The invention discloses a flight
control system structure of an electric tilting six-rotor unmanned aerial vehicle in a
propeller aircraft mode. The flight
control system structure is composed of a layered closed-loop architecture composed of outer ring attitude / height (or climbing rate) control and inner ring attitude angular
rate control, and an
airspeed single-
loop control, trajectory guidance and
actuator distribution / constraint management module. The flight
control system structure of the electric tilting six-rotor unmanned aerial vehicle in the
propeller aircraft mode has the remarkable advantages that under the influence of the control surface efficiency changing along with the air speed /
attack angle, external disturbance and
coupling, the rolling and pitching channel adjusting time is remarkably shortened, and overshoot and steady-state errors can be neglected; the
airspeed is kept without overshoot, and the steady-state error is small; the
yaw rate response is fast, and the
coupling inhibition effect is good; the
system structure calculation load is low, parameter calibration is friendly, and robustness is high; the method is suitable for attitude,
airspeed and height / climbing rate cooperative control and
route autonomous tracking of the electric tilt six-rotor unmanned aerial vehicle in a
propeller aircraft mode.