Abstract
Due to their abilities, multirotor unmanned aerial vehicles (UAVs) can be used in various missions that require complex and precise movements, so they are a typical representative of aerial robots. Since this type of UAV is characterized by high energy consumption, it is of most importance to precisely choose the system parameters and components in order to achieve the required flight performance that meets the mission requirements. In this paper, a method for characterization of the multirotor UAV propulsion system is proposed, which is a fundamental step in the design process of this type of UAV. For the purpose of method validation, experimental measurements and signal acquisition were performed, and the measurement results for the considered electric propulsion units were shown. An identification procedure is presented, which is used to process the measurement results or manufacturer’s data and display them as propulsion unit static maps. Based on static maps, the characterization process of the electric propulsion system is performed, and the propulsion unit characteristics are shown.
Highlights
In the last 10 years, research in the field of unmanned aerial vehicles (UAVs) has experienced a vast expansion, which is made possible by the development of aircraft components, primarily micro-electromechanical systems (MEMS) sensors, microcontrollers, batteries, and propulsion components
The mathematical description is an approximation and abstraction of a real system and, in this case, multirotor UAV is viewed as a rigid body that exists in three-dimensional space, so it has six degrees of freedom (DOF)
Conventional electric propulsion unit (EPU) consist of a brushless DC (BLDC) motor and associated electronic speed controller (ESC), with a fixed pitch propeller mounted to the motor shaft
Summary
In the last 10 years, research in the field of unmanned aerial vehicles (UAVs) has experienced a vast expansion, which is made possible by the development of aircraft components, primarily micro-electromechanical systems (MEMS) sensors, microcontrollers, batteries, and propulsion components. Given that the propulsion system should provide the thrust required for the movement of the aircraft, respectively achieve the required flight performance, the selection of parameters and components of the propulsion system is the most important and complex step. A method for characterization of the electric propulsion system is proposed, which is an important step in the multirotor UAV design process. The parameter identification procedure is presented which, based on experimental measurements data or manufacturer’s data, results in EPU static maps. Such static maps exactly show the physical parameters in relation to the control (PWM) signal and characterize EPU.
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