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Rotor force model for drones
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DOI：10.1063/5.0246767.png)
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摘要
En 中文
We propose an analytical rotor force model for multicopter drones and derive corresponding performances for endurance, climb, and cruise. Multicopter drones follow their planned trajectory by controlling the angular velocities of the rotors. This motion is described by an aerodynamic drone model comprising a distributed mass and the rotor forces. Previous rotor force models focus on hovering and slow-speed motion, i.e., when the thrust is nearly perpendicular to the plane. In the current study, we generalize these rotor force models for high-speed cruise and large ambient flow velocities. These generalized models allow to predict and optimize drone performance for hovering, climbing, and cruising. Key enablers are a large database for rotor performance under different ambient winds and a novel sparse regression for the normal and in-plane rotor forces. The modeling and optimization framework is exemplified for the rotor of a lightweight quadcopter drone (800 grams) and has an angular velocity range of 70-150 revolutions per second (RPS). Different angular velocities, incidence angles, and flight velocities are considered. The maximum incoming velocity with different directions is set as 15 m/s to avoid flow separation. The presented framework can guide drone performance optimization and gust-safe model-based control.
Keyword:
IDENTIFICATION
PERFORMANCE
QUADCOPTER
期刊
IF:
4.3
论文数:
2.9W
被引数:
8.0W
机构
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