Experimental Investigation of Motor and Propeller of Quadrotor Propulsion System and Identification with RLS Algorithm

In this study, the aerodynamic parameters in static and dynamic mode of a blade in a MAV empirically study, the performance characteristic curves are extracted, and then the identification of propulsion system of a quadrotor is done. To supply needed data for identification process, a measurement setup is designed and built. The setup is able to measure all aerodynamic parameters of propeller and input and output of motor. In propeller modeling, all characteristic curves of propeller in static and dynamic mode is measured and analyzed. These characteristics include power, propulsion force and efficiency of blade is determined by the rotational speed of the motor. System identification is divided to two parts: propeller identification and motor identification. For identification of motor, recursive least square algorithm is used. Identified model for motor shows the relationship between voltage and angular velocity of motor. Finally, the review was done on the engine and propeller, the entire complex has been identified. Propulsion series linear model obtained in this study can be used in modeling quadrotor. Eventually identified motor is compared with identified motor by De Lellis. The comparison validated the identified motor at this research. Also the comparison of present that used model has one step and test to identification passive parameters. On the other hand, this model is very simple and efficient.