Modeling and Simulation of a Novel Tilt-Wing-Coaxial-Rotor Tricopter

The following paper presents the methodology proposed to describe the equations which may define the flight dynamics of a new tilt-wing-coaxial-rotor tricopter, with the ability to rotate independently its three coaxial rotors. To assertively describe the mechanics involved in such aircraft, forces and torques related to aerodynamical, propulsive and inertial principles are considered. Specially highlighting the non-linear attitude of the aircraft and its moving center of gravity (CG) due to its capability to assume a non-symmetrical morphology airborne. The non-linear mathematical model is essential to fully understand the behavior of a multi-body, omnidirectional, unmanned air vehicle (UAV) in order to apply control technics to it. The inertial matrix that describes the mass distribution of the multi-body system, as function of the coaxial-rotors tilt angles, is compared to the 3D model obtained in a computer-aided-design (CAD) software such as SolidWorks. Finally, a simulation using Linear Quadratic Regulation (LQR) control for a cruise (leveled flight) condition is analyzed in order to validate the dynamic behavior of the aircraft.