Tri-quadrotor with main and secondary rotor

Multi-rotor aircrafts were widely used in military and civilian fields. However, the development of multirotor aircraft was limited by power and endurance time. In order to improve these problems, this paper focused on the flight module with one main rotor and three secondary rotors under the triangular frame, which can form the Unmanned Aerial Vehicle Array. Mathematical modeling and dynamics analysis were carried out, and a controller was designed to realize its control. The frame was a triangle, which reduced the footprint of the aircraft, improved space utilization, and made the rotor placement more compact. The main rotor and the secondary rotor structure made it easier to achieve separate power supply and hybrid power supply between the rotors. Through the adjustment of the control allocation matrix, the control method of the main rotor and secondary rotor triangular quadrotor aircraft had a similar structure to the traditional quadrotor, and the simulation of the quadrotor with the main rotor and secondary rotor structure under the triangular frame was achieved through simulation and physical construction experiments.