Dual-axis tilting rotor quad-plane design, simulation, flight and performance comparison with a conventional quad-plane design

Conference paper (2022)
Copyright: © 2022 A. Mancinelli, E.J.J. Smeur, B.D.W. Remes, G.C.H.E. de Croon
DOI: https://doi.org/10.1109/ICUAS54217.2022.9836063
UAV Hybrid MAVs Tilting rotors VTOL Quad-plane Wind disturbance rejection capability
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Published Date

2022

Language

English

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Abstract

In the last few decades, the UAV research has been focusing on hybrid vehicles with Vertical Takeoff and Landing (VTOL) capabilities. Opposed to copters, hybrid vehicles are highly influenced by wind disturbances. This paper presents a novel quad-plane design that uses four dual-axis tilting rotors to enhance the wind rejection capability of a conventional quad-plane vehicle. After the non-linear mathematical model derivation and the actuator identification, the performance of the vehicle is addressed and compared to a conventional quad-plane in simulation, showing a factor 3.4 improvement in linear acceleration reaction time and a reduction of the gust induced displacement of 80%. Free-flight wind tunnel experiments confirmed the simulation outcome and extended the vehicle wind rejection capabilities behavior also to the lateral gust scenario.