Mathematical model of a multi-rotor drone prototype and calculation algorithm for motor selection
Journal Title: Proceedings in Manufacturing Systems - Year 2017, Vol 12, Issue 3
Abstract
This paper presents the theoretical stages for developing the mathematical model of a multirotor drone used for security applications and applicative works for development of the calculation algorithm necessary to determine the best choice of brushless motors which will equip the drone, based on the payload mounted onboard the drone and the specific mission that the drone is going to perform. First part of the paper presents the kinematics and dynamics modeling of the drone operation principles. It includes coordinates systems description, matrix description of roll-pitch - yaw individual and global rotation motions, as well as appropriate forces and torques acting on the drone system. Second part of the paper presents full calculation algorithm for motor selection, the procedure followed up to verify the resulted configuration for hexacopter's driving system as well as the virtual 3D prototype of the hexacopter achieved using SOLIDWORKS CAD software. Final aspects including electronic wiring and constructive - functional aspects related to hexacopter's on the board electronics are included too.
Authors and Affiliations
Mihai-Alin Stamate, Adrian-Florin Nicolescu, Cristina Pupaza
Keywords
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