부산대학교 도서관

The proposed tail-sitter UAV in this paper combines the characteristics of helicopter and fixed-wing aircraft, with the performance of vertical take-off and landing and high-speed forward flight. Firstly, the total layout design of the UAVis carried out, the nonlinear dynamic model of the full-envelope flight is established, and the control law and coupling characteristics of the U A V are analyzed through the model characteristics. Secondly, according to the flight speed and pitch angle, a redundant allocation control strategy of adaptive rotor control and fixed-wing surface control is obtained, and a smooth switching method of horizontal and vertical attitudes is designed, with the numerical simulation is developed during the full-envelope flight. Finally, a flight test is carried out for a prototype UA V, the rationality of the redundant allocation control strategy and the feasibility of the full-envelope flight control law are verified.