Abstract: To meet the needs of narrow space flight in disaster rescue and military reconnaissance, a quadrotor with independent pitch attitude control was proposed. A tilting degree of freedom was added on the ordinary quadrotor, and using only one servo motor, the quadrotor's pitch attitude could be controlled independently, so that it might hover and fly within a specified pitch attitude. The aerodynamics simulation model of the quadrotor was established, and the influences of airflow interference among rotors on aerodynamics characteristics in tilting states was simulated and analyzed. A test platform for aerodynamics characteristics was built, and the effectiveness of the aerodynamics simulation model was verified by the tests. Finally, a prototype of the quadrotor was developed, and the tilting hover and tilting flight experiments were carried out. The experimental results demonstrate that the quadrotoris able to hover with a pitching angle nearly 90°, and it may achieve stable flight with a pitching angle of 60°, which verify the feasibility of the tilt-deformable quadrotor to fly through the narrow spaces.

Key words: quadrotor, tilt-deformation, narrow space flight, aerodynamics characteristics

摘要： 针对灾难搜救、军事侦察等应用中的狭窄空间飞行需求，提出一种俯仰姿态可以独立控制的四旋翼飞行器。该飞行器在普通四旋翼飞行器的基础上增加了一个倾转自由度，由一个驱动来独立控制飞行器的俯仰姿态，实现指定倾转角的悬停和飞行。建立了飞行器气动力仿真模型，仿真分析了倾转状态下旋翼间气流干扰对气动力特性的影响。搭建了气动力特性测试平台，通过实验验证了气动力仿真模型的有效性。最后，研制了飞行器原理样机，进行了倾转悬停和倾转飞行实验。研究结果表明，飞行器可以实现接近90°的倾转悬停，同时可以以倾转60°的俯仰姿态稳定飞行，验证了倾转变形四旋翼飞行器穿越狭窄空间的可行性。

关键词: 四旋翼飞行器, 倾转变形, 狭窄空间飞行, 气动力特性