Quadcopter Dynamics: Why Four Rotors Enable Precise Hover and Turn

四旋翼动力学：为何四个旋翼可实现精准悬停与转向

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A quadcopter achieves stable hover not by equal thrust alone, but by balancing four independent torque vectors — two clockwise, two counterclockwise — to cancel rotational drift.
Pitch and roll control rely on differential thrust: increasing front rotor speed while decreasing rear speed generates forward acceleration without tilting the entire airframe.

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