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...
Mathematical Modeling of the NOTAR Antitorque System for Flight Simulation
Yavrucuk, İlkay; Uzol, Oğuz (2013-04-01)
In this paper, a mathematical model of a helicopter NO TAil Rotor (NOTAR) antitorque system is developed for real-time flight simulations. The model consists of the circulation control tail boom, direct jet thruster, and the vertical stabilizers. The airflow inside the tail boom is modeled by dividing the flow into aerodynamic control volumes. The model features a bladeelement-type approach for modeling the mass flow through the axial fan blades as well as aerodynamic mass and momentum conservation calculat...
Experimental analysis of 3-D sweeping wings
Çakır, Hasan; Kurtuluş, Dilek Funda; Department of Aerospace Engineering (2015)
The aim of this thesis is to modify the mechanism, which is capable of mimicking the insect flight and developed previously by the Aerospace Engineering Department, and to measure the forces and moments of three types of flapping wings fixed to this mechanism. The flapping wing design is a new research topic, comparably young area and can be the future for micro unmanned air vehicles. Time varying force and moment data obtained from the experiments conducted in water as part of this thesis can be used to de...
Citation Formats
D. D. Kaya, “Modeling and experimental identification of quadrotor aerodynamics,” M.S. - Master of Science, Middle East Technical University, 2014.