Experimental Research On Rotor Propulsion System Of Small Multi-rotor UAVs

Small multi-rotor UAVs are widely used in military and civilian applications because of their vertical take-off and landing and good maneuverability.However,existing multi-rotor UAVs will have problems such as endurance and load capacity more or less.This is the key issue that multi-rotor UAVs need to solve.Most of the existing researches on multi-rotor UAVs focus on algorithms and simulation modeling,and rarely consider the research perspective of multi-rotor power systems to fundamentally improve the load and cruising range of multi-rotor UAVs.This paper takes the multi-rotor UAVs propulsion system as the research direction,combines the existing multi-rotor UAVs flight control technology,and conducts theoretical and experimental research on the multi-rotor UAVs propulsion system.Firstly,the dynamics model of UAVs propulsion system is established,and the relationship between each component of UAVs and its dynamic performance is analyzed and studied.Then based on theoretical modeling,an experimental system for parametric test of UAVs propulsion system is built.Based on Lab VIEW and Arduino,the control software of the above experimental system was designed,and the performance parameters of the UAVs or its propulsion components under different conditions were tested and experimentally studied.The experimental results show that the propulsion parameters of the multi-rotor UAVs system used in this paper are as follows: lift coefficient is 0.05899,and hub-force coefficient is 0.002469.The time constant of the first-order system from the PWM output signal to the rotational speed output is 60 ms,and its stable gain coefficient is 0.275.Based on the above-mentioned theoretical and experimental research,a quad-rotor UAVs that meets the load capacity and endurance time that can be provided by the current power system is designed,and related outdoor flight tests are conducted.The test results show that with the continuous increase of throttle,the speed of the quad-rotor UAVs also keeps rising.When the throttle signal reaches about 66%,the rotor speed reaches 82.5r/s,the quad-rotor UAVs start to climb slowly.When the throttle signal continues to increase,the quad-rotor UAVs completely leave the ground for near-ground flight.At the same time,it also reflects the effectiveness of the propulsion system test platform developed in this paper,and can fully determine the propulsion system parameters of multi-rotor UAVs.The structure is simple,the cost is low,and the measurement data can be acquired with stability,applicable to the determination of the propulsion system parameters of small multi-rotor UAVs,providing a new experimental platform for multi-rotor testing and control workers to carry out experimental research.