転換機構を有するVTOL UAVの研究

－Tailless Quad Tiltの飛行実験－

抄録

This paper proposes a hybrid type VTOL UAV which is constructed with a quad tilt rotor and a tailless wing for level flight. Tailless wing has a simple profile and a low cost production but also a low drag aerodynamics and enabling long endurance time in level flight. Previous paper shows the design concept of tailless wing that is combined with vertical wing for stability of the longitudinal motion and the reflex shape wing profile reducing pitching moment. The other hand a quadrotor system is already realized stable hovering and horizontal flight, and has suitable geometry to combine into the tailless wing. This paper develops VTOL tailless wing with quad tilt rotor for the rescue and surveying tasks. In order to demonstrate the VTOL performance 90°tilt mechanism is designed and installed into the fuselage. Control model in PX4 is compiled with the mixer file and source files as tailless VTOL with quad tilt rotor. Experimental result demonstrates the vertical take-off, the transition to horizontal flight, the high speed cruise, the transition to vertical flight and the landing.