目前傾轉式旋翼機所發生的事故多以模式轉換過程發生不穩定而墜機居多，可見如何穩定且安全地進行模式轉換是傾轉式旋翼機是否可運用於實戰上的一大重點。本研究分別針對兩模式設計軌跡與姿態控制器，並以速度為函數設計短艙傾角旋轉路徑，使其在模式轉換過程中能依據當下飛行狀態旋轉短艙，避免在速度過低的情況下過快旋轉短艙傾角，使得升力不足而發生不穩定。本研究進一步改良增量式非線性動態反算於模式轉換中之應用，採用殘餘值重複計算的方式，依序將需求分配到相應的舵面上，此方法在模式轉換中需要分配不同比例的力與力矩到旋翼機及定翼機舵面時，可避免Pseudo Inverse 為求最佳解而求出不合理之結果，並於MATLAB/Simulink 進行模擬驗證。
傾轉式旋翼機具有兩種模式，因此在定翼機模式下飛行時，旋翼機舵面為閒置狀態，若能運用此特點，在故障發生時進行重組容錯飛行控制，徵召閒置舵面進行補償，可大大增加飛行器故障後的存活機率。本研究應用非線性動態反算(Nonlinear Dynamic Inversion)方法推算真實舵面輸出角，與理想舵面輸出角進行比較，以誤差量及持續時間做為判斷是否發生故障之準則，並設計一套重組容錯流程，在需要的時候啟用閒置舵面進行補償，增加舵面的使用效率及飛行器的存活機率。

Accidents of tiltrotor aircraft are mostly caused by the instability during conversion process. To stably and safely convert between helicopter and airplane mode is a major focus of whether tiltrotor aircraft can be used in actual combat mission. To improve the safety of conversion, this paper develops the path and attitude controller in two modes respectively. This paper also designs a rotation path of mast angle as a function of flight speed, because if the nacelle rotates too quickly in low speed situation, the instability would cause by lack of lift. This paper further improves Incremental Nonlinear Dynamic Inversion(INDI) method for conversion, using repeated calculation of residual to distribute the force command to corresponding control surfaces. In the case which need to allocate different force and moment proportion to different control surfaces, the proposed method can avoid unreasonable minimum norm result of Pseudo Inverse. Related simulation would build in MATLAB/Simulink environment.
Except for conversion, the advantage of having two modes can also be used in failure situations. Helicopter control surfaces are inactive during cruising, if they could be used by reconfiguration control when airplane control surfaces fail, the aircraft would have more chance of survival. This paper uses Nonlinear Dynamic Inversion(NDI) to estimate actual control surface angle, and then compare with ideal input angle which calculate by INDI. After failure detect, this paper design a set of reconfiguration control process, which could enable the spare control surface to compensate the lack of force command caused by failure.

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