Research and Analysis on Flight Stability
Improvement of the Quadcopter
Chao-Hsien Hsieh, Jiahao Huang, Ziyi Wang*, Mengchen Lv, Fangan Gao, Xinyue Wu
School of Software Engineer
Qufu Normal University
Shandong, China
{george_hsieh, 924248055, 1773020498, 626220184, 1185584608, 2578045587}@qq.com
Abstract—In recent years, with the rapid development of the
UAV manufacturing technology, great progress has also been
made in the Quadcopter. Usually, the small Quadcopter is flexible
and easy to be operated. The stability is one of the most important
evaluation indexes for the flight quality of the Quadcopter.
However, external environmental impacts (such as the wind
power) or internal design problems often cause the Quadcopter to
deviate to one side during the flight. Therefore, in order to solve
this problem, this paper adopts the method of physical weight gain
and low-cost design. Then, we did experiments in the windless
condition indoors and in the windy condition outdoors. We test
and analyze how weight gain affects the Quadcopter’s flight
stability. By comparing the test group and control group, we find
that test group is more stable and faster than the control group.
Also, the experiments show that when the weight of the
Quadcopter increases, with the help of the low-cost design and the
mathematic model, the flight offset can be reduced to 20% at most.
Thus, the flight stability of the Quadcopter is improved as well. In
addition, our stability design is not affected by the environment.
Also, this design doesn’t need to change the internal structure of
the Quadcopter.
Keywords—UAV, flight stability, Quadcopter, flight offset
I. INTRODUCTION
The world's first Quadcopter was invented since the
beginning of the 19th century. Breguet brothers began to have
the dream of manned flight. At that time, due to the Quadrotor’s
shortcomings of low payload and short duration [1], the
Quadrotor was not popular. Until recent years, with the
development of materials and technology, the Quadcopter is
constantly improved and popularized. Then, due to the
Quadcopter's advantages of small size, light weight, flexibility
and easy manipulation, it has been widely used in the fields of
military and civilian.
The Quadcopter has the advantages of simple structure,
strong hovering ability, strong vertical takeoff ability, and strong
landing ability. And, it is gradually used in reconnaissance,
surveillance, environment monitoring, ground observation,
rescue, aerial photography and other fields. These applications
require good flight control capability, especially the attitude
adjustment during hovering. The stability of the UAV is
‹,(((

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reflected in the anti-wind capability, the influence of vibration
on the UAV, the influence of noise on the UAV, and the
influence of the endurance on the UAV [2]. In the process of
designing multi-rotor UAV, the anti-wind grade is an important
index.
The blades of the UAV rotate and it causes airflow
movement, which provides power for the multi-rotor UAV.
When we use the UAV, the motion of the wind field will affect
the relative air flow borne by the blades. And, the motion of the
wind field will affect the torque output of the rotors. Then, it will
affect the flight attitude, speed and trajectory of the UAV [3].
The Quadcopter is a rotor UAV with four rotors. And, it can take
off and land vertically.
The Quadcopter’s four rotors act as propeller, which can
provide lift for the Quadcopter. Also, the Quadcopter can take
off and land perpendicular to the earth. So, it can move in a
narrow place. By changing the rotation speed of the four motors,
the Quadcopter can freely move up and down, left and right,
forward and backward. At the same time, it can rotate freely [4].
The Quadcopter has four rotors, which correspond to the
location of x-axis, y-axis, z-axis, and angle. And, it has four
inputs and six outputs. Therefore, the Quadcopter is an
underactuated system, which is superior to the fully actuated
system in energy saving, cost reduction, weight reduction and
system flexibility. However, the Quadcopter also has
disadvantages, such as open-loop instability and underactuated
system. Because of those disadvantages, the Quadcopter is hard
to be controlled during the flight. Then, the factors of parametric
instability, non-modeling dynamics, and input constraint need to
be considered especially [2]. In addition, it is difficult to control
the Quadcopter system because of its underactuated
characteristic [1]. Due to this defection, we can speculate that
the Quadcopter will be unstable during the flight.
Due to the flight instability and input constraint of the
Quadcopter, the security and service life will be affected.
