摘要： 倾转旋翼无人机综合了四旋翼无人机垂直起降、悬停与固定翼无人机远距离、高速度航行的能力，是一种新模式的无人机。通过对此类无人机桨叶的拉力分析和计算，建立了倾转旋翼无人机的动力学模型,并对模型中拉力系数、舵机电机响应等进行测量。同时针对多路PWM输出，设计了控制电路。对倾转舵机倾转过程进行程序设计，完成两种模态的过渡过程。测试结果表明，控制系统可以完成倾转过程并实现自稳定调节。

中图分类号： TP20；V279
文献标识码： A
DOI：10.16157/j.issn.0258-7998.200840
中文引用格式： 刘建龙，窦银科，左广宇. 倾转旋翼无人机动力学建模与控制系统设计[J].电子技术应用，2021，47(5)：59-63.
英文引用格式： Liu Jianlong，Dou Yinke，Zuo Guangyu. Dynamic modeling and control system design of tilt-rotor UAV[J]. Application of Electronic Technique，2021，47(5)：59-63.

Dynamic modeling and control system design of tilt-rotor UAV

Abstract： 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.

Key words : tilt rotor；system identification；PWM；circuit design