the outer loop position loop and the roll angle channel of the inner loop attitude loop; the heading attitude control is achieved by relying on the heading angle inner loop control channel; the pitch attitude of the fuselage is achieved by the longitudinal distance outer loop control and the pitch angle inner loop control channel;

[0014] In the above altitude control, first, the lift-off speed is calculated by square root control based on the altitude deviation, and the output is limited in the form of a square root. The specific control algorithm is:

[0015]

[0016] Among them, output is the target lifting speed, error is the height deviation obtained by subtracting the current height from the target height, and K p is the proportional link gain, and a M is the maximum acceleration limit, and the value range of a M is: (the square root starting point cannot be higher than the normal clipping point): where is the limit value of the desired speed.

[0017] Then, the speed deviation is obtained from the target lifting speed and the calculated lifting speed. From this speed deviation, the target vertical acceleration aimA z is calculated through the outer loop PID, specifically as follows:

[0018]

[0019] Among them, ΔV z represents the speed deviation, and K H2 , K HI , and K HD are all control parameters;

[0020] After that, the throttle control amount is calculated through the PID control from the target vertical acceleration, specifically as follows:

[0021] ΔA z =(aimA z -Acc z )

[0022]

[0023] Among them, Output is the output of the throttle control amount, ΔA z is the vertical acceleration deviation, Acc z is the current vertical acceleration, OutputTotal is the calculation result of the throttle control amount, and K H3 , K AI , and K AD are all control parameters, and K Hlimit is the maximum amplitude of the throttle control;

[0024] Finally, the takeoff speed of the drone is controlled by the throttle until the cruise height is reached.

[0025] Step 3: When the drone reaches the cruise height, enter the tilting mode until the drone reaches the horizontal flight state.

[0026] In the early stage of the tilt mode, the tilt device is locked, and the pitch angle of the UAV is adjusted. The UAV flies forward in the form of a rotary-wing UAV to obtain the forward flight speed. Then, it enters the late stage of the tilt mode. The tilt device is unlocked, and the tilt device gradually transitions from horizontal to vertical relative to the aircraft. The pulling force direction of the rotor driven by the main power motor gradually turns horizontal, and the horizontal speed of the UAV gradually increases. The lift provided by the fixed wing gradually replaces the vertical pulling force component of the rotor driven by the main power motor, and the pitch attitude of the fuselage is adjusted by the tail balance motor.

[0027] During the tilting process, the pitch attitude control of the fuselage is achieved by the pitch angle inner loop control channel; the rolling motion of the fuselage is mainly controlled by the ailerons; the tilting attitude control of the tilt device is achieved by the tilt angle inner loop control channel.

[0028] In the above tilt angle inner loop control, the tilt angle of the tilt device relative to the wing is measured by an angle sensor equipped on the tilt device, and the difference from the target tilt angle is obtained to get the tilt angle deviation. Then, the output of the tilt motor is calculated by a PID controller. Specifically:

[0029] Δθ = θ aim - θ

[0030] aimdP = Δθ * (K P1 / square root controller)

[0031] ΔdP = aimdP - cdP

[0032]

[0033]

[0034] Among them, Output is the tilt control output, θ aim is the target tilt angle, θ is the actually measured tilt angle, and Δθ is the tilt angle deviation; aimdP is the target tilt angle rate, cdP is the current tilt angle rate, K P1 、K P3 、K PD 、K PI are all control parameters, OutputTotal is the tilt control calculation result, and K Plimit is the maximum amplitude of the tilt control.

[0035] Step four, during the horizontal flight, the UAV is in the fixed-wing UAV control mode and relies on the ailerons, elevators, and rudders for flight attitude control.

[0036] Step five, after the horizontal flight ends, the UAV enters the tilt mode again until the UAV enters the hover state.

[0037] The tilting device gradually changes from vertical to horizontal, and the pulling direction of the rotor driven by the main power motor gradually becomes upward and replaces the lift provided by the wing. Under the action of resistance, the horizontal speed of the UAV gradually decreases to 0 and enters the hovering state;

[0038] Step Six: The UAV enters the vertical landing mode, the tilting device is locked, and the UAV lands on the ground.