Therefore, this paper explores the causes of the instability during
the flight. We expect to find the way of improving the stability
of the Quadcopter. We use an asymmetric system to improve the
stability of the UAV. With this system, the UAV can be free
from environmental constraints. When the weight distribution of
the cross structure is uneven, the instability of the UAV will be
exposed. Therefore, when there is a side shift in the flight
process, we consider increasing the weight of the UAV. In this
way, the instability caused by the uneven mass distribution of
the UAV can be reduced. Then, the stability of the UAV will be
increased.
II. LITERATURE REVIEW
Due to the high-speed rotation of the rotors, the rotors
produce a reverse torque opposite to the rotation direction of the
rotors. To counteract the reverse torque generated by the rotors,
people fix one motor on each end of the UAV bracket [5]. As
mentioned in the literature [4], the UAV changes the rotor's
rotation speed to change the lift of the UAV. Based on this, we
can easily control the attitude and position of the UAV.
Generally, the Actuator is the driving system of the UAV. And
the Actuator is in the system loop. So, the stability of this system
is related to the magnification factor of the Actuator. And the
magnification factor depends on the relative damping coefficient
of this system [2].
As mentioned in the literature [6], at present, the research of
improving the stability of the UAV is mostly based on the
control algorithm. And, it cannot solve the problem of horizontal
drift. In literature [7], a stable flight control strategy of the UAV
is proposed. This literature points out that there are problems of
communication delay, dynamic change, and external
interference in conventional PID controller. And it tells us that
the ADRC can solve the above problems well. The ADRC
consists of three subsystems: Nonlinear PID controller, TD, and
ESO. TD can smooth the reference signal by establishing a
transient contour. ESO can effectively eliminate the interference
of noise to the estimation set. By smoothing the reference signal
and eliminating the noise, the nonlinear PID controller can
establish a tracking control. Therefore, the Quadcopter with
ADRC can fly more accurately and stably.
In literature [8], the UAV and control/interaction mechanism
are extensively studied. Due to the size of the Quadcopter, the
Quadcopter is only used to sense and monitor the environment.
And, the Quadcopter is required to avoid physical interaction
with the environment. However, with the rapid development of
the Quadcopter, it must face a variety of complex interfering
factors of Aerodynamic Force. When the manipulator arm
adjusts the state of an object, we expect that the Quadcopter can
maintain a static state. Therefore, the Quadcopter should
accurately estimate the external forces and make appropriate
response to them. This is very important for the Quadcopter to
complete a task safely and effectively [8].
III. SYSTEM ARCHITECTURE
The whole system includes UAV mechanism and UAV
function. The contents are as follows.
A. UAV mechanism
• Motor. The experimental UAVs use coreless motor,
which has outstanding characteristics of energy saving,
sensitive and convenient control, and stable operation.
When the mass and moment of inertia are greatly
reduced, the loss of mechanical energy will be reduced.
Because of the structural change of the rotors, the
operation performance of the motor is greatly improved.

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At this time, not only does the motor has characteristic
of energy saving, but also it has control characteristic
and traction characteristic that are superior to the core
motor [9].
• Motor drive control. The controller of motor driver is
the key part for motor stop and motor rotation. It is also
called Electronic Speed Controller (ESC) [10].
• Blade. In this paper, the blades of the UAV are 75mm.
They rotate around the motor at a high speed. Therefore,
the balance of blade rotation is a very important quota.
If the blades are heavy at one end and light at the other
end, they will lose balance and shake
up and down, right and left.
• MCU and IMU. We take single-chip microcomputer as
MCU of the UAV. The STM32F103(A microcontroller)
includes two parts: processor and transducer. And, it can
be used to control the flight of the UAV. STM32F103’s
core is Cortex-M3. This kind of core’s main frequency
is up to 72 Hz. It has three general timers and one
advanced timer. IMU provides the original data of the
UAV attitude sensor in space. Generally, the gyroscope
sensor, acceleration sensor, and electronic compass
provide the data of UAV [11].
B. UAV function
The UAV contains five functions that are described as
below.
• Calibration function. The UAV can calibrate itself
under the control of the remote controller.
• Self-test function. The UAV will test itself as it is
starting up.
• Mobile function. The UAV can move front and back,
left and right, up and down under the control of the
remote controller.
• Wireless control function. With the Bluetooth, the UAV
can be connected to a computer or a mobile phone. So,
we can control the UAV directly.
