Modeling and experimental identification of quadrotor aerodynamics

Kaya, D. Derya
The aim of this study is to obtain mathematical models for aerodynamic forces and moments of rotors of a quadrotor helicopter, and estimate their parameters through wind tunnel tests for hover, vertical climb, and forward flight conditions. The main factors which determine the movement of a quadrotor UAV are the aerodynamic forces and moments in three axes created by four rotors of the vehicle. Hence, accurate calculation of rotor forces and moments in varying flight conditions are essential to establish a precise simulation of the vehicle. For this purpose, analytical models for aerodynamic forces and moments of a rotor are derived using blade element and momentum theories. These models predict the aerodynamic rotor forces and moments generated by air flows around the blades due to blade rotation and vehicle motion on all three axes. Parameters of the mathematical models are then identified through experimental force and moment measurements obtained in a wind tunnel at various rotor speed, free stream velocity, and vehicle angle of attack values. Since the analytical model cannot capture certain experimentally observed dependencies, an empirical rotor model has been developed by surface fitting a second order polynomial model to test data. The developed model allows us to accurately predict aerodynamic loads on a quadrotor in various rotor speeds and flight conditions.


Design and manufacturing of a quad tilt rotor unmanned air vehicle
Kahvecioğlu, Ahmet Caner; Alemdaroğlu, Hüseyin Nafiz; Department of Aerospace Engineering (2014)
This thesis presents the design and manufacturing process of a mini class quad tilt rotor unmanned air vehicle (UAV). An optimal design procedure is conducted to satisfy a set of pre-determined requirements, which ensure a competitive aircraft platform performing primarily intelligence, surveillance and reconnaissance missions in UAV market. The aircraft has four electric motors with tilting capability in one axis, which gives it the opportunity to combine the vertical take-off and landing capabilities with...
Aerodynamic modeling and parameter estimation of a quadrotor helicopter
Kaya, Derya; Kutay, Ali Türker (2014-01-01)
This study focuses on aerodynamic modeling of a quadrotor helicopter and the estimation of the model parameters in wind tunnel tests for hover, vertical climb, and forward flight conditions. The motion of a quadrotor is mainly affected by the aerodynamic forces and moments generated by rotors. Accurate calculation of rotor loads is essential for high fidelity simulation of a quadrotor. Momentum and blade element theories are used to obtain expressions for rotor forces and moments for a traveling vehicle. Th...
Genetic Algorithm based aerodynamic shape optimization tool for wind turbine blades and its implementation to helicopter blades
Polat, Özge; Sezer-uzol, Nilay; Tuncer, İsmail Hakkı (2014-01-01)
This study presents a methodology first built up for the aerodynamic shape optimization for wind turbine rotors and its modified version for a helicopter rotor in hover. The Genetic Algorithm (GA) coupled with an in-house Blade Element Momentum (BEM) tool is used in the design optimization process. The wind turbine blade optimization studies are performed for maximizing the power production at a given wind speed, rotor speed and rotor diameter, while for the helicopter blade optimization in hover, figure of...
Optimal Design of a Miniature Quad Tilt Rotor UAV
Kahvecioglu, Ahmet Caner; Alemdaroglu, Nafiz (2015-06-12)
This paper describes the design procedure of a convertible miniature (mini and micro) quad tilt rotor unmanned air vehicle (UAV), which has about 2 meters of wing span, one hour of mission time and 5 kilograms of total weight. The aircraft is driven by four brushless direct current motors, and the structure of it completely made of composite materials. When the wing and tail of the aircraft are dismounted, it operates as a quad- rotor with tilting rotors. The aircraft is planned to carry a gimbal camera wei...
Computational fluid dynamics simulations of ship airwake with a hovering helicopter rotor
Orbay, Ezgi; Sezer Uzol, Nilay (2016-01-01)
Computational Fluid Dynamic simulations of ship airwake are performed together with an actuator disk model for a rotor model hovering over the flight deck. The flow around Simple Frigate Shape 2 (SFS2) is computed in steady-state and unsteady conditions by solving RANS and hybrid RANS/LES equations. The unstructured grid is generated for the ship geometry. Also, an actuator disk is added into the model to investigate downwash effect of rotor on ship airwake and interaction of rotor and ship airwake.
Citation Formats
D. D. Kaya, “Modeling and experimental identification of quadrotor aerodynamics,” M.S. - Master of Science, Middle East Technical University, 2014.