Introduction to Multicopter

Design and Control

Lesson 04 Modeling and Evaluation
of Propulsion System
Quan Quan , Associate Professor
qq_buaa@buaa.edu.cn
BUAA Reliable Flight Control Group, http://rfly.buaa.edu.cn/
Beihang University, China
 How is the flight performance of a
multicopter evaluated?

2016/12/25 2
 Outline

1. Overall Description

2. Propulsion System Modeling

3. Performance Evaluation

4. Experiment

5. Website

6. Conclusion

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 1. Overall Description

 Propulsion system parameters

Thrust and torque
Table 4.1 Propulsion system parameters coefficient
Component Parameters
Propeller Θp={Diameter Dp, Pitch Hp, Blade Number Bp, Propeller Weight CT CM
Gp}
Motor Θm={KV Value KV0, Maximum Continuous Current ImMax,
Nominal No-load Current Im0, Nominal No-load Voltage Um0,
Resistance Rm, Motor Weight Gm}
ESC Θe={Maximum Current IeMax, Resistance Re, ESC Weight Ge}
Battery Θb={Capacity Cb, Resistance Rb, Total Voltage Ub, Maximum
Discharge Rate Kb, Battery Weight Gb}

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 1. Overall Description
 Solution to Hovering Endurance
Temperature Propeller Temperature Propeller
and Altitude Parameters and Altitude Parameters

Thrust Speed Torque

• Propeller Model:
Weight
Inverse
Single Thrust Torque Model
Thrust Model
Blade
Number

Motor Parameters
Thrust and torque
Equivalent Motor
Voltage and Current
Motor Model
• Motor Model

ESC Battery
Parameters Parameters Battery Parameters
• ESC Model
Throttle Rotor
command Number

Hovering
• Battery Model
ESC Model Battery Model
Endurance

ESC Input Voltage

and Current

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 2. Propulsion System Modeling
 Blade Element Theory
dL
1
dR dT dL  Cl W02 cdr
0 2
 1
dD  Cd W02 cdr
dD 2
dD
c   arctan
dL
dL
 W0 V0 dR  dL2  dD 2 
cos 
0  p
dT  dR cos 0   
VR
Figure 4.1 Blade element force diagram

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 2. Propulsion System Modeling
 Blade Element Theory
Blade Area
1 1 Bp N
Thrust L  Cl  S saW0  Cl  (  D p c p )( D p ) 2
2

2 2 2 60
1 Bp Dp N 2
 Cl  (  D p )( D p )
2 2 A 60
L cos    0 
Aspect Ratio 2
T  L   N 2 D p4 N 4
T  CT    Dp
cos       60 
Downwash Effect Correction Angle
1 1 N 2 Bp
Torque M  Bp Cd W0 S sa Dp  Bp Cd  ( D p ) (  D p c p ) Dp
2

4 4 60 2
2
1 N 2 Bp Dp  
N
 Bp Cd  ( D p ) (  D p ) Dp   N 2 D 5p M  CM    Dp5
4 60 2 A  60 
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 2. Propulsion System Modeling
 Propeller Model (1) Thrust Model
Temperature Propeller Temperature Propeller
and Altitude Parameters and Altitude Parameters Thrust (N)
2
N 4
T  CT    Dp
Thrust Speed Torque
Weight
Inverse
Single Thrust Torque Model

 60 
Thrust Model
Blade
Number

Motor Parameters

Thrust Air
Equivalent Motor Speed Propeller
Voltage and Current Coefficient Density
Diameter (m)
Motor Model
(kg/m3) (RPM)

ESC Battery
Parameters Parameters Battery Parameters
273Pa
Throttle Rotor  0
command Number 101325(273  Tt ) Temperature (℃)
ESC Model Battery Model
Hovering
h
Endurance
Pa  101325(1  0.0065 )5.2561
ESC Input Voltage 273  Tt
and Current
0  1.293 kg / m3 Altitude (m)

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 2. Propulsion System Modeling
 Propeller Model
Temperature Propeller
and Altitude Parameters
Temperature Propeller
and Altitude Parameters
(2) Inverse Thrust Model
T
Weight Thrust Speed Torque
N  60
Dp4CT 
Inverse
Single Thrust Torque Model
Thrust Model
Blade
Number

