Dynamic Modelling of the Hovering Phase of a New V/STOL UAV and Verification of the PID Control Strategy

This paper analyses the dynamics of a vertical/short take-off and landing (V/STOL) unmanned aerial vehicle (UAV), and obtains a nonlinear dynamics model. During the flight from vertical take-off to hovering, the roll moment, pitch moment and yaw moment are regarded as control inputs to linearize the nonlinear dynamic model to obtain the system transfer function. Finally, the control scheme of pitch angle during the flight from vertical take-off to hovering is developed, and the control scheme is verified by simulation. The simulation results reveal that the designed Proportional-Integration-Differential (PID) attitude controller can achieve stable control of the pitch attitude of the V/STOL drone during the hovering phase.