The wind disturbance rejection capability of a quadrotor fixed-wing hybrid unmanned aerial vehicle (QFHUAV) in the quadrotor mode is an important factor restricting its large-scale applications. In this paper, based on static equilibrium analysis of the quadrotor mode of a QFHUAV with a wind disturbance, a method for analyzing and evaluating the wind disturbance rejection capability of the QFHUAV in the quadrotor mode is presented. The six degrees-of-freedom (6-DOF) static equilibrium equations of the QFHUAV are established in headwind and crosswind situations. The maximum wind velocity that satisfies the equilibrium equations under the constraints of the maximum thrust and torque of the quadrotor propulsion system is used to determine the wind disturbance rejection capability of the QFHUAV in the quadrotor mode. A QFHUAV with a twin-boom is used as an example to analyze and evaluate its wind disturbance rejection capability in the quadrotor mode. The configuration parameters, quadrotor propulsion system parameters, and aerodynamic parameters affecting the wind disturbance rejection capability of the QFHUAV in the quadrotor mode are presented, discussed, and explained. The yawing moment from the wind disturbance is the main factor threatening the safe flight of the QFHUAV in the quadrotor mode. The rotor disk angle, the maximum thrust of the quadrotor propulsion system, and the moment arms of the components of the quadrotor propulsion system thrust are the main factors affecting the wind disturbance rejection capability of the QFHUAV in the quadrotor mode. Increasing these parameter values is an effective approach to improve the wind disturbance rejection capability of the QFHUAV in the quadrotor mode. From the perspective of wind disturbance rejection capability, tailless and X-type layouts are better choices for QFHUAVs. The correctness of results obtained by the proposed method is verified by two flight test schemes.

中文翻译：

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一种评估混合无人机四旋翼模式抗风能力的方法

四旋翼固定翼混合无人机（QFHUAV）在四旋翼模式下的抗风能力是制约其大规模应用的重要因素。本文基于QFHUAV四旋翼受风扰动模式的静态平衡分析，提出了一种QFHUAV四旋翼模式抗风能力的分析评价方法。在逆风和侧风情况下，建立了 QFHUAV 的六自由度 (6-DOF) 静态平衡方程。在四旋翼推进系统最大推力和转矩约束下满足平衡方程的最大风速用于确定QFHUAV在四旋翼模式下的抗风能力。以具有双臂的QFHUAV为例，对其在四旋翼模式下的抗风干扰能力进行了分析和评估。介绍、讨论和解释了影响 QFHUAV 在四旋翼模式下的抗风能力的配置参数、四旋翼推进系统参数和空气动力学参数。风扰的偏航力矩是威胁四旋翼飞行模式下QFHUAV安全飞行的主要因素。旋翼盘角、四旋翼推进系统的最大推力、四旋翼推进系统各部件的力臂是影响四旋翼模式下QFHUAV抗风能力的主要因素。增加这些参数值是提高四旋翼飞行器模式下 QFHUAV 抗风能力的有效途径。从抗风能力的角度来看，无尾翼和X型布局是QFHUAV更好的选择。两种飞行试验方案验证了所提方法所得结果的正确性。