(EN) The invention discloses a multi-rotor unmanned aerial vehicle motor inclination angle and installation tolerance constraint determination method. The method specifically comprises the following steps:step 1, formulating flight control design indexes according to controllability requirements of attitude channel control distribution and performance requirements of yaw response; step 2, establishinga yaw channel kinetic model with a motor inclination angle according to a motor tension curve and a torque curve of the whole machine and a part of machine type parameters; 3, determining a motor inclination angle according to the yaw channel dynamic model and the flight control design indexes; and step 4, determining an inclination angle installation tolerance range according to the motor inclination angle and a hovering state maximum motor rotating speed difference design index. By quantitatively determining the installation inclination angle of the motor, the yaw response is accelerated, the yaw anti-interference capability is enhanced, and the control quality is improved; the rotating speed difference required by yawing is reduced, and the control allowance of pitching and rolling channels is increased; and by determining tolerance constraints during inclination angle installation of the motor, the risk of unbalance of the rotating speed of the motor is reduced, and the flight control quality is improved.
(ZH) 本发明公开了一种多旋翼无人机电机倾角及安装公差约束确定方法。具体包括如下步骤：步骤1、根据姿态通道控制分配的可控性要求和偏航响应的性能要求制定飞控设计指标；步骤2、根据整机的电机拉力曲线和扭矩曲线以及部分机型参数建立带有电机倾角的偏航通道动力学模型；步骤3、根据偏航通道动力学模型和飞控设计指标确定电机倾角；步骤4、根据电机倾角和悬停状态最大电机转速差设计指标确定倾角安装公差范围。通过对电机安装倾角进行定量确定，从而加快偏航响应，增强偏航抗干扰能力，提升控制品质；减少偏航所需转速差，提高俯仰和滚转通道的控制余量。通过确定电机倾角安装时的公差约束，从而降低电机转速不平衡的风险，提升飞行控制品质。