Motor Parameters

G
Equivalent Motor
Single T
Voltage and Current
Motor Model
Thrust (N) nr
Number of Weight of
ESC Battery Rotor Multicopter (N)
Parameters Parameters Battery Parameters

Throttle Rotor
G
N  60
command Number

ESC Model Battery Model

Hovering
Endurance nr Dp4CT 
ESC Input Voltage
and Current
Motor Speed (RPM)

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 2. Propulsion System Modeling
 Propeller Model (3) Torque Model
Temperature Propeller Temperature Propeller
and Altitude Parameters and Altitude Parameters
Torque
Torque Coefficien
Speed Torque (N·m)
Weight Thrust
Inverse
t
Single Thrust Torque Model
2
N 5
Thrust Model
Blade

M  CM    Dp
Number

Motor Parameters
 60 
Equivalent Motor
Voltage and Current
G
Motor Model
N  60
nr Dp4CT 
ESC Battery
Parameters Parameters Battery Parameters

G
M  CM
Throttle
command
Rotor
Number Dp
ESC Model Battery Model
Hovering
nr CT
Endurance

ESC Input Voltage

and Current

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 2. Propulsion System Modeling
 Motor Model (1) Electromagnetic torque
Temperature Propeller Temperature Propeller
and Altitude Parameters and Altitude Parameters

Weight Thrust Speed Torque

Te  K T I m
Inverse
Single Thrust Torque Model
Thrust Model
Blade
Number

Motor Parameters
ElectromagneticTorque Equivalent
Equivalent Motor
Torque Constant Motor Current
Voltage and Current
Motor Model
60
KT  K E  9.55K E
2
ESC Battery
Parameters Parameters Battery Parameters
U m0  I m0 Rm
Throttle Rotor
KE 
command Number K V0U m0
Hovering
ESC Model Battery Model
Endurance

ESC Input Voltage

and Current
Provided by manufacturers

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 2. Propulsion System Modeling
 Motor Model
VT1 VD1 VT3 VD3 VT5 VD5
r LM ea
Square-Wave Driving:
ia
+ -
US A
ib r LM
+
eb
-
Back-Electromotive Force:
B

C ic r LM ec Trapezoidal Wave
+ -

VT4 VD4 VT6 VD6 VT2 VD2 Phase Current: Square Wave
Im Rm Lm I av
Figure 4.2 Model of three phase BLDC motor  

Here, the armature inductance 
Lm and the transient process Um I m0
 Ea


caused by switching elements 
are neglected. Figure 4.3 Equivalent motor model

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 2. Propulsion System Modeling
Im Rm Lm I av
 
 Motor Model


(2) Output Torque
Um I m0
 Ea


M  K T  I m  I m0  
Torque (Obtained in No-Load Figure 4.3 Equivalent motor model
the propeller model) Current

(3) Equivalent Motor Current (4) Equivalent Motor Voltage

M
Im   I m0 U m  K E N  Rm I m
KT
Speed (Obtained in the propeller model)

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 2. Propulsion System Modeling
 ESC Model Ie  Re I m

Temperature Propeller Temperature Propeller

 
and Altitude Parameters and Altitude Parameters Ue U eo Um

Thrust Speed Torque

Weight
Inverse
Single Thrust Torque Model
Thrust Model
Blade Figure 4.4 ESC model
Number

Motor Parameters
U eo is the equivalent DC voltage,
Equivalent Motor
given by
Voltage and Current
Motor Model U eo  U m  I m Re
The throttle command σ is
ESC Battery
Parameters Parameters Battery Parameters
obtained as
U eo U eo
Throttle
command
Rotor
Number  
ESC Model Battery Model
Hovering
Ue Ub
Endurance
Battery
ESC Input Voltage Input throttle Voltage
and Current
command

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 2. Propulsion System Modeling
 ESC Model Ie  Re I m

Temperature Propeller Temperature Propeller

 
and Altitude Parameters and Altitude Parameters Ue U eo Um

Thrust Speed Torque

Weight
Inverse
Single Thrust Torque Model
Thrust Model
Blade Figure 4.4 ESC Model
Number

Motor Parameters The ESC input current is

Equivalent Motor
Voltage and Current Ie   Im
Motor Model

The ESC voltage is supplied by the

ESC Battery
Parameters Parameters Battery Parameters battery pack, given by
Throttle Rotor

