Longitudinal dynamic modelling and control for a quad-tilt rotor UAV

TL;DR

This paper develops a control system for a quad-tilt rotor UAV to ensure smooth mode transitions between hover and forward flight, validated through MATLAB simulations demonstrating stability across all degrees of freedom.

Contribution

It introduces a digital PID control approach with filtering and data hold functions specifically designed for tilt-rotor UAV mode transitions.

Findings

Successful mode transition control demonstrated in simulations

Full stability achieved in all three degrees of freedom

Control system effectively manages aerodynamic changes during transition

Abstract

Tilt rotor aircraft combine the benefits of both helicopters and fixed wing aircraft, this makes them popular for a variety of applications, including Search and Rescue and VVIP transport. However, due to the multiple flight modes, significant challenges with regards to the control system design are experienced. The main challenges with VTOL aircraft, comes during the dynamic phase (mode transition), where the aircraft transitions from a hover state to full forwards flight. In this transition phase the aerodynamic lift and torque generated by the wing/control surfaces increases and as such, the rotor thrust, and the tilt rate must be carefully considered, such that the height and attitude remain invariant during the mode transition. In this paper, a digital PID controller with the applicable digital filter and data hold functions is designed so that a successful mode transition between hover and forwards flight can be ascertained. Finally, the presented control system for the tilt-rotor UAV is demonstrated through simulations by using the MATLAB software suite. The performance obtained from the simulations confirm the success of the implemented methods, with full stability in all three degrees of freedom being demonstrated.