The proper selection of components and precise optimization of operating parameters in multi-rotor systems to achieve mission objectives with maximum efficiency has long been a critical concern for drone manufacturers. This study introduces a comprehensive and adaptive model for the calculation, analysis, and optimization of these parameters by thoroughly investigating key variables and integrating them into a unified framework. Initially, the fundamental concepts of multi-rotor systems and their core subsystems were examined. Subsequently, the dynamic relationship between these elements was established by analyzing drone performance in both full-throttle and hover-throttle conditions. A MATLAB-based algorithm was developed and validated using experimental data from component manufacturers, which serve as a primary reference for multi-rotor system evaluations under diverse flight scenarios. This algorithm enables analysis of all performance-influencing parameters, helping to resolve design uncertainties before manufacturing or actual flight. Furthermore, it facilitates the identification of the optimal component configuration based on predefined mission requirements and environmental conditions.
[1]R. Cory and R. Tedrake, “Experiments in fixed-wing UAV perching,” in AIAA Guidance, Navigation and Control Conference and Exhibit, 2008, p. 7256, https://doi.org/10.2514/6.2008-7256
[2]M. J. Duffy, S. R. Wakayama, and R. Hupp, “A study in reducing the cost of vertical flight with electric propulsion,” in 17th AIAA Aviation Technology, Integration, and Operations Conference, 2017, p. 3442, https://doi.org/10.2514/6.2017-3442
[3]G. Ding, Q. Wu, L. Zhang, Y. Lin, T. A. Tsiftsis, and Y.-D. Yao, “An amateur drone surveillance system based on the cognitive Internet of Things,” IEEE Commun. Mag., vol. 56, no. 1, pp. 29–35, 2018, 10.1109/MCOM.2017.1700452
[4]A. C. Hill, “Economical drone mapping for archaeology: Comparisons of efficiency and accuracy,” J. Archaeol. Sci. Reports, vol. 24, pp. 80–91, 2019, 10.1016/j.jasrep.2018.12.011
[5]A. Tayebi and S. McGilvray, “Attitude stabilization of a VTOL quadrotor aircraft,” IEEE Trans. Control Syst. Technol., vol. 14, no. 3, pp. 562–571, 2006, 10.1109/TCST.2006.872519.
[6]R. Austin, Unmanned aircraft systems: UAVS design, development, and deployment. John Wiley & Sons, 2011.
[7]M. Hassanalian and A. Abdelkefi, “Classifications, applications, and design challenges of drones: A review,” Prog. Aerosp. Sci., vol. 91, pp. 99–131, 2017, 10.1016/j.paerosci.2017.04.003.
[8]R. Gill and R. D’Andrea, “Computationally efficient force and moment models for propellers in UAV forward flight applications,” Drones, vol. 3, no. 4, p. 77, 2019, https://doi.org/10.3390/drones3040077
[9]M. Ueno and Y. Tsukada, “Estimation of full-scale propeller torque and thrust using free-running model ship in waves,” Ocean Eng., vol. 120, pp. 30–39, 2016, 10.1016/j.oceaneng.2016.05.00.
[10]J. Brandt and M. Selig, “Propeller performance data at low Reynolds numbers,” in 49th AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition, 2011, p. 1255, https://doi.org/10.2514/6.2011-1255.
[11]A. J. Chaput, “Small UAV motor and propeller methods-a parametric system engineering model-based approach,” in 2018 AIAA Aerospace Sciences Meeting, 2018, p. 275, https://doi.org/10.2514/6.2018-0275.
[12]C. Cai, H. Zhang, J. Liu, and Y. Gao, “Modeling and simulation of BLDC motor in electric power steering,” in 2010 Asia-Pacific Power and Energy Engineering Conference, IEEE, 2010, pp. 1–4, 10.1109/APPEEC.2010.5448517.
[13]C. A. Cezario and H. P. Silva, “Electric motor winding temperature prediction using a simple two‐resistance thermal circuit,” COMPEL-The Int. J. Comput. Math. Electr. Electron. Eng., 2010, 10.1109/ICELMACH.2008.4800135.
