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.


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    Title :

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


    Contributors:

    Publication date :

    2023-01-01


    Remarks:

    Transactions of FAMENA ; ISSN 1333-1124 (Print) ; ISSN 1849-1391 (Online) ; Volume 47 ; Issue 1 (online first)


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



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