Method for controlling flying of tilt-rotor unmanned helicopter in transition section

A method for controlling flying of a tilt-rotor unmanned helicopter in a transition section is characterized in that the optimal preview control is adopted, and by fusing system motion equation constraints, a preview ideal state and the optimal performance index constraint information, the flying of the tilt-rotor unmanned helicopter in the transition section is controlled; specifically, the method comprises the steps that firstly, a nonlinear model is set up for the transition section of the tilt-rotor unmanned helicopter, and then a liner equation for state space description is obtained in the mode that trimming and linearization at different nacelle dip angles are achieved; secondly, based on the linear model, the optimal preview controller is designed, and the flying speed, the flying height and the flying attitude angle in the transition process are controlled; finally, inertia delay desalted equipment is designed for achieving smooth transition of the tilt-rotor unmanned helicopter between different nacelle dip angles. According to the method for controlling flying of the tilt-rotor unmanned helicopter in the transition section, by fusing a predicable expected speed, a height, an attitude angle and other information, safe switching between modes of the tilt-rotor unmanned helicopter is achieved.