Abstract
Aiming at the Four-rotor aircraft with complex dynamic characteristics, the Kane method is proposed to derive the mechanical model of the aircraft. Kane method is a new engineering method. According to the general method of establishing Kane equation, the aircraft is regarded as a single rigid body, and the translation and rotation kinematics model and dynamic model of the system are established. Through the analysis of the established kinematics equation, it is concluded that one of the main reasons for the non-linearity of aircraft is the non-linearization of kinematics equation. Finally, the validity of Kane's modeling method is verified by the relevant data obtained from actual flight experiments.
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