四轴飞行器,又称四旋翼飞行器、四旋翼直升机。它是一种多旋翼飞行器。四轴飞行器的四个螺旋桨都是电机直连的简单结构,十字形的布局允许飞行器通过改变电机转速获得旋转机身的力,从而调整自身姿态。因为它固有的复杂性,历史上从未有大型的商用四轴飞行器。近年来得益于科学技术的发展,稳定的四轴飞行器得到了广泛的关注,应用前景十分可观。小型的四轴飞行器可以自由地实现悬停和空间的自由移动,具有很大的灵活性。此外,因为它结构简单,机械稳定性 Quadrocopter, also known as quadrotor, quadrotor. It is a multi-rotor aircraft. The four propellers of the quadcopter all have the simple structure of direct connection of the motor. The cruciform layout allows the aircraft to adjust its posture by changing the speed of the motor to obtain the force of rotating the fuselage. Because of its inherent complexity, historically no large commercial quadcopter has ever existed. In recent years, due to the development of science and technology, the stable quadcopter has received widespread attention and its application prospect is very promising. The small quadcopter has the freedom to move freely in hover and in space with great flexibility. In addition, because of its simple structure, mechanical stability