• Elastic coding function. By modifying the UAV’s code,
the UAV can be adjusted simply.
C. UAV mechanism and control methods
1) The UAV device is divided into remote controller and
components of UAV. The Fig.1 shows the components of the
UAV. The detailed description of each component is following
as below.
a) Remote controller (1). The 2.4G radio frequency is
responsible for receiving signals transmitted by the remote
controller.
b) Blade (2). The high-speed rotation of the blades
produces power.
c) Motor (3). Four coreless motors reduce energy
waste.
 d) UAV forward sign (4). This can mark the positive
direction of the UAV that is being remotely controlled.
e) Ceramic antenna (5). This is a small antenna
applied to Bluetooth.
f)USB turn serial chip (6). This is used to download
firmware and debug parameters.
g) MCU (7). This is used to control the UAV.
h) Bluetooth chip (8). This is used to connect the UAV
to Bluetooth.
i)Electronic compass (9). This is used to output the
direction signal of the UAV.
j)Battery (10). The specification of battery capacity is
3.7V 650mAh 25c.
k) IMU (11). This is used to measure the inclination
and acceleration of the UAV.
Fig. 1. Photos of the UAV.
Fig. 2. UAV decomposition diagram.
2) The Fig.2 shows the component decomposition diagram
of the UAV. The detailed information is described as below.
a) Remote control rocker cap (A): Remote control
rocker cap is used to manipulate the Rocker.

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b) Remote control rocker (B): Remote control rocker is
used to output the command signal generated by pushing the
Rocker.
c) Remote control battery and charging module (C):
Remote control battery and charging module is used to ensure
the UAV has sufficient power.
d) Bluetooth module (D): Bluetooth module is used to
connect the remote controller to the Bluetooth.
e) Radio frequency (E): Radio frequency is used to send
control signal to the UAV.
f) Remote control circuit board (F): Remote control
circuit board is the main body of the remote controller.
g) UAV circuit board (G): UAV circuit board is the
main body of the UAV.
h) USB charging line (H): USB charging line is used to
connect the power supply.
i) Blade (I): Blade is used to produce power with the
help of the rotation of the motor.
j) Motor (J): Motor is used to drive the blades to rotate.
D. UAV counterweight material
Considering accessibility and cost, the materials we choose
are copper wire, plastic foam, magnet and nut. We try these
materials separately in the following experiments. Firstly, we
use copper wire. Also, we find that copper wire has little effect
on the mass of the UAV. Obviously, it is because that the copper
wire is too light. Secondly, we use Foamed Plastics. Although
the Foamed Plastic materials are easy to obtain, its density is
very small. Thus, Foamed Plastics are larger than other materials
that have the same mass. As a result, the wind resistance of the
UAV increases. Thirdly, we use magnet. Although the magnet
is also easy to obtain, it affects the remote control of the UAV.
The reason why it affects the remote control of the UAV is that
the magnetic field of the magnet will affect the rotation of the
motors.
Because the mass of screw nut is relatively uniform and the
accuracy difference among screw nuts is small. Finally, we
choose the screw nut as counterweight. Also, it is easy to
distinguish the diameter and type of the screw nut.
1) The counterweight materials should have the following
characteristics.
a) The quality of material is much important for device.
b) The volume of this material cannot be too large,
because it can affect the wind resistance of the UAV during
flight.
c) In order to make component stable without dropping,
the materials need to be easily installed.
d) The mass of the materials needs to be well-distributed.
And the mass difference among components should not be too
large.
e) The material can not affect the flight function of the
UAV.
 f)The materials should be easily gotten and cheap. When the fuselage rotates, Ԅ, Ʌ, and ɗ are the angles of y-
2) Hardware environment for experiments. axis, x-axis, and z-axis (counterclockwise). Ix, ›, and œ are the
moment of inertia of the fuselage in three directions. Jr is the
a) We prepare all kinds of screw nuts that are used for moment of inertia. From k1 to k6, they are the air resistance
counterweight. The screw nuts are both 2.5g weights in group coefficients. L is the arm length from the motor to the center of
A and 5g weights in group B. mass. M is the mass of the fuselage. G is the acceleration of
gravity (G=9.81).
