Unravelling quadcopter frame dynamics: A study on vibration analysis and harmonic response

Abstract

Quadcopters are widely used rotorcraft members of UAV family. Since they have four motors and four propellers, they are exposed to dynamic loads and vibratory motion. This study presents vibration analysis of a well-known F450 quadcopter frame. Modal analysis was performed to identify the natural frequencies and mode shapes, followed by harmonic response analysis to observe the dynamic behaviour under a periodic force. Harmonic response analysis frequency range covered all critical frequencies obtained by modal analysis. Two additional axes in addition to hovering direction were considered in order to simulate propeller imbalance case. Numerical solution of analysis was performed by finite element method. Critical frequencies were examined in terms of motor angular velocities and compared with real life motor rpm values.

Keywords

• modal analysis
• quadcopter vibration analysis
• harmonic response
• ; structural vibration

References

1. Ahmad, F., et al. (2019). Modeling and mechanical vibration characteristics analysis of a quadcopter propeller using FEA. IOP Conference Series: Materials Science and Engineering. IOP Publishing.
2. Bhandari, A., et al. (2019). Design and vibration characteristics analysis of quadcopter body frame. International Journal of Applied Engineering Research, 14(9), 66–70.
3. Chen, K., et al. (2023). An investigation on the structural vibrations of multi-rotor passenger drones. International Journal of Micro Air Vehicles, 15, 17568293231199097.
4. Kuantama, E., Craciun, D., & Tarca, R. (2016). Quadcopter body frame model and analysis. Annals of the University of Oradea, 71–74.
5. Lostaunau, O., et al. (2024). Analysis of quadcopter body frame vibration during hovering flight with variable rotor speeds. In 2024 8th International Symposium on Instrumentation Systems, Circuits and Transducers (INSCIT). IEEE.
6. Kalay, E., & Özkul, İ. (2024). İnsansız hava araçlarında titreşimlerin rolü, verimlilik ölçüm teknikleri ve performans etkileri. Turkey Unmanned Aerial Vehicle Journal / Türkiye İnsansız Hava Araçları Dergisi, 6(2).
7. Lalem, M. S. E. I., Ouadah, M., & Touhami, O. (2024). Anomaly detection in quadcopter systems using AI and vibration signal processing.
8. Abdullah Salem, B. T. S., et al. (2025). Vibration analysis using multi-layer perceptron neural networks for rotor imbalance detection in quadrotor UAV. Drones, 9(2), 102.

9. Geronel, R. S., Bueno, D., & Botez, R. M. (2022). Vibration analysis of a payload connected to quadrotor-type UAV by SMA spring. In AIAA SciTech 2022 Forum.
10. Rao, S. S., & Yap, F. F. (1995). Mechanical vibrations (Vol. 4). Addison-Wesley.
11. Bhavikatti, S. (2005). Finite element analysis. New Age International.
12. Rao, S. S. (2019). Vibration of continuous systems. John Wiley & Sons.