| Citation: | WAN Jia, LIU Hong, WANG Fuxinet al. Imperative modeling elements for multi-rotor unmanned aerial vehicles[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(6): 1072-1079. doi: 10.13700/j.bh.1001-5965.2016.0481(in Chinese)
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The multi-rotor unmanned aerial vehicle (UAV) is one of the popular configurations in the UAV industry for small UAVs. However, research on the modeling of multi-rotor vehicles and its characteristics regarding flight mechanics is still limited. A flight mechanics model for multi-rotor UAV is developed based on a classical helicopter model, and is used for the initial analyses of the hovering modes of a multi-rotor UAV. The results show that the dynamic stability of a multi-rotor vehicle is lower than that of a conventional helicopter, and the Dutch-roll mode is replaced by the lateral Phugoid mode. Based on the weakly-coupled system theory and simplified longitudinal equation of motion, the impacts of different modeling elements on multi-rotor modeling are analyzed, including the rotor rotation degree of freedom (DOF), the rotor inflow model and the rotor aerodynamic moments. It is shown that the rotor rotation DOF has large impacts on the flight mechanics characteristics of a multi-rotor vehicle with stability augmentation system. For a rigid rotor, the inflow distribution is one of the definitive factors for the rotor pitch and roll aerodynamic moments, which play an important role in the hovering modes of a multi-rotor vehicle. Therefore, all these three elements should be considered in the modeling and flight mechanics analyses for multi-rotor vehicles.
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