[0039] The advantages of the present invention are as follows:

[0040] (1) The control method of the compound UAV based on passive hinge tilting provided by the present invention avoids the use of large and complex transmission mechanisms compared with the traditional active tilting technology, simplifies the structure of the tilting device, and greatly reduces the structural weight of the tilting mechanism;

[0041] (2) The design of the controller in the control method of the compound UAV based on passive hinge tilting provided by the present invention is independent of the tilting device size and rotor configuration. When splicing with hardware, the structure of the controller itself does not need to be changed, and it is applicable to tilting devices with the same principle regardless of the specific size;

[0042] (3) The control method of the compound UAV based on passive hinge tilting provided by the present invention realizes the decoupling of forward flight and pitch angle attitude, providing more possibilities for uses such as manned and cargo flight;

[0043] (4) The control method of the compound UAV based on passive hinge tilting provided by the present invention has low requirements for the takeoff environment, can achieve takeoff in harsh environments, and is suitable for tasks in special environments. Description of the Drawings

[0044] Figure 1 is the flow chart of the control method of the compound UAV based on passive hinge tilting of the present invention;

[0045] Figure 2 is the structural diagram of the tilting device of the control method of the compound UAV based on passive hinge tilting of the present invention;

[0046] Figure 3 is the schematic diagram of the height outer loop control structure of the control method of the compound UAV based on passive hinge tilting of the present invention;

[0047] Figure 4 is the schematic diagram of the tilting angle inner loop control structure of the control method of the compound UAV based on passive hinge tilting of the present invention. Detailed Embodiments

[0048] The present invention will be further described in detail below with reference to the drawings.

[0049] A control method for a compound unmanned aerial vehicle (UAV) based on passive hinge tilting proposed by the present invention can achieve passive tilting without relying on active tilting devices such as servos, enabling the UAV to take off and land vertically and cruise horizontally. This greatly simplifies the complexity of the tilting mechanism structure, reduces the overall weight of the aircraft, and decouples the forward flight of the UAV from the pitch angle. At the same time, a control method design is carried out for the entire flight process of the UAV. As Figure 1 shown, the specific method is as follows:

[0050] Step 1: The UAV platform is a compound UAV equipped with tilt-rotors and fixed wings, carrying a tilting device module, a flight control and navigation module, a ground station module, etc. A balance motor for controlling the pitch attitude balance of the fuselage is installed at the rear section of the fuselage.

[0051] Among them, the tilting device is as Figure 2 shown. It is installed on the outer side of the wing at the wingtip end and fixed on the carbon tube passing through the wing. The tilting structure on each side mainly consists of a short rod, two tilting motors, and a fixing device. The fixing device fixed in the middle of the short rod is connected to the carbon tube between the wings by a bearing. The two tilting motors are located at both ends of the short rod. When the speeds of the two motors are different, the pulling forces at both ends of the short rod are different, so a torque will be generated to make the short rod rotate, that is, the tilting of the tilting device is achieved.

[0052] An angle sensor is configured at the bearing, and the tilting angle of the tilting device can be measured. Taking the tilting angle as the received signal, by controlling the speeds of the two tilting motors, the tilting device can be controlled to rotate to any position.

[0053] A locking device is also provided at the connection between the tilting device and the carbon tube of the wing, which can lock the tilting device at tilting angles of 0° and 90°. 0° and 90° respectively correspond to the vertical takeoff and landing stage and the horizontal cruise state of the UAV.

[0054] In addition, the main power motor that provides the main pulling force during the vertical takeoff and landing stage and the forward flight power during the horizontal forward flight stage is located in the middle of the tilting device to reduce the inconvenience caused by structural asymmetry. The balance motor is installed at the rear section of the fuselage axis away from the center of gravity to increase the moment arm, thereby reducing the power requirement for the balance motor, reducing the structural weight, and making the response more sensitive and rapid.

[0055] Since there are a total of seven motors in the whole aircraft, in order to efficiently control the flight of the UAV, a main control board and two sub-control boards are set in the embedded system. The main control board is used to control the speeds of the main power motor and the balance motor, and the sub-control board is used to control the speeds of the tilting motors.

