Modeling and Simulation of the HADA Reconfigurable UAV

Authors:
Guillermo Heredia;Alfonso Duran;Anibal Ollero
Affiliations:
Robotics, Vision and Control Group, University of Seville, Seville, Spain 41092;Center for Advanced Aerospace Technologies (CATEC), Aeropolis, Seville, Spain;Robotics, Vision and Control Group, University of Seville, Seville, Spain 41092 and Center for Advanced Aerospace Technologies (CATEC), Aeropolis, Seville, Spain
Venue:
Journal of Intelligent and Robotic Systems
Year:
2012

Citing 3
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Abstract

The "Helicopter ADaptive Aircraft" (HADA) is a reconfigurable UAV that performs both as a helicopter for take-off, landing and hovering flight, but that "morphs" in flight to a conventional fixed wing configuration for cruise flight, unfolding the wings that are beneath the fuselage and transferring power from the main rotor to a pusher propeller. This paper presents the dynamic model of the behaviour of the HADA in the transition phases. The model takes into account the aerodynamic effects and variable mass and inertia characteristics of variable sweeping wings which are present in the HADA design, incorporating wind tunnel data. Simulations of the wing deployment process of the HADA are also presented.