PLUS-CONFIGURATION QUADCOPTER FRAME

In the plus-configuration quadcopter, the pitch control mode speeds up the single front rotor and slows down the single rear rotor to generate a nose-up pitching moment. Since torque does not vary linearly with RPM (variation is nominally quadratic), the increase in torque of the CCW spinning front rotor does not identically cancel with the torque reduction of the CCW spinning rear rotor, resulting in a net yaw moment on the plus-configuration quadcopter, requiring compensation with a yaw control input. Similarly, the roll control mode speeds up the single left rotor and slows down the single right rotor to generate a roll-right moment on the plus-configuration quadcopter. The torque increase in the CW spinning right rotor does not identically cancel with the torque reduction of the CW spinning right rotor, so as in the case of the pitch control mode, the roll control mode results in a net yaw moment on the plus-configuration quadcopter, which would require compensation by a yaw control input. SPECIFICATIONS: Length: 52cm Height: 7cm Weight: 121 gram Material: Carbon Fiber Reinforced Polymers (CFRP) In an ideal state, a force of 76.25 MPa is applied to the arms of the quadcopter in which it displaces 5.653 cm from its mean position. The Simulation results of Stress and Displacement are attached in the files.