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Transactions of FAMENA, Vol. 47 No. 1, 2023.

Original scientific paper

https://doi.org/10.21278/TOF.471033221

Software In-Loop Simulation of a Quad Tilt Rotor Unmanned Aerial Vehicle for Transition Control

Saravanan Elanchezhian orcid id orcid.org/0000-0001-8577-6278 ; Department of Aerospace Engineering, MIT Campus, Anna University, Chennai, India
Anitha G ; Department of Aerospace Engineering, MIT Campus, Anna University, Chennai, India

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Abstract

This paper presents a hybrid unmanned aerial vehicle configuration, the quad tilt rotor (QTR), which combines both the tandem wing configuration and the quadrotor configuration using a tilt mechanism. The paper focuses on the vehicle configuration, transition control scheme and modified proportional-integral-derivative (PID) control. The effectiveness of a tilt rotor configuration depends on its smooth transition from rotary wing to tandem wing flight during take-off and vice-versa during landing. An autonomous transition control scheme for the QTR using a modified PID controller is proposed to maintain desirable attitudes during transition. The derivative control of error term in a conventional PID controller is replaced by the rate of change of the control parameter in the modified PID controller. The modified PID controller provides the desired response with significantly reduced oscillations and actuator control effort than the conventional PID controller. The QTR configuration is simulated in a software-in-the-loop (SIL) simulation using MATLAB Simulink and the X-Plane simulator to analyze the controller performance and flight characteristics during transitions from rotary wing to tandem wing flight during take-off and vice-versa during landing. The simulation is performed with and without atmospheric disturbance and the simulation results showed acceptable deviation in attitude during the transition even under atmospheric disturbances.

Keywords

transition control; dynamic modelling; software-in-the-loop simulation; quad tilt rotor; X-Plane

Hrčak ID:

294284

URI

https://hrcak.srce.hr/294284

Publication date:

19.4.2023.

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