Study on modular design method of tiltable rotor system for quad tilt-rotor unmanned aircraft

The tilt-rotor unmanned aerial vehicle has the obvious trend of multi-rotor development, and modular design of tiltable rotor system is helpful to integrate assembly and can reduce design duplication. In this paper, a quad tilt-rotor unmanned aerial vehicle (UAV) is taken as the target, and the modular design method is applied to the design of the tiltable rotor system. Firstly, the modular mechanical structure, control structure and communication structure of the tiltable rotor system are designed. By using CAN bus communication mechanism, the tiltable rotor system is connected to the overall distributed control system as a node. Then, the internal pitch control, rotor speed control and rotor tilting control of the tiltable rotor system are studied. Finally, a tiltable rotor system test platform is built to verify the correctness of each component design of the tiltable rotor system modular and the feasibility of the modular design method. The results show that the rotor speed fluctuation error is less than 2.6%, the smooth and uniform transition from helicopter mode to fixed wing mode can be achieved within 7 s, and the system has good real-time data communication, which meet the application requirements of tiltable rotor system.