Optimization of Quadrotor's Thrust and Torque Coefficients and Simulation with Matlab/Simulink


BAYRAKTAR Ö. , GÜLDAŞ A.

JOURNAL OF POLYTECHNIC-POLITEKNIK DERGISI, vol.23, no.4, pp.1197-1204, 2020 (Journal Indexed in ESCI) identifier

  • Publication Type: Article / Article
  • Volume: 23 Issue: 4
  • Publication Date: 2020
  • Title of Journal : JOURNAL OF POLYTECHNIC-POLITEKNIK DERGISI
  • Page Numbers: pp.1197-1204

Abstract

In this study, the thrust forces and torque values were experimentally measured which determine the quadrotor dynamics majorly and and optimization was performed on the the quadrotor simulation model. The electronic speed controller, which regulates the speed of the rotors, is controlled in the frequencies range from 1100 to 2000 by pulse width modulation (PWM) method. Thrust force, torque value and rotor speed measurements were experimentally performed on motor and propeller pair. The regression analyzes of these parameters were performed according to the rotor speed. Regression analyzes were performed with linear, quadratic, cubic and constant coefficient methods. The obtained regression equations were applied to Matlab/Simulink quadrotor model and the errors in the quadrotor trajectory tracking were compared. It has been observed that the thrust and torque values obtained from momentum theorem have high deviation in 2-meter trajectory tracking. It has been observed that using the quadratic regression method to determine thrust force and using the cubic regression method to determine torque value minimize the amount of error in trajectory tracking.