Design and Modeling of an Omni-Directional Vector Thrust Hexarotor

摘要：

　　In order to increase the flight speed of the conventional quadrotor UAV,meanwhile to keep horizontal attitude during the flight,a designing scheme of an omni-directional vector thrust hexarotor UAV is proposed in this paper.A new rotatable rotor is added in the center of the hexarotor UAV,which provides the omni-directional vector thrust by rotating centre on two orthogonal axises.The different flight modes,in which the rotatable rotor rotates to different angles,are analised.The dynamic model is established and the PID controller to the vector thrust hexarotor is designed.The simulation results show that the designed omni-directional vector thrust hexarotor UAV can keep hovering and the horizontal attitude during the uniform speed flight.

关键词： Hexarotor Thrust vector Dynamic model Flight mode PID control

作者: MA Zhen-qiang Dong Wen-han Xie Wu-jie Shao Peng-jie

作者单位: Engineering Institute of Aeronautics and Astronautics, Air Force Engineering University,Xi’an 710038, China

会议类型: 国际会议

会议名称: 2016中国机构与机器科学国际会议

会议地点: 广州

会议语种:英文

页码: 283-294

在线出版日期: 2016-12-15（万方平台首次上网日期，不代表论文的发表时间）