Design and Validation of a Multi-Propeller Tiltrotor UAV: From Parameter Identification to Flight Experiment

Tiltrotor UAV combines the advantages of helicopter vertical take-off and landing, hovering and fixed-wing high-speed cruise, and long-distance flight, which is one of the research hotspots in the field of low-altitude aircraft. This work focuses on the platform design, parameter identification, and dynamic modeling of a novel tiltrotor UAV. First, a novel electric multi-propeller tiltrotor UAV platform with optimized aerodynamic shape and structural layout is designed, and a physical flight platform is constructed accordingly. Second, the power system test, moment of inertia test, and wind tunnel test are conducted based on the multi-propeller tiltrotor UAV to obtain accurate model parameters. Finally, force and moment analysis is completed, and then an analytical control allocation method is proposed to achieve coordinated control of multiple actuators. The effectiveness of the platform design, parameter identification, and dynamic modeling is verified through hardware-in-the-loop simulation and practical flight tests. Experimental results demonstrate that the designed aircraft achieves stable mode transition, while the high consistency between simulation and flight data confirms the effectiveness of the parameter identification and dynamic modeling.