On the basis of four-rotor aircraft

a main rotor which located in geometric center is added

rotor torque used to balance the rudder surface. The five-rotor aircraft model is established

and its mathematical model is derived to achieve the principle prototype. The feasibility and accuracy of its mathematical model are verified by flight tests.Substituting the lifting motor of the five rotor with gasoline engine

which is a hybrid rotor aircraft.This study accumulates much experience and data for the development of hybrid rotor aircraft.