[0056] In addition, the controller covers all the flight modes of the UAV; due to the large number of modes, the controller design is divided into attitude kinematic control and power implementation. For attitude kinematic control, the desired angular velocity is calculated from the angle deviation, and the desired angular acceleration is calculated from the angular velocity deviation. This process uses a unified dimension, making the design of the controller itself independent of the specific size parameters and tilting angles of the tilting device; the power implementation module then converts the desired angular acceleration at different tilting angles into specific motor outputs, greatly simplifying the complexity of the entire controller.

[0057] Step 2: Set the flight parameters required by the ground control system, including takeoff and landing speeds, cruising altitude, tilting angular velocity, cruising speed, control parameters for the tilting channel, main motor channel, balance motor channel, and control parameters for each control surface of the fixed wing; and control the UAV to switch between the three flight modes of vertical takeoff and landing, tilting transition, and horizontal cruising by the ground station.

[0058] Among them, the control parameters for the tilting channel, main power motor channel, balance motor channel, and each control surface channel of the fixed wing refer to the PID parameters of the tilting motor, main power motor, balance motor, and each control surface controller of the fixed wing, respectively.

[0059] Step 3: During takeoff, the UAV enters the takeoff mode. At this time, the tilting device is locked and in a horizontal state. The pulling force provided by the rotor driven by the main power motor is vertical, mainly responsible for controlling the takeoff speed of the UAV. The tail balance motor is mainly responsible for balancing the pitching attitude of the fuselage, and the tilting motor is responsible for controlling the rolling and yawing attitudes of the fuselage at this time.

[0060] At this time, the control structure is based on the structure of the PID controller. The altitude control is achieved by the altitude outer loop position loop; the rolling attitude control of the horizontal position is achieved by the lateral distance channel of the outer loop position loop and the roll angle channel of the inner loop attitude loop; the heading attitude control is achieved by the heading angle inner loop control channel; the pitching attitude of the fuselage is achieved by the longitudinal distance outer loop control and the pitching angle inner loop control channel.

[0061] As Figure 3 shown, in the above altitude control, the lift-off speed is calculated by square root control based on the altitude deviation, and the output is limited in the form of a square root. The specific control algorithm is:

[0062]

[0063] Among them, output is the target lift-off speed, error is the error, K p is the proportional link gain, a M is the maximum acceleration limit, and the value range of a M (the square root starting point cannot be higher than the normal limit point): wherein is the limit value of the desired speed.

[0064] Then, the speed deviation is obtained from the target lift / drop speed and the calculated lift / drop speed. From this speed deviation, the vertical acceleration aimA is calculated through the outer-loop PID, z specifically:

[0065]

[0066] where ΔV z represents the speed deviation, and K H2 , K HI , K HD are all control parameters.

[0067] After that, the throttle control amount is obtained through PID control calculation from the vertical acceleration, specifically:

[0068] ΔA z =(aimA z -Acc z )

[0069]

[0070] where Output is the output of the throttle control amount, ΔA z is the vertical acceleration deviation, Acc z is the current vertical acceleration, OutputTotal is the calculation result of the throttle control amount, and K H3 , K AI , K AD are all control parameters, and K Hlimit is the maximum amplitude of the throttle control.

[0071] Step 4: When the UAV reaches the cruising altitude, it enters the tilting mode. In the early stage of the tilting mode, the tilting device is locked, and the pitch angle of the UAV is adjusted to make the UAV fly forward in the form of a rotor UAV and obtain a certain forward flight speed. At this time, it enters the later stage of the tilting mode, the tilting device is unlocked, and it gradually transitions from horizontal to vertical. The pulling force direction of the rotor driven by the main power motor gradually turns horizontal, the horizontal speed of the UAV gradually increases, the lift provided by the fixed wing gradually replaces the vertical pulling force component of the rotor driven by the main power motor, and the pitch attitude of the fuselage is adjusted by the tail balance motor;

[0072] The forward flight state in the early stage of the tilting mode is the same as the attitude control method in Step 3; during the tilting process, the pitch attitude control of the fuselage is realized by the pitch angle inner-loop control channel; the rolling motion of the fuselage is mainly controlled by the ailerons; the tilting attitude control of the tilting device is realized by the tilting angle inner-loop control channel;

