四旋翼无人机的结构形式和工作原理（The structure and working principle of the quadrotors）.docVIP

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四旋翼无人机的结构形式和工作原理（The structure and working principle of the quadrotors）.doc

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四旋翼无人机的结构形式和工作原理（The structure and working principle of the quadrotors） The structure and working principle of quadrotors 1. Structural form The helicopter is four cycles before it is cleverly used to control the total distance control and cycle change control The wing structure is considered to be the simplest and most intuitive form of stable control. But by the In this form, it is necessary to coordinate the state parameters of the four rotors The pilot thought that manipulation was a very difficult thing, so the plan was never there Its actually used in large helicopter designs. Here the quadrotors are back This structure is considered mainly because of the total distance control and periodic variable distance control Although the design is exquisite and flexible, its complex mechanical structure makes it not The application of the design of the small four-rotor aircraft. Also, the quadrotors Rotor efficiency is relatively low, and the space to increase tension from a single rotor is very common Limited, so the use of multi-rotor structure is undoubtedly an enhancement of the four-rotor flight One of the most effective means of load capacity. As for the control of the quadrotors More problems are expected to be solved by designing automatic flight control system. four The rotor aircraft USES four rotors as the direct power source of flight and the rotor symmetry It is distributed in the front and back of the body, in four directions, and the four rotors are at the same height The structure and radius of the four rotors are the same, rotor 1 and rotor 3 inverse Clockwise rotation, rotor 2 and rotor 4 clockwise rotation, 4 motor symmetric Ann In the supporting end of the aircraft, the middle space of the bracket is placed in the flight control computer External devices. The structure of the quadrotors is shown in figure 1.1. Motor 4 motor 2 Motor 1 The motor 3 Flight control computer stents rotor FIG. 1.1 structure of quadrotors 2. Working principle The typical he