How does the motor speed change when the X-type four-wing UAV moves forward?

Multi-rotor aircraft can change the speed of propeller by adjusting the speed of multiple motors, so as to realize the change of lift and then achieve the purpose of flight attitude control. When the plane moves forward, the speed of the two motors in the back increases, while the speed of the two motors in the front decreases. In order not to change the total torque and total tension of quadrotor aircraft because of the change of rotor speed, the variables of rotor speed 1 2 and rotor speed 3, 4 should be equal. As the lift of the last two rotors rises, the lift of the first two rotors drops, and the generated moment makes the fuselage rotate around the Y axis (the direction is shown in the figure). Similarly, when the speed of the first two motors decreases and the speed of the second two motors increases, the fuselage rotates in the other direction around the Y axis, thus realizing the pitching motion of the aircraft.