E. Adjustment theory and control According to the blade-element theory, for the Quadcopter
The Fig.3 shows the example of the UAV in a suspended that is in yaw flight state, the torque and force on the rotors are
state in the air. Those relative two motors of the Quadcopter turn manifested as lift D, drag E, lateral torque Q, and torque G of
to the same. Also, the adjacent two motors turn to the opposite the motor spindle. The formulas from (3) to (6) show the
which can balance their reverse torque of the fuselage. When the approximation of D, E, Q, and G.
rotation speed of the four motors is increasing, the accumulation
of pulling force (F1, F2, F3, and F4) will generate the total force ଵ
‫ ܦ‬ൌ ‫ܴ ڄ ” ڄ ܣ݌‬ଶ ߱ଶ (3)
(F). The F1, F2, F3, and F4 are produced by the four rotors, such ଶ
as formula (1). ଵ
‫ ܧ‬ൌ ‫ܴ ڄ  ڄ ܣ݌‬ଶ ߱ଶ (4)
ଶ
‫ ܨ‬ൌ ‫ ͳܨ‬൅ ‫ ʹܨ‬൅ ‫ ͵ܨ‬൅ ‫ܨ‬Ͷ (1)
ଵ
ܳ ൌ ‫ܴ ڄ ‘ ڄ ܣ݌‬ଶ ߱ଶ (5)
ଶ

ଵ
‫ ܩ‬ൌ ‫ܴ ڄ  ڄ ܣ݌‬ଶ ߱ଶ (6)
ଶ

For the modeling of the Quadrotor without wind, f' (x) is the
component force in the horizontal direction generated by the
UAV. And ‫ ݔݏ‬is the displacement generated in the horizontal
direction. We call it offset. Then, we can generate the formula
(7).

݂Ԣ ሺ‫ݔ‬ሻ‫ʹݐ‬
‫ ݔݏ‬ൌ
ʹ݉
Fig. 3. Suspension force diagram of UAV.
ቐ ሺ݇߱ʹ െ݉݃ሻ‫ʹݐ‬
(7)
݄ൌ
ʹ݉
At this time, the external disturbance is zero. And the total
tensile generated by the rotors is equal to the gravity of the UAV After adding weight M to the UAV, the formula (8) can be
G. When the UAV is in a hovering state, it is greater than the generated as below.
gravity of G. Then, the UAV will rise. On the contrary, the UAV
will drop while the rotation speed of motors is decreased. ݂Ԣ ሺ‫ݔ‬ሻ‫ʹݐ‬
‫ ݔݏ‬ൌ
According to Newton's second law, the mass m is inversely ʹ˄݉൅‫ܯ‬ሻ
proportional to a. Therefore, the larger the mass of UAV is, the ቐ ሺ݇߱ʹ െ݉݃ሻ‫ʹݐ‬
(8)
slower the acceleration is. Therefore, the smaller the interference ݄ൌ
ʹሺ݉൅‫ܯ‬ሻ
to the flight path of UAV is, the more stable the UAV is. Then,
this paper carries out mathematical modeling for the Quadcopter The model of the Quadcopter under wind conditions is
as formula (2). presented. ݂ ᇱ ሺšሻ is the component force in the horizontal
direction generated by the UAV. ߙ value is the wind force in the
ǃ Ǘ Ǘ ‫ ܫ‬െ‫ܫ‬
‫ݖ ݕ‬ ‫ ݎܬ‬Ǘ ݈ ݈‫ܭ‬Ͷ Ǘ
horizontal direction. Then, we can generate the formula (9).
