Unable to log in or get member pricing? Having trouble changing your password?

Please review our Frequently Asked Questions for complete information on these and other common situations.
 

Vertical Flight Library & Store

A Study of the Influence of Motor-ESC Dynamics on Multi Rotor Vehicle Disturbance Rejection

Rhys Lehmann, Defence Science and Technology Group
Stef Ceelen, TuDelft

May 10, 2022

https://doi.org/10.4050/F-0078-2022-17645

Abstract:
Unmanned aerial systems (UAS) are being operated in increasingly complex environments, and robust disturbance rejection is critical in enabling these systems to operate effectively in these environments. Previous studies have indicated that the actuator dynamics of multirotor systems can be a major limiting factor in the overall disturbance rejection. In this paper, a detailed study of multirotor actuator dynamics was conducted based on experimental results collected during bench tests and in a small wind tunnel. Time and frequency domain system identification techniques were utilised to characterise the actuator response across a broad range of throttle levels. Comparisons were made between various Electronic Speed Controller (ESC), motor and rotor configurations, highlighting the spread of actuator dynamics with different hardware selections. In addition, a range of factors associated with improved actuator response characteristics were identified. Subsequently, two actuator configurations were selected for evaluation in a flight test using a small quadrotor vehicle, based on results from laboratory tests. A measureable improvement in vehicle disturbance rejection from the baseline configuration to the updated hardware was demonstrated during the flight test, validating the lab results.


A Study of the Influence of Motor-ESC Dynamics on Multi Rotor Vehicle Disturbance Rejection

  • Presented at Forum 78
  • 18 pages
  • SKU # : F-0078-2022-17645
  • Unmanned VTOL Aircraft and Rotorcraft II

  • Your Price : $30.00
  • Join or log in to receive the member price of $15.00!


VFS member?
Don't add this to your cart just yet!
Be sure to log in first to receive the member price of $15.00!

 
Add To Cart

Add to Wish List

Reward Value:
(60) Member Points

A Study of the Influence of Motor-ESC Dynamics on Multi Rotor Vehicle Disturbance Rejection

Authors / Details:
Rhys Lehmann, Defence Science and Technology Group
Stef Ceelen, TuDelft