[14]S.-H. Kim, D.-K. Lee, J.-H. Cheon, S.-J. Kim, and K.-H. Yu, “Design and flight tests of a drone for delivery service,” J. Inst. Control. Robot. Syst., vol. 22, no. 3, pp. 204–209, 2016, https://doi.org/10.5302/J.ICROS.2016.16.8001.
[15]S. Delbecq, M. Budinger, A. Ochotorena, A. Reysset, and F. Defaÿ, “Efficient sizing and optimization of multirotor drones based on scaling laws and similarity models,” Aerosp. Sci. Technol., vol. 102, p. 105873, 2020, 10.1016/j.ast.2020.105873.
[16]C. Ampatis and E. Papadopoulos, “Parametric Design and Optimization of Multi-Rotor Aerial Vehicles,” Springer Optim. It’s Appl., vol. 91, pp. 1–25, 2014, 10.1109/ICRA.2014.6907783.
[17]F. Pollet, M. Budinger, S. Delbecq, J.-M. Moschetta, and J. Liscouët, “Quantifying and mitigating uncertainties in design optimization including off-the-shelf components: Application to an electric multirotor UAV,” Aerosp. Sci. Technol., vol. 136, p. 108179, 2023, 10.1016/j.ast.2023.108179.
[18]X. Zhao et al., “A procedure for power consumption estimation of multi-rotor unmanned aerial vehicle,” J. Phys. Conf. Ser., vol. 1509, no. 1, p. 012015, Apr. 2020, 10.1088/1742-6596/1509/1/012015.
[19]Ø. Magnussen, G. Hovland, and M. Ottestad, “Multicopter UAV design optimization,” MESA 2014 - 10th IEEE/ASME Int. Conf. Mechatron. Embed. Syst. Appl. Conf. Proc., Oct. 2014, 10.1109/MESA.2014.6935598.
[20]T. Wang et al., “Topologically assisted optimization for rotor design,” Phys. Fluids, vol. 35, no. 5, 2023, https://doi.org/10.1063/5.0145941.
[22]L. Gebrehiwet, S. Tilahun, N. Geneti, and Y. Alemayehu, “Quadcopter Theoretical Weight Estimation and Comparison during Design Phase,” Int. Res. J. Multidiscip. Technovation, vol. 4, no. 6, pp. 1–13, 2022, 10.54392/irjmt2261.
[23]N. Michael, D. Mellinger, Q. Lindsey, and V. Kumar, “The grasp multiple micro-UAV testbed,” IEEE Robot. Autom. Mag., vol. 17, no. 3, pp. 56–65, 2010, 10.1109/MRA.2010.937855.
[24]J. D. Anderson and M. L. Bowden, Introduction to flight, vol. 582. McGraw-Hill Higher Education, New York, 2005.
[25]P. G. Fahlstrom, T. J. Gleason, and M. H. Sadraey, Introduction to UAV systems. John Wiley & Sons, 2022.
[26]J. B. Brandt, R. W. Deters, G. K. Ananda, and M. S. Selig, “UIUC propeller database,” Univ. Illinois Urbana-Champaign, URL http//m-selig. Ae. Illinois. Edu/props, vol. 1, 2008.
[27]X. Liang and O. Ilochonwu, “Induction motor starting in practical industrial applications,” IEEE Trans. Ind. Appl., vol. 47, no. 1, pp. 271–280, 2010, 10.1109/TIA.2010.2090848.
[28]A. Hughes and B. Drury, Electric motors and drives: fundamentals, types and applications. Newnes, 5th Edition, Elsevier, 2019.
[29]P.-J. Bristeau, P. Martin, E. Salaün, and N. Petit, “The role of propeller aerodynamics in the model of a quadrotor UAV,” in 2009 European control conference (ECC), IEEE, 2009, pp. 683–688, 10.23919/ECC.2009.7074482.
[30]T. Wildi, Electrical machines, drives, and power systems. Pearson Educación, 2006.
[31]A. Gong, R. MacNeill, and D. Verstraete, “Performance testing and modeling of a brushless DC motor, electronic speed controller, and propeller for a small UAV application,” in 2018 Joint Propulsion Conference, 2018, p. 4584, https://doi.org/10.2514/6.2018-4584
[32]D. Halliday, R. Resnick, and K. S. Krane, Physics, Volume 2. John Wiley & Sons, 2010.
