quadcopter

Abstract

The invention relates to a four-rotor aircraft, relates to the fields of aircrafts, and solves a problem that existing four-rotor aircrafts have weak yawing capability. The four-rotor aircraft comprises an aircraft body, an avionics system, a landing gear, a work loading module, four supporting arms and driving units, wherein the supporting arms are connected with the avionics system, the supporting arms expand along a center shaft of the aircraft body towards all around with equal angles, and the driving units are disposed at the front ends of the supporting arms. The included angles between the center shaft of the aircraft body and the supporting arms are the same, and are less than 90 degrees and greater than 0 degree. The projections of the supporting arms on the oxy plane are two axisymmetric and intersectant straight lines. The projections of the driving units on the xoy plane are respectively in the four quadrants or are respectively on the x positive axis, the y positive axis, the x negative axis and the y negative axis. A projection, of the spin axis of the driving units, on the yoz plane or the xoz plane respectively has an included angle theta with the z axis, wherein the theta is not more than 65 degrees and not less than -65 degrees, and 0 is not included. The projection, of a connecting line between the spin center and the origin of the aircraft body coordinate system, on the xoy plane is perpendicular to the projection of the spin axis of the driving units on the xoy plane. The yawing moment of the four-rotor aircraft is increased by an order of magnitude, and the yawing capability of the four-rotor aircraft is greatly enhanced.

Description

technical field [0001] The invention relates to the technical field of aircraft, in particular to a quadrotor aircraft. Background technique [0002] Quadrotor aircraft is the most common multi-rotor aircraft. It installs four rotors with fixed inclination angles on the same plane. It is safer, and the thrust generated by the four rotors can better realize the static hovering of the aircraft than the thrust generated by a single rotor. [0003] Quadrotor aircraft, by changing the speed of the four rotors to generate the lift and torque required for aircraft flight to achieve stable hovering and precise flight, from the perspective of motion, the quadrotor aircraft has six degrees of freedom in space and four controllable basic Motion state, the four basic motion states are vertical flight, longitudinal flight, lateral flight and horizontal rotation. The first three motion states are to realize the motion of the aircraft by changing the lift force of the four rotors to produ...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of weak yaw ability existing in existing quadrotor aircraft, the present invention proposes a quadrotor aircraft with stronger yaw ability

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