Quad-Plane UAV(quadrotor fixed-wing hybrid vertical take-off and landing Unmanned Aerial Vehicle) is vulnerable to wind disturbance in quadrotor mode, and the performance of the electric quadrotor system directly affects its wind disturbance rejection performance. To study and optimize the wind disturbance rejection performance of the electric quadrotor system of Quad-Plane precisely and efficiently, a dynamic electric quadrotor simulation system integrating high-precision submodels of electric quadrotor system components is required. However, there are few papers on this kind of simulation system. This paper proposed a simulation system with both high computational efficiency and precision, and it can be used in optimization and flight simulation of Quad-Plane. The simulation system includes submodels of rotor, brushless direct current (BLDC) motor, electronic speed controller (ESC), and Li-ion Polymer battery. The surrogate-based rotor model is established to calculate the aerodynamic performance of the rotor in oblique flow. The BLDC motor performance calculation model considering inductance is presented and the power loss of the ESC is considered. The discharge characteristics of the battery are modeled considering the rate capacity effect. All submodels are validated and the simulation results show good agreements with test data. A flight test of Quad-Plane in quadrotor mode is conducted to validate the integrated dynamic simulation system. The results show that the simulation system has the advantages of high computational efficiency and precision. Based on the simulation system, the influence of the electric quadrotor system parameters on the performance of the electric quadrotor system, and furthermore on the wind disturbance rejection performance of the Quad-Plane are found, the conclusions are helpful to the selection and optimization of the electric quadrotor system components.

Quad-Plane UAV(quadrotor fixed-wing hybrid vertical take-offed up and Landing Unmanned Aerial Vehicle)在四旋翼模式下容易受到风扰，而电动四旋翼系统的性能直接影响其抗风扰性能。为了精确、高效地研究和优化Quad-Plane电动四旋翼系统的抗风扰性能，需要一种集成电动四旋翼系统部件高精度子模型的动态电动四旋翼仿真系统。然而，关于这种模拟系统的论文很少。本文提出了一种计算效率高、精度高的仿真系统，可用于Quad-Plane的优化和飞行仿真。仿真系统包括转子子模型、无刷直流 (BLDC) 电机、电子调速器 (ESC) 和锂离子聚合物电池。建立了基于代理的转子模型，计算了转子在斜流中的气动性能。提出了考虑电感的BLDC电机性能计算模型，并考虑了电调的功率损耗。考虑倍率容量效应对电池的放电特性进行建模。所有子模型都经过验证，仿真结果与测试数据吻合良好。Quad-Plane在四旋翼模式下进行飞行测试以验证集成的动态仿真系统。结果表明，该仿真系统具有计算效率高、精度高等优点。基于仿真系统，