‫ ߶ۓ‬ൌ ߠ߰ሺ ‫ ݔܫ‬ሻ െ ‫ߠ ݔܫ‬ȳ ൅ ‫ ʹܷ ݔܫ‬െ ݉ ߶
ۖǃ Ǘ Ǘ ‫ ܫ‬െ‫ܫ‬ ˄݂Ԣ ൅ߙ˅‫ʹݐ‬
‫ ܬ‬Ǘ ݈ ݈‫ ܭ‬Ǘ ‫ ݔݏ‬ൌ
ۖߠ ൌ ߶߰ሺ ‫ ݔ ݖ‬ሻ ൅ ‫߶ ݎ‬ȳ ൅ ܷ͵ െ ͷ ߠ ቐ ʹ݉
(9)
ۖ ‫ܫ‬ ‫ݕ‬ ‫ܫ‬ ‫ݕ‬ ‫ܫ‬ ‫ݕ‬ ݉
ሺ݇߱ʹ െ݉݃ሻ‫ʹݐ‬
ǃ Ǘ Ǘ ‫ ܫ‬െ‫ܫ‬ ݈ ‫ܭ‬͸ Ǘ ݄ൌ
߰ ൌ ߶ߠሺ
‫ݕ ݔ‬
ሻ൅ ܷͶ െ ߰ (2) ʹ݉
‫۔‬ ‫ݖܫ‬ ‫ݖܫ‬ ݉
After adding weight M to the UAV, the formula (10) can be
ۖ ߰ǃ ൌ ߶Ǘ ߠǗ ሺ‫ ݔܫ‬െ‫ ݕܫ‬ሻ ൅ ݈ ܷ െ ‫ܭ‬͸ ߰Ǘ
ۖ ‫ݖܫ‬ ‫ݖܫ‬
Ͷ
݉
obtained from formula (9).
ۖ Ǘ ͳ ‫ ͵ܭ‬Ǘ
‫ ݕ ە‬ൌ ሺ ‘•߶ ‘•ߠሻ ݉ ܷͳ െ ݃ െ ݉ ‫ݖ‬



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 ˄݂Ԣ ൅ߙ˅‫ʹݐ‬ 2) Experiment 2: In this environment, the UAV flies
‫ ݔݏ‬ൌ outdoors with wind. All conditions are the same as experiment
ʹሺ݉൅‫ܯ‬ሻ
ቐ ሺ݇߱ʹ െ݉݃ሻ‫ʹݐ‬
(10) 1. After the hover command is published, we no longer conduct
݄ൌ the operation of remote control while the UAV is landing. At
ʹሺ݉൅‫ܯ‬ሻ
this time, the wind will affect the horizontal displacement of the
TABLE I. INTRODUCTION OF COEFFICIENTS IN FORMULAS UAV. Therefore, the wind force is one of the most important
Symbol Meaning factors that affect the stability of the UAV.

² air density Second, the following two cases are the experiments of using
counterweight blocks.
A=±R2 rotation area
1) Experiment 3: Under the premise of no air flow in the
Cr rotor tension coefficient room, different counterweights are used. We prepare weights of
CD
2.5g, 7.5g, 10g, 12.5g, 12.5g, 15g, 17.5g, and 20g. They
rotor resistance coefficient
increase proportionally in turn. This experiment process is the
Co rotor torque coefficient same as experiment 1. Then, we record the data separately.
¹ motor speed After these experiments, the relationship chart between
weight and UAV offset is shown in Fig.4. Also, the relationship
m UAV's dead weight
chart between weight gain and flight altitude is shown in Fig.5.
t flight time
2) Experiment 4: In outdoor with a slight external
h flight altitude of the UAV interference, we prepare weights of 2.5g, 5g, 7.5g, 10g, 12.5g,
15g, 17.5g, and 20g. They increase proportionally in turn. This
The coefficients used in the above formulas are shown in the experiment process is the same as experiment 2. The data are
Table. I. And, these coefficients are determined by such recorded separately.
attributes as the rotor shape and flight state.
The conclusions of experiment 3 and experiment 4 are
IV. CASE STUDY shown as the formula (7) and (8). The horizontal deviation of the
A. Experimental Environments UAV is inversely proportional to the mass of the UAV. When
the UAV’s weight increases, its horizontal displacement will
The following experiments are conducted in an indoor and reduce. However, when the same experiment is carried out
an outdoor breezy environment. First of all, we select the closed outdoors, we find that the horizontal displacement of the UAV
gymnasium as an indoor environment. The UAV has fully also decreases after it is affected by the wind. Because there is
enough power without wind. We operate UAV and process the no fixed wind force in our experiments, we cannot measure the
record videos and photos. exactly value.
Secondly, the outdoor environment is playground. In
autumn, the wind force is appropriate on the same level as the TABLE II. THE RELATIONSHIP BETWEEN THE UAV WEIGHT GAIN AND
THE FLIGHT ALTITUDE AND THE RELATIONSHIP BETWEEN THE UAV WEIGHT
indoor environment. After each test, the UAV should be charged GAIN AND THE OFFSET DURING THE FLIGHT
and recalibrated to ensure its consistent status.
