Modeling and Implementation of Quadcopter Autonomous Flight Based on Alternative Methods to Determine Propeller Parameters

TL;DR

This paper introduces alternative, cost-effective methods to model key quadcopter parameters like propeller thrust-torque and aerodynamic drag, enabling accurate simulation and control without expensive sensors.

Contribution

It presents novel experimental modeling techniques for propeller torque and aerodynamic drag, validated through simulation and real flight tests, facilitating quadcopter control design without costly equipment.

Findings

Models behave identically to true models in simulations and flights

Validated alternative methods produce reliable dynamic models

Provides a baseline for fail-safe quadcopter control

Abstract

To properly simulate and implement a quadcopter flight control for intended load and flight conditions, the quadcopter model must have parameters on various relationships including propeller thrust-torque, thrust-PWM, and thrust--angular speed to a certain level of accuracy. Thrust-torque modeling requires an expensive reaction torque measurement sensor. In the absence of sophisticated equipment, the study comes up with alternative methods to complete the quadcopter model. The study also presents a method of modeling the rotational aerodynamic drag on the quadcopter. Although the resulting model of the reaction torque generated by the quadcopter's propellers and the model of the drag torque acting on the quadcopter body that are derived using the methods in this study may not yield the true values of these quantities, the experimental modeling techniques presented in this work ensure that the derived dynamic model for the quadcopter will nevertheless behave identically with the true model for the quadcopter. The derived dynamic model is validated by basic flight controller simulation and actual flight implementation. The model is used as basis for a quadcopter design, which eventually is used for test purposes of basic flight control. This study serves as a baseline for fail-safe control of a quadcopter experiencing an unexpected motor failure.