Aerodynamic modeling and parameter estimation of a quadrotor helicopter

Kaya D., KUTAY A. T.

AIAA AVIATION 2014 -AIAA Atmospheric Flight Mechanics Conference 2014, Atlanta, GA, United States Of America, 16 - 20 June 2014 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.2514/6.2014-2558
  • City: Atlanta, GA
  • Country: United States Of America


This study focuses on aerodynamic modeling of a quadrotor helicopter and the estimation of the model parameters in wind tunnel tests for hover, vertical climb, and forward flight conditions. The motion of a quadrotor is mainly affected by the aerodynamic forces and moments generated by rotors. Accurate calculation of rotor loads is essential for high fidelity simulation of a quadrotor. Momentum and blade element theories are used to obtain expressions for rotor forces and moments for a traveling vehicle. The parameters of the models are then identified through wind tunnel tests where the forces and moments created under various wind conditions and rotor speeds are measured with a six axes balance system.