A vibration mode optimization method, used for an unmanned aerial vehicle (100). The unmanned aerial vehicle (100) comprises a fuselage (20) and an arm assembly (30). The arm assembly (30) comprises an arm (32) and a motor (34). One end of the arm (32) is rotatably connected to the fuselage (20). The top of the other end of the arm (32) is connected to the motor (34), and the bottom of the other end of the arm (32) is connected to a stand (40). An output shaft of the motor (34) is connected to a propeller blade (50). The vibration mode optimization method comprises: acquiring a critical instability propeller frequency (ω) of the propeller blade (50); adjusting, according to the critical instability propeller frequency (ω) of the propeller blade (50), at least one from among the torsion frequency (ωx) of the arm (32), the distance (h) between the propeller blade plane of the propeller blade (50) and the torque axis of the arm (32), and a moment of inertia (Mx) of the arm assembly (30) with respect to the torque axis of the arm (32). Further disclosed by the present application are a vibration mode optimization device (200) and the unmanned aerial vehicle (100).
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