Motion Control Automation in the Quadcopter Convertiplane in a Transient Mode

The article deals with the issues of mathematical simulation of the convertiplane motion with controlled electric drives and tilt rotors (propellers) executed on a quadropter pattern. The computational scheme has been introduced and differential equations describing the controlled motion of the vehicle in space have been derived. Simulations of the convertiplane motion in transient modes has been carried out. The prototype of the convertiplane on which experimental studies were conducted was developed and produced.