| Summary: | The mobility of a quadrotor UAV is significantly affected by its aerodynamics, especially when the closely spaced rotors are applied in the multi-rotor system. This paper addresses the aerodynamic modeling of non-planar quadrotor UAV with various rotor spacing (1 <i>d</i>−2 <i>d</i>) and disk plane angle (0−50 deg). The inter-rotor interference and the power models are also proposed in this paper. In order to validate the non-planar model, a series of CFD analyses and experiments were conducted. The obtained results demonstrate that the flow field of the non-planar quadrotor is extremely complicated when the unsteady flow is involved. The pulsation of partial angle of attack and pressure distribution is formed when the blade passes through the vortex. The thrust is increasing significantly along with the tilt angle, resulting from the stronger outflow of the non-planar rotors, which is also leading the power increment. However, the thrust increment is not that obvious when the spacing is larger than 1.4 <i>d</i>. The experiments and the numerical simulation results provide consistent trends and demonstrate the effectiveness of the aerodynamic model of the non-planar quadrotor. The comparison with the traditional planar quadrotor validates that the proposed non-planar quadrotor has better aerodynamic and control performances with a larger power loading.
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