A　kind　of　reconfigurable　rotorcraft　unmanned　aerial　vehicle　(RUAV)　is　presented.　Its　actuators　consist　of　the　major　rotor　inside　the　duct,　four　auxiliary　rotors　surrounding　the　major　rotor　and　two　ailerons　at　the　end　of　the　duct,　and　the　auxiliary　rotors　have　some　similar　functions　as　that　of　the　major　rotor　and　ailerons　in　order　to　achieve　reconfigurable　control　of　the　system.　The　Newton-Euler　method　is　adopted　to　build　6-DOF　(degree　of　freedom)　dynamic　model　of　the　RUAV.　Based　on　the　model,　the　controllability　of　the　system　in　different　fault　cases　is　analyzed　near　the　hover　state.　Then,　the　faulttolerance　performance　of　the　system　with　different　fault　degrees　is　analyzed　based　on　the　notation　of　control　reconfigurability,　and　the　analysis　helps　to　build　the　multi-model　reconfigurable　controller.　At　last,　the　dynamic　response　characteristics　and　reconfigurable　control　performance　of　the　system　are　analyzed　by　simulation,　respectively.　The　result　shows　that　the　RUAV　has　good　dynamic　response　characteristics　and　robustness　to　some　kinds　of　failures.　The　proposed　model　and　related　analysis　provide　some　theoretical　basis　for　the　fault-tolerant　design　and　control　of　the　RUAV.