Dynamics Modeling and Optimization for the Tilting System of Unmanned Aerial Vehicles

The tilt-rotor Unmanned Aerial Vehicles (UAVs) possess not only the ability of long-duration and high-speed cruising of fixed-wing aircraft, but also the advantages of flexible taking off, landing and hovering of rotor aircraft. The tilting system is what makes the tilt-rotor UAV convert between multi-rotor mode and fixed-wing mode. This paper establishes a multi-body dynamics model for the tilting system through Newton-Euler approach, based on which the system is optimized. Numerical examples are given to show the effectiveness of the proposed model and optimization method.