Design and Simulation on Autonomous Landing of a Quad Tilt Rotor

Authors

Supu Xiu, 1. School of Navigation, Wuhan University of Technology, Wuhan 430063, China; ;2. Intelligent Transportation Systems Research Center, Wuhan 430063, China; ;3. National Engineering Research Center for Water Transport Safety, Wuhan 430063, China; ;
Yuanqiao Wen, 1. School of Navigation, Wuhan University of Technology, Wuhan 430063, China; ;2. Intelligent Transportation Systems Research Center, Wuhan 430063, China; ;3. National Engineering Research Center for Water Transport Safety, Wuhan 430063, China; ;
Changshi Xiao, 1. School of Navigation, Wuhan University of Technology, Wuhan 430063, China; ;2. Intelligent Transportation Systems Research Center, Wuhan 430063, China; ;4. Hubei Key Laboratory of Inland Shipping Technology, Wuhan 430063, China; ;
Haiwen Yuan, 1. School of Navigation, Wuhan University of Technology, Wuhan 430063, China; ;5. School of Electrical and Information Engineering, Wuhan Institute of Technology, Wuhan 430205, China;
Wenqiang Zhan, 1. School of Navigation, Wuhan University of Technology, Wuhan 430063, China; ;4. Hubei Key Laboratory of Inland Shipping Technology, Wuhan 430063, China; ;

Abstract

Abstract: Aiming at the under-actuation of general quadrotors, a novel quad tilt rotor model is proposed. The model decouples the y-direction translation and roll rotation of a quadrotor by the four servos used respectively for the tilting control of the four propellers to realized the tilt hover and tilt flight of the UAV, the UAV can keep a tilt attitude which increases the maneuverability and the precise pose position and attitude control of the tilt UAV and ensures a good performance on the trajectory tracking and landing. A 5-degree polynomial optimization is used in UAV trajectory planning for the strong robustness and optimal distance. The quad tilt rotor model is verified by Matlab/Simulink, and the results show that the aircraft with the proposed model could land on a slope or moving platform more quickly and accurately.

Recommended Citation

Xiu, Supu; Wen, Yuanqiao; Xiao, Changshi; Yuan, Haiwen; and Zhan, Wenqiang (2020) "Design and Simulation on Autonomous Landing of a Quad Tilt Rotor," Journal of System Simulation: Vol. 32: Iss. 9, Article 5.
DOI: 10.16182/j.issn1004731x.joss.18-0135
Available at: https://dc-china-simulation.researchcommons.org/journal/vol32/iss9/5

First Page

1676

Revised Date

2020-03-13

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.18-0135

Last Page

1685

CLC

TP391.9

Recommended Citation

Xiu Supu, Wen Yuanqiao, Xiao Changshi, Yuan Haiwen, Zhan Wenqiang. Design and Simulation on Autonomous Landing of a Quad Tilt Rotor[J]. Journal of System Simulation, 2020, 32(9): 1676-1685.

DOI

10.16182/j.issn1004731x.joss.18-0135