Dynamic modeling and control system design of tilt-rotor UAV

Tilt-rotor UAV(unmanned aerial vehicle), integrating the VTOL(vertical take-off and landing) and hovering of the four-rotor UAV and long-distance and high-speed navigation capabilities of the fixed-wing UAV, is a new model of UAV. In this paper, the dynamic model of tilt-rotor UAV is established by analyzing and calculating the pulling force of such UAV blades. And this paper measures the response of pulling force coefficient and steering gear motor in the model. At the same time, a control circuit is designed for multiple PWM outputs. The program is designed for the tilt angle and tilt process to complete the transition process of the two modes. The test result shows that the control system can complete the movement of the tilting process and realize self-stabilization.