Non-planar three-rotor aircraft and control method

The invention relates to a non-planar three-rotor aircraft and a control method. The non-planar three-rotor aircraft comprises a body, an elastic bracket, three supporting arms and three rotor motor assemblies, and is characterized in that the elastic bracket is arranged at the bottom of the body; one ends of the three supporting arms are fixedly arranged on the body; the rotor motor assemblies are arranged at the other ends of the three supporting arms; an included angle between every two supporting arms is 120 degrees; the rotor motor assemblies can rotate and tilt in a vertical plane of thesupporting arms. By adjusting the rotation angles of the three independently tilting rotors, attitude control and position control of the aircraft can be optimized, lift force generated by the rotorsand the energy utilization rate are further improved, and six-degree-of-freedom control of a lift vector technology is realized. The non-planar three-rotor aircraft has the flexibility at the highestlevel, operability and the