六旋翼无人机通过双框架被动倾斜结构，实现高效独立控制。
A Class of Dual-Frame Passively-Tilting Fully-Actuated Hexacopter
- 采用双框架被动倾斜设计，用最少执行器完成全向运动与姿态独立控制。
- 相比传统构型，内部力抵消被消除，相同载荷下飞行效率和续航提升。
- 仿真验证了其全驱动运动能力及控制策略的有效性，适合高精度飞行任务。
本文提出一种新型全驱动六旋翼无人机，具有双框架被动倾斜结构，可在最少执行器条件下实现平移运动与姿态的独立控制。相较于以往全驱动无人机，该设计消除了内部力抵消问题，在同等载荷下显著提升飞行效率与续航能力。基于全驱动六旋翼的动力学模型，设计了全驱动控制器，实现了高效稳定的控制。最后通过仿真验证了该无人机出色的全驱动运动能力以及所提控制策略的有效性。
原文摘要 · Abstract (English)
This paper proposed a novel fully-actuated hexacopter. It features a dual-frame passive tilting structure and achieves independent control of translational motion and attitude with minimal actuators. Compared to previous fully-actuated UAVs, it liminates internal force cancellation, resulting in higher flight efficiency and endurance under equivalent payload conditions. Based on the dynamic model of fully-actuated hexacopter, a full-actuation controller is designed to achieve efficient and stable control. Finally, simulation is conducted, validating the superior fully-actuated motion capability of fully-actuated hexacopter and the effectiveness of the proposed control strategy.
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