四旋翼无人机前飞模态特性

To study the characteristics of quadrotor unmanned aerial vehicle (UAV) in the forward flying mode, an aerodynamic model of rotor and fuselage is established through the mechanism analysis (blade element method) and wind-tunnel experiments. The nonlinear dynamic model and the state-space model of quadrotor UAV were acquired with considering the previous aerodynamic models and verified through wind tunnel test. The result shows that the aerodynamic characteristics of a rotor in forward flying mode are quite different from that in hovering mode; and the coupling of pitch channel and vertical channel, and the coupling of roll channel and yaw channel exist in the forward flying mode.