U e  U b  nr I e Rb
command Number

Hovering
ESC Model Battery Model
Endurance

ESC Input Voltage

and Current Battery
Number of ESC Resistance
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 2. Propulsion System Modeling
 ESC Model The battery discharge process is
Temperature Propeller
and Altitude Parameters
Temperature Propeller
and Altitude Parameters
simplified so that the battery
voltage retains constant and the
Weight Thrust
Inverse
Speed Torque
battery capacity decreases linearly.
Single Thrust Torque Model
Thrust Model
Blade
Number Current from autopilot,
Battery camera stabilizer and other
Motor Parameters
Current
Equivalent Motor
Voltage and Current
I b  nr I e  I other
Creal  Cb  I bTreal
Motor Model

ESC Battery
Battery Parameters
Parameters Parameters
Remaining Capacity Discharge Time
Throttle Rotor
command Number

Hovering Hovering Endurance (min)

ESC Model Battery Model
Endurance Minimum
Cb  Cmin 60 Capacity
ESC Input Voltage
and Current Tb   (mAh)
Ib 1000
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 3. Performance Evaluation
• Propeller Model
2
G N

Temperature Propeller
N  60 
Temperature Propeller 5
, M D C M 
 Dp4CT  Θ p  nr
and Altitude Parameters and Altitude Parameters p
 60 
Thrust Speed Torque
Weight
Single Thrust
Inverse
Thrust Model
Torque Model
• Motor Model
Blade
Number

Motor Parameters
U m  fU m  Θ m , M , N  , I m  f Im  Θ m , M , N 

Equivalent Motor
Voltage and Current • ESC Model
Motor Model

  f σ  Θe ,U m , I m ,U b 
ESC Battery
Parameters Parameters Battery Parameters
I e  f I e  , I m 
Throttle
command
Rotor
Number
U e  fU e  Θ b , I e 
Hovering
ESC Model Battery Model

• Battery Model
Endurance

ESC Input Voltage

and Current
Tb  fTb   b , I b 

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 3. Performance Evaluation
 Problem 4.1
In the hover mode, according to the known parameters, estimate the
hover endurance Thover, the throttle command of throttle σ, the ESC
input current Ie, the ESC input voltage Ue, the battery current Ib and
the motor speed N.
• Propeller Model • Motor Model
G N
2
U m  fU  Θ m , M , N 
N  60 , M   D 5
C  
m

 Dp4CT nr p M
 60  Im  f I Θm , M , N 
m

• ESC Model • Battery Model

  fσ  Θe ,U m , I m ,U b 
I e  f I  , I m  I b  nr I e  I other Thover  fTb   b , I b 
e

U e  fU  Θ b , I e 
e

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 3. Performance Evaluation
 Problem 4.2
In the maximum thrust mode, according to the known parameters,
estimate the ESC input current Ie, the ESC input voltage Ue, the battery
current Ib, the motor speed N and the system efficiency η.
  f σ  Θe ,U m , I m ,U b   1
Ie  f Ie 1, I m 
2
N
Θ e , Θ p , Θ m ,U b M   Dp5CM   I m ,U m , M , N Ib  nr I e  I other
 60 
Ue  fU e   b , I b 
U m  fU m  Θ m , M , N 
I m  f Im  Θ m , M , N 

2
nr NM
 60
Ub Ib
System Efficiency

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 3. Performance Evaluation
 Problem 4.3
In the forward flight mode, according to the known parameters, estimate
the maximum payload Gmaxload and the maximum pitch θmax, both of
which are used to guarantee the safety of a multicopter.
  f σ  Θ e , U m , I m , U b   0.8
2
N
M   D CM  
5
Θ e , Θ p , Θ m ,U b p
 60  I m ,U m , M , N
U m  fU m  Θ m , M , N 
I m  f Im  Θ m , M , N 
2
N
T  CT  Dp4   Thrust
 60 
Gmaxload  nrT  G Maximum Payload
G
 max  arccos Maximum Pitch
nrT

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 3. Performance Evaluation
 Problem 4.4
In the forward flight mode, according to the known parameters,
estimate the maximum flight speed Vmax, and the maximum
flight distance Zmax. (1) Forward Flight Speed
T

