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针对常规旋翼飞行器飞行速度小和加速飞行时不能保持机体水平姿态等问题,提出了一种具有全向推力矢量的六旋翼无人机设计方案;分析了推力矢量六旋翼在可倾转旋翼结构倾转不同角度时的飞行模式;建立了推力矢量六旋翼的动力学模型,并针对动力学模型设计了PID控制器;最后对动力学模型进行数值仿真验证。结果表明,所设计的推力矢量六旋翼能够悬停,且可以在定速飞行中保持飞行器的水平姿态。
Aiming at the problems such as the small flight speed of conventional rotorcraft and the inability to maintain the horizontal attitude during flight, a design scheme of a six-rotor UAV with omni-directional thrust vector is proposed. Aiming at the flight mode of different angles, the dynamic model of the six-rotor thrust vector was established, and the PID controller was designed for the dynamic model. Finally, the dynamic model was verified by numerical simulation. The results show that the designed thrust vector six-rotor can hover and maintain the aircraft’s horizontal attitude at constant speed.