无人飞行器的可靠性越来越受到重视。文中简要介绍了无人飞行器舵机故障的类型以及产生原因,分析了三种主要的排除故障途径,对比了其优缺点。最终以建模途径为例,推导了无人飞行器在飞行过程中受到的力及力矩,阐述了故障识别和诊断的流程,为进一步的仿真试验提供了新的方法和理论依据。 UAV reliability is gaining more and more attention. In this paper, the types of UAV servo failures and their causes are briefly introduced. Three main ways of troubleshooting are analyzed, and their advantages and disadvantages are compared. Finally, taking the modeling approach as an example, the force and moment received by UAV during flight are deduced. The flow of fault identification and diagnosis is expounded, which provides a new method and theoretical basis for further simulation.