Aerodynamic Modeling and Parameter Estimation of a Quadrotor Helicopter

Kaya, Derya; Kutay, Ali Türker

doi:10.2514/6.2014-2558

Cited by 36 publications

(23 citation statements)

References 7 publications

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“…Recently, a few works have used blade element theory (BET) [5,6,14,15,[62][63][64][65][66], usually in conjunction with the Glauert flow model [34] for both axial and oblique flow conditions, resulting in models with no closed form expressions. Additionally, the models are fragmented in the literature, with some focusing only on the axial flow condition, and others only considering a subset of the outputs in (1).…”

Section: Literature Reviewmentioning

confidence: 99%

Computationally Efficient Force and Moment Models for Propellers in UAV Forward Flight Applications

Gill

D’Andrea

2019

Drones

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Two low-order, parametric models are developed for the forces and moments that a rotating propeller undergoes in forward flight. The models are derived using a first-principles-based approach, and are computationally efficient in the sense of being represented by explicit expressions. The parameters for the models can be identified either using supervised learning/grey-box fitting from labelled data, or can be predicted using only the static load coefficients (i.e., the hover thrust and torque coefficients). The second model is a multinomial model that is derived by means of a Taylor series expansion of the first model, and can be viewed as a lower-order lumped parameter model. The models and parameter generation methods are experimentally tested against 19 propellers tested in a wind tunnel under oblique flow conditions, for which the data is made available. The models are tested against 181 additional propellers from existing datasets.

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Section: Literature Reviewmentioning

confidence: 99%

Computationally Efficient Force and Moment Models for Propellers in UAV Forward Flight Applications

Gill

D’Andrea

2019

Drones

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“…V is the relative velocity, and φ is the angle of the blade profile. Therefore, the thrust coefficient is [20,21]:…”

Section: Thrust T Rotor Disk Areamentioning

confidence: 99%

“…Nguyen and DucHung studied the aerodynamic characteristics of a quadrotor helicopter in a uniform flow field through wind tunnel tests and the aerodynamic interference problem of the twin-rotor structure [20]. Derya derived the force and moment of the quadrotor using the blade element momentum theory [21]. Yeong studied the aerodynamic design of the propeller with the shear stress transport K-Omega (SST k-ω) turbulence model and optimized the aerodynamic performance of the UAV [22].…”

Section: Introductionmentioning

confidence: 99%

Aerodynamic Performance of Quadrotor UAV with Non-Planar Rotors

Lei

Wang

2019

Applied Sciences

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The mobility of a quadrotor UAV is significantly affected by its aerodynamics, especially when the closely spaced rotors are applied in the multi-rotor system. This paper addresses the aerodynamic modeling of non-planar quadrotor UAV with various rotor spacing (1 d–2 d) and disk plane angle (0–50 deg). The inter-rotor interference and the power models are also proposed in this paper. In order to validate the non-planar model, a series of CFD analyses and experiments were conducted. The obtained results demonstrate that the flow field of the non-planar quadrotor is extremely complicated when the unsteady flow is involved. The pulsation of partial angle of attack and pressure distribution is formed when the blade passes through the vortex. The thrust is increasing significantly along with the tilt angle, resulting from the stronger outflow of the non-planar rotors, which is also leading the power increment. However, the thrust increment is not that obvious when the spacing is larger than 1.4 d. The experiments and the numerical simulation results provide consistent trends and demonstrate the effectiveness of the aerodynamic model of the non-planar quadrotor. The comparison with the traditional planar quadrotor validates that the proposed non-planar quadrotor has better aerodynamic and control performances with a larger power loading.

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“…Narramore et al [14] studied unsteady flow field and aerodynamic characteristics of tilting quadrotor aircraft based on sliding grid technology, and verified the reliability of the method through experiments. Kaya et al [15] used momentum and blade element theory to deduce the expressions of forces and moments generated by the rotor, and verified them through wind tunnel tests. Aleksandrov et al [16] analyzed the aerodynamic interference between rotors at different rotor spacing by experiment and CFD simulation, but the influence of aerodynamic interference on power is not considered.…”

Section: Introductionmentioning

confidence: 99%

Aerodynamic Optimization of a Micro Quadrotor Aircraft with Different Rotor Spacings in Hover

Lei

Wang

2020

Applied Sciences

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In order to study the aerodynamic performance of the quadrotor with different rotor spacings in hover, experiments were performed together with numerical simulations. For experimental study, an experimental platform was designed to measure the thrust and power consumption of the quadrotor with different rotor spacings (L/R = 2.2, 2.6, 3.0, 3.2, 3.6, and 4.0), and to attempt to find out the optimal rotor configuration which makes the quadrotor have the best aerodynamic performance. In addition, the pressure distribution, vorticity of the blade tip, and velocity vector of quadrotor in the flow field were obtained by Computational Fluid Dynamics (CFD) method to visually analyze the aerodynamic interference between adjacent rotors. By the comparison of experimental results and numerical simulations, the final results show that the aerodynamic performance of the quadrotor varies obviously with the change of rotor spacing, and it has a negative impact on hover efficiency if rotor spacing is too much small or large. The rotors pacing at L/R = 3.6 with larger thrust and smaller power is considered to be the best aerodynamic configuration for the quadrotor with better aerodynamic characteristics. Furthermore, compared with the isolated rotor, moderate aerodynamic interference is proved to help improve the aerodynamic performance of the quadrotor with a larger thrust, especially for a rotor spacing at L/R = 3.6.

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Aerodynamic Modeling and Parameter Estimation of a Quadrotor Helicopter

Cited by 36 publications

References 7 publications

Computationally Efficient Force and Moment Models for Propellers in UAV Forward Flight Applications

Computationally Efficient Force and Moment Models for Propellers in UAV Forward Flight Applications

Aerodynamic Performance of Quadrotor UAV with Non-Planar Rotors

Aerodynamic Optimization of a Micro Quadrotor Aircraft with Different Rotor Spacings in Hover

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