Modeling and Control of a Fixed Wing Tilt-Rotor Tri-Copter

Abstract

The following thesis considers modeling and control of a fixed wing tilt-rotor tri-copter. An emphasis of the conceptual design is made toward payload transport. Aerodynamic panel code and CAD design provide the base aerodynamic, geometric, mass, and inertia properties. A set of non-linear dynamics are created considering gravity, aerodynamics in vertical takeoff and landing (VTOL) and forward flight, and propulsion applied to a three degree of freedom system. A transition strategy, that removes trajectory planning by means of scheduled inputs, is theorized. Three discrete controllers, utilizing separate control techniques, are applied to ensure stability in the aerodynamic regions of VTOL, transition, and forward flight. The controller techniques include linear quadratic regulation, full state integral action, gain scheduling, and proportional integral derivative (PID) flight control. Simulation of the model control system for flight from forward to backward transition is completed with mass and center of gravity variation.