具有姿态控制功能的垂直起降四螺旋桨旋翼机

　　垂直起降四螺旋桨旋翼机可以进行垂直起降并在瞬时改变飞行姿态，且具有较大的带载能力。由于在控制过程中垂直起降四螺旋桨旋翼机的运动是通过改变姿态实现的，故姿态控制是垂直起降四螺旋桨旋翼机控制的核心。

　　本次设计完成的垂直起降四螺旋桨旋翼机方案的设计，由垂直起降四螺旋桨旋翼机上的惯性元件实现姿态检测，经ADuC7026计算机完成系统控制和电机驱动，实现倾转垂直起降四螺旋桨旋翼机的自动飞行。

　　Quad Tilt Rotor with Automatic Attitude Control Function

　　The quad tilt rotor which has a reliable structure can complete the operation of vertical takeoff and landing and change its flight attitude instantaneously. Besides, it’s also a kind of aerial vehicle that with high load-bearing ability. The fact that the implementation of the operation of the four-rotor helicopter is accomplished by changing its flight attitude during the operation process makes the control of the attitude the most important part of the whole control system.

　　In this work, we design a complete quad tilt rotor and accomplish the flight attitude detecting using the micro-mechanical gyros and accelerometers which are installed on the helicopter, and complete the system control and motor drive with microcontroller ADuC7026 to achieve the goal of the automatic flying of the quad tilt rotor.

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