Research on Manipulation Strategy and Flight Test of the Quad Tilt Rotor in Conversion Process

The quad tilt rotor (QTR) has the problem of manipulation redundancy due to the helicopter and fixed-wing manipulation mechanisms. Solving the problem of manipulation redundancy and develop an effective manipulation strategy is critical for QTR during conversion flight. A novel manipulation strategy based on states of QTR is proposed in this paper to solve the problem of manipulation redundancy in conversion mode. The longitude is controlled by the tilt angle of nacelle in helicopter mode and the course is controlled by the speed error of propellers in fixed-wing mode. The Active Disturbance Rejection Control (ADRC) is adopt into the flight control law, which can observe and compensate for internal and external disturbance. The simulation and flight test are carried out to verify the proposed manipulation strategy and the results show that the proposed manipulation strategy is effective and reasonable.