Multi-rotor

A multi-axis aircraft is a special helicopter with three or more rotor shafts. The total distance of the rotors is fixed and not as variable as a typical helicopter. By changing the relative rotational speed between different rotors, the magnitude of the uniaxial propulsion can be changed to control the trajectory of the aircraft.

Take the four-rotor as an example

      Motor 1 and motor 2 rotate counterclockwise, motor 3 and motor 4 rotate clockwise, so the rotor's counter torque can be balanced when the aircraft is flying in balance.

Vertical motion, that is, rising and falling

When the rise, the four motor speeds increase, so that the lift is greater than the gravity of the aircraft; when the motor is lowered, the four motors are decelerated, so that the lift is less than the gravity of the aircraft; when the external disturbance is excluded, the lift is equal to the gravity of the aircraft itself, and the aircraft keeps hovering. .

Pitching movement, forward and backward movement

When the motor 1 and the motor 3 decelerate and the motor 2 and the motor 4 accelerate, since the lift of the two rotors behind the aircraft is greater than the lift of the front two rotors, the aircraft moves forward; otherwise, the aircraft moves backward; to the left or toward Right motion is also the principle;

Yaw movement, that is, controlling the direction of the aircraft

When motor 1 and motor 2 accelerate, motor 3 and motor 4 decelerate, the counterclockwise counter-torque will increase and the airplane will rotate to the right; when motor 1 and motor 2 decelerate, motor 3 and motor 4 accelerate, then the aircraft reverses The counter-torque of the hour hand will increase and the airplane will rotate to the left.