无人机在水下针对作业任务,需要在不同位置定点悬停。文中对悬停状态的实现提出了悬停平衡模块设计的思想。对悬停水舱-螺旋桨模块进行了运动学分析;对四旋翼结构进行了动力学分析。分析表明,模块化的设计可以使横滚角和俯仰角控制在很小的范围内,而偏航角可以在很大范围内调节,无人机水下悬停可以得到较好的平衡调节。 UAVs for underwater tasks, you need to hover in different locations. The idea of ​​hovering balance module design is put forward in this paper. Kinematics analysis of hovering water tank-propeller module was carried out. Dynamic analysis of quadrupole structure was carried out. The analysis shows that the modularized design can control the roll angle and pitch angle in a very small range, and the yaw angle can be adjusted in a wide range. The UAV underwater hovering can achieve better balance adjustment.