[0073] Such as Figure 4As shown in the figure, in the above inner loop control of the tilt angle, the tilt angle of the tilt device relative to the wing is measured by the angle sensor equipped on the tilt device, and the tilt angle deviation is obtained by subtracting the target tilt angle. Then, the output of the tilt motor is calculated by the PID controller. Specifically:

[0074] Δθ = θ aim - θ

[0075] aimdP = Δθ * (K P1 / square root controller)

[0076] ΔdP = aimdP - cdP

[0077]

[0078] Among them, Output is the tilt control output, θ aim is the target tilt angle, θ is the actually measured tilt angle, and Δθ is the tilt angle deviation; aimdP is the target tilt angle rate, cdP is the current tilt angle rate, K P1 、K P3 、K PD 、K PI are all control parameters, OutputTotal is the tilt control calculation result, and K Plimit is the maximum amplitude of the tilt control.

[0079] Step Five: During the horizontal flight, the UAV is in the fixed-wing UAV control mode and relies on ailerons, elevators, and rudders for flight attitude control;

[0080] Step Six: After the horizontal flight ends, the UAV enters the tilt mode again. The tilt device gradually changes from vertical to horizontal, and the pulling direction of the rotor driven by the main power motor gradually becomes upward and replaces the lift provided by the wing. Under the action of resistance, the horizontal speed of the UAV gradually decreases to 0 and enters the hover state. The control structure is similar to that in Step Four;

[0081] Step Seven: When the UAV enters the vertical landing mode, the tilt device is locked, and the UAV descends to the ground at a certain landing speed. The control structure is similar to that in Step Three.

Claims

1. A control method for a compound unmanned aerial vehicle based on passive hinge tilting, characterized in that, The specific steps are as follows: Step 1: For a compound unmanned aerial vehicle (UAV) equipped with a tilting device and a fixed wing, construct its aircraft control system, and set the parameters required for flight by the ground control system; The tilting device includes a short rod, two tilting motors, a main power motor, and a fixing device. The whole is installed outside the wing at the wing tip end. The fixing device is fixed on the carbon tube passing through the wing through a bearing. The middle of the short rod passes through the bottom of the fixing device. The two tilting motors are respectively fixed at both ends of the short rod, and the main power motor is installed on the fixing device; The parameters required for flight include: takeoff and landing speed, cruising altitude, tilting angular velocity, cruising speed, tilting channel control parameters, main motor channel control parameters, balance motor channel control parameters, control parameters of each control surface of the fixed wing; among them, the control parameters of the tilting channel, main power motor channel, balance motor channel, and each control surface channel of the fixed wing respectively refer to the PID parameters of the tilting motor, main power motor, balance motor, and each control surface controller of the fixed wing; Step 2: During takeoff, the UAV enters the takeoff mode, and the aircraft reaches the cruising altitude through the flight control system; In the takeoff mode of the UAV, the tilting device is locked and in a horizontal state. The thrust provided by the rotor driven by the main power motor is in the vertical direction, responsible for controlling the takeoff speed of the UAV. The tail balance motor is responsible for the balance control of the fuselage pitch attitude, and the tilting motor is responsible for controlling the roll and yaw attitudes of the fuselage; The control structure at this time is a hierarchical control structure based on a PID controller. The altitude control is achieved by the altitude outer loop position loop; the roll attitude control of the horizontal position is achieved by the lateral distance channel of the outer loop position loop and the roll angle channel of the inner loop attitude loop; the heading attitude control is achieved by the heading angle inner loop control channel; the pitch attitude of the fuselage is achieved by the longitudinal distance outer loop control and the pitch angle inner loop control channel; Step 3: When the UAV reaches the cruising altitude, it enters the tilting mode until the UAV reaches the horizontal flight state; In the early stage of the tilting mode, the tilting device is locked, and the pitch angle of the UAV is adjusted to make the UAV fly forward in the form of a rotor UAV and obtain the forward flight speed; then it enters the later stage of the tilting mode, the tilting device is unlocked, and the tilting device gradually transitions from horizontal to vertical relative to the aircraft. The thrust direction of the rotor driven by the main power motor gradually turns horizontal, the horizontal speed of the UAV gradually increases, and the lift provided by the fixed wing gradually replaces the vertical thrust component of the rotor driven by the main power motor. The fuselage pitch attitude is adjusted by the tail balance motor; During the tilting process, the fuselage pitch attitude control is achieved by the pitch angle inner loop control channel; the roll motion of the fuselage is mainly controlled by the ailerons; the tilting attitude control of the tilting device is achieved by the tilting angle inner loop control channel; Step 4: During the horizontal flight process, the UAV is in the control mode of a fixed-wing UAV, and the flight attitude is controlled by the ailerons, elevators, and rudders; Step 5: After the horizontal flight ends, the UAV enters the tilting mode again until the UAV enters the hover state; The tilting device gradually changes from vertical to horizontal, and the pulling direction of the rotor driven by the main power motor gradually becomes upward and replaces the lift provided by the wing. Under the action of resistance, the horizontal speed of the UAV gradually decreases to 0 and enters the hovering state; Step 6: The UAV enters the vertical landing mode, the tilting device is locked, and the UAV lands on the ground.

