Experimental Identification and Characterization of Multirotor UAV Propulsion

[摘要] In this paper, an experimental procedure for the identification and characterization of multirotor Unmanned Aerial Vehicle (UAV) propulsion is presented. Propulsion configuration needs to be defined precisely in order to achieve required flight performance. Based on the accurate dynamic model and empirical measurements of multirotor propulsion physical parameters, it is possible to design diverse configurations with different characteristics for various purposes. As a case study, we investigated design considerations for a micro indoor multirotor which is suitable for control algorithm implementation in structured environment. It consists of open source autopilot, sensors for indoor flight, "take off the shelf" propulsion components and frame. The series of experiments were conducted to show the process of parameters identification and the procedure for analysis and propulsion characterization. Additionally, we explore battery performance in terms of mass and specific energy. Experimental results show identified and estimated propulsion parameters through which blade element theory is verified.

[发布机构] Karlovac University of Applied Sciences, Mechanical Engineering Department, J.J. Strossmayera 9, Croatia^1;Peti Brod, Zlatarska 14, Croatia^2;University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Ivana Lucica 5, Croatia^3

[效力级别] 无线电电子学

[关键词] Algorithm implementation;Design considerations;Empirical measurement;Experimental identification;Experimental procedure;Parameters identification;Propulsion components;Structured environment