一种改进的四旋翼飞行器建模方法

四旋翼飞行器的高精度动力学建模对于飞行控制性能的提升具有重要意义。传统的动力学模型是基于单个旋翼的力、力矩特性推导的，忽略了飞行器的整体动力学特征。考虑到四旋翼飞行器在机动情况下的整体动力学特点，对传统动力学模型进行了改进，在阻力模型中增加了角加速度相关项，在扭矩模型中增加了阻力相关项，在横滚与俯仰力矩模型中增加了切向力相关项，从而提高了模型的精度。通过四旋翼飞行器飞行试验对模型精度进行了验证，结果表明改进的动力学模型相较于传统模型具有更高的精度，对于飞行器的准确建模具有较好的参考意义。

An Improved Modeling Method for Quadrotor

The high-accuracy dynamic modeling of the quadrotor is of great significance for the improvement of the flight control performance. The traditional dynamic model is derived based on the force and torque characteristics of a single rotor, ignoring the overall dynamics of the quadrotor. Considering the overall dynamic characteristics of the quadrotor in the maneuvering condition, the traditional dynamic model is improved. This paper proposes the angular acceleration related term for the drag model, the drag related term for the torque model, and the tangential related terms for the roll and pitch moment models to increase model accuracy. The accuracy of model is verified by the flight experiments of quadrotor, which shows that the improved dynamic model presented in this paper has a higher accuracy than the traditional model, and has a good reference significance for the accurate modeling for the quadrotor.