An Automatic Stabilizing System for Balancing a Multi-Rotor Subject to Variations in Center of Gravity and Mass

The objectives of this study are to design and construct a multi-rotor helicopter along with the automatic stabilizing system due to center of gravity moving forward to in front of its frame. Nowadays a multi-rotor helicopter is popularly using on account of lightweight and high lift force. However, it is utilized to carry a payload or install some device that affect to center of gravity moving during flight that it may lead to be unstable in control. In this paper, the quad-rotor helicopter has been designed and constructed with automatic stabilizing system. The stabilizing system depends on automatic movement of mass of some aircraft component installed to counterbalance when center of gravity is changed. An unbalanced signal between observe motor inputs in front and rear side are assigned to be input command for feedback control of stabilizing system in order to counterbalance in the suitable center of gravity. The mentioned stabilizing system is implemented with Firefly 450 quad-rotor frame. A result illustrates that the additionally automatic stabilizing system of quad-rotor helicopter aids to control effectively and stable.