Flight control systems of a quad tilt rotor Unmanned Aerial Vehicle for a large attitude change
Flight control systems of a quad tilt rotor Unmanned Aerial Vehicle for a large attitude change
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DOI：
10.1109/icra.2015.7139508
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发表时间：
2015-05
期刊：
影响因子：
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通讯作者：
Atsushi Oosedo;S. Abiko;Shota Narasaki;Atsushi Kuno;A. Konno;M. Uchiyama
中科院分区：
文献类型：
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作者：
Atsushi Oosedo;S. Abiko;Shota Narasaki;Atsushi Kuno;A. Konno;M. Uchiyama
四倾旋翼无人机解决了普通四旋翼无人机系统声偏低的问题。四倾旋翼无人机可以通过螺旋桨的倾斜方向独立控制位置和姿态。然而，在很大范围内的飞行控制系统还没有被讨论，例如无人机以90[°]的俯仰角飞行和悬停，并且当倾斜电机的范围旋转足够大时可以翻转。本文提出了俯仰角为0[°]~90[°]的姿态转换飞行控制系统，因为90[°]俯仰角的飞行条件与常规四旋翼无人机的飞行条件有很大的不同，因此需要有足够的控制系统和充分的实验验证才能在广泛的姿态条件下稳定飞行。
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.