混合式VTOL UAV动力学建模与仿真

Dynamic Modeling and Simulation of Hybrid VTOL UAV

摘要: 混合式VTOL UAV是简单的将四旋翼和固定翼无人机结合在一起，不仅具备四旋翼飞行器的垂直起降、可悬停的特点，还具备固定翼飞行器的航程远、平飞速度快等特点，具有很重要的应用价值。在该飞行器布局中，四旋翼负责提供升力，工作在起飞和降落阶段；在起飞后则转换为固定翼飞行模式。本文建立了飞行器的动力学方程，并搭建Simulink仿真平台采用PID闭环控制的方法对其进行了仿真，结果表明设计的PID控制器能够使系统的输出有较好的稳定性。

Abstract: Hybrid VTOL UAV is a simple combination of quad rotor and fixed wing UAV. It not only has the characteristics of the vertical take-off and landing of the quad rotor aircraft, but also has the characteristics of long distance and high speed, so it has important application value. In the layout of the aircraft, the quad rotor is responsible for providing lift, working in the take-off and landing phase; after taking-off it will be converted to fixed wing flight mode. This paper establishes the dynamic equation of the aircraft, and build a Simulink simulation platform by using the method of PID closed loop control of the simulation. The results show that the design of the PID controller can make the output of the system has a good stability.