2. The control method of a compound unmanned aerial vehicle based on passive hinge tilting according to claim 1, characterized in that, An angle sensor is configured at the bearing of the tilting device to measure the tilting angle of the tilting device.

3. A control method for a compound unmanned aerial vehicle based on passive hinge tilting according to claim 1 or 2, characterized in that A locking device is provided at the connection between the tilting device and the wing carbon tube, which can lock the tilting device at tilting angles of 0° and 90°. 0° and 90° correspond to the vertical takeoff and landing stage and the horizontal cruising state of the UAV respectively.

4. The control method of a composite unmanned aerial vehicle based on passive hinge tilting according to claim 1, characterized in that, The flight control system includes a main control board and two sub-control boards. The main control board is used to control the rotation speeds of the main power motor and the balance motor, and the sub-control board is used to control the rotation speed of the tilting motor, respectively realizing the power and attitude kinematics control of the UAV.

5. The control method of a compound unmanned aerial vehicle based on passive hinge tilting according to claim 1, characterized in that In the height control during the takeoff mode, first, the lift speed is calculated by square root control based on the height deviation, and the output is limited in the form of a square root. The specific control algorithm is as follows: Among them, output is the target lifting speed, error is the height deviation obtained by subtracting the current height from the target height, and K p is the proportional link gain, a M is the maximum acceleration limit, a M The value range of: Among them is the limit value of the desired speed; Then, a speed deviation is obtained from the target lifting speed and the calculated lifting speed, and the target vertical acceleration aimA is obtained through the outer loop PID calculation of this speed deviation. Z , specifically: Among them, ΔV z represents the speed deviation, and K H2 , K HI , and K HD are all control parameters; After that, the throttle control amount is calculated by PID control from the target vertical acceleration, specifically: △A z =(aimA z -Acc z ) where OUtput is the throttle control amount output, ΔA z is the vertical acceleration deviation, Acc z is the current vertical acceleration, OutputTotal is the calculation result of the throttle control amount, K H3 、K AI 、K AD are all control parameters, K Hlimit is the maximum amplitude of throttle control; Finally, the takeoff speed of the UAV is controlled by the throttle until the cruising height is reached.

6. The control method of a compound unmanned aerial vehicle based on passive hinge tilting according to claim 1, characterized in that, In the tilting mode, in the inner loop control of the tilting angle, the tilting angle of the tilting device relative to the wing is measured by the angle sensor equipped on the tilting device, and the difference from the target tilting angle is obtained to get the tilting angle deviation. Then, the output of the tilting motor is calculated by the PID controller, specifically: △θ = θ aim -θ aimdP = △θ * (K P1 / Square Root Controller) △dP = aimdP - cdP Among them, Output is the tilt control output, θ aim is the target tilt angle, θ is the actually measured tilt angle, and Δθ is the tilt angle deviation; aimdP is the target tilt angle rate, cdP is the current tilt angle rate, K P1 , K P3 , K PD , K PI are all control parameters, OutputTotal is the calculation result of tilt control, and K Plimit is the maximum amplitude of tilt control.

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