Weight ˄g˅ Flight height ˄cm˅ Offset ˄cm˅
B. Case Description
0 500 150
The experiments in this paper are divided into two parts: the
UAV without counterweight and the UAV with counterweight. 2.5 430 147
Each of the parts has two cases for comparison and analysis.
First, the weight of the UAV is 50g without counterweight. Two 5 365 142
cases are shown as below.
7.5 300 134
1) Experiment 1: In this environment, the UAV flies indoors
without wind. We turn on the switch of the UAV and control it 10 260 122
remotely. Before it takes off, it needs corrects itself. Then, we 12.5 240 105
will give it a hover command. When the hover command is
released, we will no longer conduct remote control operation on 15 220 89
the UAV. Next, the UAV will remain in the hover state. In this
17.5 210 73
state, the UAV deviates to one side rapidly. Finally, the speed of
the UAV in the indoor environment is slower than in the outdoor 20 200 62
environment while the UAV is landing.



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 theoretical value actual value
160
Flight offset sx/cm
140
120
100
80
60
Aircraft weight gain M/g
Fig. 4. The relationship between aircraft weight gain and flight offset.
theoretical value actual value
600
Flight height h/cm
400
200
0 increase of weight. As the weight of the UAV increases, the
Aircraft weight gain M/g
Fig. 5. The relationship between aircraft weight gain and flight height.
C. Case analysis
The six cases are described as below.
• As shown in Experiment 1, during the flight, the natural
wind will tilt the UAV. But the natural wind is not the
main factor to tilt the UAV. In Experiment 2, 3, and 4,
the increased weight of the UAV can enhance the
stability of the UAV and reduce the deviation during the
flight of the UAV. But the disadvantage of this case is
the flexibility of UAV reduces. In other words, the
problem of insufficient stability can be solved by
increasing the weight of the UAV. By increasing the
weight of the UAV, we can improve the uneven mass
distribution of the fuselage and the deflection of the
fuselage caused by the rotation of the blades. When the
weight of the UAV increases, the impact of the above
interference on the UAV decreases. Thus, the flight
stability of the UAV will be improved.
• As shown in Fig.4 and Fig.5, UAV’s flight altitude and
offset will be much smaller after gaining weight. This
means if we keep adding weight to the UAV, the flight
altitude of UAV will continue to decrease. Also, the
offset of the UAV will continue to decrease. And the
UAV’s stability increases. Eventually, the flight altitude
of the UAV keeps decreasing until the flight altitude
equals zero.

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• The comparison between Fig.4 and Fig.5 shows that the
weight gain of the UAV has different effects on the
offset and flight altitude. The offset decreases
significantly faster than the flight altitude.
• Both Fig.4 and Fig.5 show the theoretical value is
different from the experimental value. We find the
offset and flight altitude of the UAV decrease faster than
the theoretical value apparently. Because the
experiment value is affected by wind force, UAV
material, and working time of the motors.
• Based on limited conditions without changing the
algorithm of the UAV, the weight gain effectively
reduces the offset and improves the stability of the
UAV.
• Although weight gain improves the stability of the UAV
and reduces the flying height of the UAV, the volume is
increment. Then, it will enlarge the air resistance of the
UAV during the flight. When the weight exceeds the
original maximum loading weight of the UAV, the
flying height will be zero.
However, by analyzing the mathematical model formulas
(7), (8), (9), and (10), it can be seen that the flight height and
horizontal displacement of the UAV are affected by the
horizontal displacement of the UAV will decrease and the
UAV tends to be stable. And this conforms to the analysis
results of the mathematical model. This is a cheap and easy
way to increase UAV stability.
V. CONCLUSION
After designing experiment and calculating, we improve this
phenomenon of the Quadcopter instability and establish the
mathematical model of the Quadcopter. After analyzing the
mathematical model of the Quadcopter, we find that the weight
of the Quadcopter is inversely proportional to the deviation of
the Quadcopter. The experiments show that the weight gain of
the Quadcopter increases the stability of the Quadcopter without
changing its settings and considering the impact of
environmental constraints.
However, due to the limitation of experimental conditions, it
is impossible to obtain outdoor data, such as the offset of the
Quadcopter. In the future, we will design new experiments and
methods to study the data of the Quadcopter under outdoor
conditions.
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