[33]B. S. Jun, J. S. Park, J. H. Choi, K. D. Lee, and C. Y. Won, “Temperature Estimation of Stator Winding in Permanent Magnet Synchronous Motors Using d-Axis Current Injection,” Energies 2018, Vol. 11, Page 2033, vol. 11, no. 8, p. 2033, Aug. 2018,https://doi.org/10.3390/en11082033.
[34]B. A. Malyshev, P. A. Troshin, S. Y. Zanegin, and D. M. Shishov, “Research of Electronic Speed Controllers Designs and Functionality for Unmanned Aerial Vehicles,” in 2024 IEEE 25th International Conference of Young Professionals in Electron Devices and Materials (EDM), IEEE, 2024, pp. 1150–1155, 10.1109/EDM61683.2024.10615216.
[35]P. Piljek, D. Kotarski, and M. Krznar, “Method for characterization of a multirotor UAV electric propulsion system,” Appl. Sci., vol. 10, no. 22, p. 8229, 2020, https://doi.org/10.3390/app10228229.
[36]J. M. Miller, Propulsion Systems for Hybrid Vehicles, The Instituation Engineering and Technology,2004, 472 pages, https://doi.org/10.1049/PBPO045E
[37]T. R. Crompton, Battery reference book, 3rd Edition, Elsevier, 2000,
[38]X. Wang, Y. Chen, L. Chen, S. Liu, Y. Zhu, and Y. Deng, “The Impact of Wide Discharge C-Rates on the Voltage Plateau Performance of Cylindrical Ternary Lithium-Ion Batteries,” Energies, vol. 17, no. 14, p. 3488, 2024, https://doi.org/10.3390/en17143488.
[39]S. J. Kim and G. J. Lim, “A real-time rerouting method for drone flights under uncertain flight time,” J. Intell. Robot. Syst., vol. 100, no. 3, pp. 1355–1368, 2020, https://doi.org/10.1007/s10846-020-01214-z.
[40]J. Peksa and D. Mamchur, “A review on the state of the art in copter drones and flight control systems,” Sensors, vol. 24, no. 11, p. 3349, 2024, https://doi.org/10.3390/s24113349
[41]L. W. Traub, “Range and Endurance Estimates for Battery-Powered Aircraft,” vol. 48, no. 2, pp. 703–707, May 2012,https://doi.org/10.2514/1.C031027
[42]H. Eisenbeiss and M. Sauerbier, “Investigation of UAV systems and flight modes for photogrammetric applications,” Photogramm. Rec., vol. 26, no. 136, pp. 400–421, 2011, https://doi.org/10.1111/j.1477-9730.2011.00657.x
[43]W. Myeong and H. Myung, “Development of a wall-climbing drone capable of vertical soft landing using a tilt-rotor mechanism,” IEEE Access, vol. 7, pp. 4868–4879, 2018, 10.1109/ACCESS.2018.2889686
Noferesti, E. & Esmaeili, A. (2026). Development of a New Algorithm to Design and Part Selection of Multi-rotors. Journal of Aerospace Science and Technology, 19(1), 41–53. https://doi.org/10.22034/jast.2025.514257.1223
MLA
Noferesti, E., & Esmaeili, A. "Development of a New Algorithm to Design and Part Selection of Multi-rotors", Journal of Aerospace Science and Technology, 19, 1, 2026, 41–53. doi: 10.22034/jast.2025.514257.1223
HARVARD
Noferesti, E., & Esmaeili, A. (2026). 'Development of a New Algorithm to Design and Part Selection of Multi-rotors', Journal of Aerospace Science and Technology, 19(1), pp. 41–53. doi: 10.22034/jast.2025.514257.1223
CHICAGO
Noferesti, E. & Esmaeili, A., "Development of a New Algorithm to Design and Part Selection of Multi-rotors." Journal of Aerospace Science and Technology, 19 1 (2026): 41–53, doi: 10.22034/jast.2025.514257.1223
VANCOUVER
Noferesti E., Esmaeili A. Development of a New Algorithm to Design and Part Selection of Multi-rotors. Journal of Aerospace Science and Technology. 2026;19(1):41–53. doi: 10.22034/jast.2025.514257.1223