Modeling Bi-copter for Indoor Application

The paper considers a twin-engine hybrid flying machine combining traditional flight, where the wheel is an ordinary load but also rolling on the surface on one wheel, balancing the rotors. The presence of rotors makes it possible for the bi-copter not only to avoid obstacles but also to jump over them. However, the presence of two rotors with a tilt mechanism leads to a complication of the control system. In this work, the aerodynamic properties of a mathematical model of a bi-copter are studied, and the wheel part is considered a load. The characteristics of the model in three planes are considered. It is assumed that the motors and the tilt mechanism are controlled using PID controllers. The simulation results are also presented.