• Relationship between drag and thrust

Fdrag  G tan 
G
T
nr cos 
Fdrag
• Relationship between drag and speed
 1
Fdrag  CD V 2 S
2
Angle of Pitch
G
  
CD  CD1  1  sin 3   CD2  1  cos3  
Figure 4.5 A multicopter in forward flight 2G tan 
Forward Flight Speed V   
Under the given θ  S[CD  1  sin 3    CD  1  cos3  ]
1 2

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 3. Performance Evaluation
 Problem 4.4
In the forward flight mode, according to the known parameters, estimate
the maximum flight speed Vmax, and the maximum flight distance Zmax.
• Motor Speed
(2) Maximum Flight Distance
G
N  60
T  CT Dp4 nr cos 
• Propeller Torque
GCM Dp
M
CT nr cos 
Fdrag • Flight Time（See Problem 4.1）
(min)
 • Flight Distance
G

Angle of Pitch
• Maximum Flight Distance
Figure 4.5 A multicopter in forward flight max Z ( )
 [0, max ]

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 3. Performance Evaluation

 Constraint
• Constraint 1. Generally, in the hover mode, the throttle command
is expected to be about 50% in order to ensure a sufficient
control margin.

• Constraint 2. Motor current Im is limited by Im ≤ ImMax.

• Constraint 3. ESC current Ie is limited by Ie ≤ IeMax.

• Constraint 4. Battery current Ib is limited by Ib ≤ CbKb.

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 4. Experiment

Figure 4.6 Experimental Equipment

Verify the proposed model (choose representative indices):

1. Thrust and ESC input current.
2. Hovering endurance.
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 4. Experiment
Table 4.2 Parameters of experiment components

 Verification Environment h=50m, Tt=25℃

Propeller APC 10x45MR (Dp=10inch, Hp=4.5inch, Bp=2)

• thrust-speed Motor
Sunnysky Angel A2212(KV0=980RPM/V, Rm=0.12Ω, Um0=20V,
Im0=0.5A, ImMax=20A )
curve
ESC IeMax=30A, Re=0.008Ω
• current-speed Battery ACE (Cb=4000mAh, Ub=12V, Rb=0.016Ω, Kb=25C)
curve

ESC input current (A)

Experiment
Thrust (N)

Proposed Method Similar Similar

Figure 4.7 Thrust-Speed curve and current-speed curve

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 4. Experiment
 Verification for Hovering Endurance
• In order to simulate the hover case of a multicopter, the
thrust produced by the propeller in the experiment can be
assumed as G/nr .
• The equivalent hover endurance of a multicopter is equal to
the discharge time of the battery.
• Experiment result:
Table 4.3 Values of hovering endurance

Virtual Multicopter G=14.7N, nr=4

Environment and
Propulsion System
See previous page

Experiment 12.5min
Hovering Endurance
Proposed 12.2min
Similar

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 5. Website www.flyeval.com

A performance evaluation website www.flyeval.com for multicopters is established. Users can

obtain the flight evaluations mentioned above after providing the airframe configuration parameters,
the environment parameters and the propulsion system parameters and mathematical model.

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 5. Website www.flyeval.com

Moreover, besides the evaluation function, this website has the design function that can recommend users
with the propulsion system according to the flight requirement users provide.

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 6. Conclusion
（1）Flight performance of a multicopter mainly depends on its
propulsion system.
（2） Performance evaluation website:
www.flyeval.com
• Performance evaluation: Estimate various performance indices in the
hover mode, maximum thrust mode and forward flight mode.
• Optimal components: Given the performance requirement, such as
hovering endurance and maximum payload, seek for the optimal
components of a propulsion system.
• Future work: Dynamic performance indices. When a propeller has
large inertia, the controllability will be reduced. We will evaluate the
dynamic performance of a multicopter with the theory of degree of
controllability.
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 Acknowledgement

Deep thanks go to

Dongjie Shi Xunhua Dai

for material preparation.

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 Thank you!
All course PPTs and resources can be downloaded at
http://rfly.buaa.edu.cn/course

For more detailed content, please refer to the textbook:

Quan, Quan. Introduction to Multicopter Design and Control. Springer,
2017. ISBN: 978-981-10-3382-7.
It will be available soon, please visit
http://www.springer.com/us/book/9789811033810

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