Design and Modeling of an Omni-Directional Vector Thrust Hexarotor

In order to increase the flight speed of the conventional quadrotor UAV, meanwhile to keep horizontal attitude during the flight, a designing scheme of an omni-directional vector thrust hexarotor UAV is proposed in this paper. A new rotatable rotor is added in the center of the hexarotor UAV, which provides the omni-directional vector thrust by rotating centre on two orthogonal axises. The different flight modes, in which the rotatable rotor rotates to different angles, are analised. The dynamic model is established and the PID controller to the vector thrust hexarotor is designed. The simulation results show that the designed omni-directional vector thrust hexarotor UAV can keep hovering and the horizontal attitude during the uniform speed flight.