This paper presents a lifting-wing multirotor UAV that allows long-range flight. The UAV features a lifting wing in a special mounting angle that works together with rotors to supply lift when it flies forward, achieving a reduction in energy consumption and improvement of flight range compared to traditional multirotor UAVs. Its dynamic model is built according to the classical multirotor theory and the fixed-wing theory, as the aerodynamics of its multiple propellers and that of its lifting wing are almost decoupled. Its design takes into consideration aerodynamics, airframe configuration and the mounting angle. The performance of the UAV is verified by experiments, which show that the lifting wing saves 50.14% of the power when the UAV flies at the cruise speed (15m/s).

中文翻译：

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固定在多旋翼无人机上长距离飞行的起重翼

本文介绍了一种可以进行远程飞行的升翼多旋翼无人机。该无人机采用特殊安装角度的升力翼，与旋翼配合，在向前飞行时提供升力，相比传统多旋翼无人机，实现了能耗的降低和航程的提升。它的动力学模型是根据经典的多旋翼理论和固定翼理论建立的，它的多螺旋桨和升力翼的空气动力学几乎是解耦的。其设计考虑了空气动力学、机身配置和安装角度。通过实验验证了无人机的性能，表明升力翼在无人机以巡航速度（15m/s）飞行时节省了50.14%的功率。