rudder moment

According to the normal model of UAV, then the force and moment of the deadlock rudder are regarded as constant disturbance, the models of differential horizontal tail UAV and flying head tail UAV which are related to the spiral motion are established respectively.

然后以正常无人机模型为基础，把方向舵卡死产生的力与力矩当作常值扰动，分别建立了常规布局无人机和差动平尾无人机与螺旋运动相关的模型。

First of all, by analyzing the force and moment that the deadlock rudder produced and combining the physical of the spiral motion, the conclusion that the UAV will step into the spiral motion when the rudder deadlock happens and under a certain condition is got.

首先通过分析方向舵卡死产生的力与力矩，结合螺旋运动的物理成因，得出了方向舵卡死且在一定的条件下，无人机会步入螺旋运动。

The rudder hinge moment and control force are treated in a manner similar to that employed for the elevator.

研究方向舵铰链力矩和操纵力的方法与研究升降舵所采用的方法相似。