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<p>The quad tilt-rotor unmanned aerial vehicle (QTR) comprises a fuselage, wings, vertical tails, and four independently tiltable rotors. Compared to traditional tilt-rotor configurations, the QTR leverages its control redundancy to support multiple flight modes, including helicopter mode. As a fundamental flight mode, helicopter mode can be implemented through various manipulation strategies. However, the non-unique control allocation from the four-channel inputs to the four tilt-rotor mechanisms results in differences in attitude and trajectory tracking performance under different strategies. This paper focuses on a 120&#xa0;kg-class QTR, establishes its flight dynamics model, and analyzes the performance of multiple manipulation strategies in helicopter mode. To address the insufficient disturbance estimation capability of the conventional Extended State Observer (ESO) in Active Disturbance Rejection Control (ADRC), a Dynamic Bandwidth-based ADRC (DB-ADRC) is proposed, and a corresponding flight control system is developed. Through hardware-in-the-loop (HIL) simulation and flight tests using a self-developed onboard flight control computer, the stability and trajectory tracking performance of different manipulation strategies are validated via typical flight maneuvers such as coordinated turns. The results demonstrate that the designed flight control system and manipulation strategies for the QTR in helicopter mode are reliable, provide rapid response, and achieve high control accuracy.</p>

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Design of manipulation strategy and flight control for a quad tilt-rotor in helicopter mode

  • 期刊论文

  • 发表日期：

    2025年12月1日

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  • Bohai Deng,
  • Jinfa Xu,
  • Shengwei Li,
  • Xin’ao Wang,
  • Xiangchen Mao

摘要

The quad tilt-rotor unmanned aerial vehicle (QTR) comprises a fuselage, wings, vertical tails, and four independently tiltable rotors. Compared to traditional tilt-rotor configurations, the QTR leverages its control redundancy to support multiple flight modes, including helicopter mode. As a fundamental flight mode, helicopter mode can be implemented through various manipulation strategies. However, the non-unique control allocation from the four-channel inputs to the four tilt-rotor mechanisms results in differences in attitude and trajectory tracking performance under different strategies. This paper focuses on a 120 kg-class QTR, establishes its flight dynamics model, and analyzes the performance of multiple manipulation strategies in helicopter mode. To address the insufficient disturbance estimation capability of the conventional Extended State Observer (ESO) in Active Disturbance Rejection Control (ADRC), a Dynamic Bandwidth-based ADRC (DB-ADRC) is proposed, and a corresponding flight control system is developed. Through hardware-in-the-loop (HIL) simulation and flight tests using a self-developed onboard flight control computer, the stability and trajectory tracking performance of different manipulation strategies are validated via typical flight maneuvers such as coordinated turns. The results demonstrate that the designed flight control system and manipulation strategies for the QTR in helicopter mode are reliable, provide rapid response, and achieve high control accuracy.