中文摘要：

所研究对象为四旋翼倾转定翼无人机（Quad Tiltwing-Unmanned Aerial Vehicle，QTw-UAV），首先对QTw-uAV的直升机模式进行动力学特性分析，建立其滚转运动数学模型，然后设计了基于模型参考的PID自适应控制器，在传统PID控制方法的基础上融合自适应控制算法，给出PID参数自整定率，实现了QTw-UAV姿态角的自适应控制；仿真结果表明，设计的控制器具有良好的稳态和跟踪性能，实现了QTw-uAV姿态稳定控制。

英文摘要：

This paper mainly research the tilt fixed wing-unmanned aerial vehicle with four rotors, namely quad tilt wing-unmanned aerial vehicle （QTW-UAV）. Firstly we analysis the dynamics of QTW-UAV in helicopter mode and establish the dynamic model in roll- ing motion. Then design a PID adaptive controller based on reference model. Based on the traditional PID control method and combined with the adaptive control algorithm, we get the PID parameter self-tuning rate and achieve the attitude adaptive adjustment. Finally, the simula- tion results prove that the design of the controller have a good steady performance.