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Theoretical development and study of takeoff constraint thrust equation for a

drone

Conference Paper · December 2017

DOI: 10.1109/SCORED.2017.8305428

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 Theoretical Development and Study of Takeoff
Constraint Thrust Equation for A Drone
C. Huang Shen 1, F.Y.C. Albert 2,CK Ang 3, Dwee Jin Teck 4,K.P Chan 5
,1,2,4
UCSI University
Department of Electrical and Electronic Engineering, Cheras, 56000 Kuala Lumpur, Malaysia
Corresponding author: [email protected],[email protected]
3
UCSI University
Department of Mechanical Engineering, Cheras, 56000 Kuala Lumpur, Malaysia
5
UCSI University
Department of Mechatronic Engineering, Cheras, 56000 Kuala Lumpur, Malaysia

Abstract—This paper presents theoretical development for a suitable brushless DC motor, type of battery and propeller
various weight of drone to take off away from land. This theory apply to the particular drone design is very important, different
equation is important to consider when selecting a motor reflect DC motor and type of propeller and battery are going to affect
to the total weight of drone must be able to comfortably to take the thrust to move the quadcopter airframe up from the ground.
off and fly. The theory is based on the momentum theory, disk
A minimum weight of thrush is needed in order to lift up the
actuator theory, kinetic energy and power of motor with
propeller. The thrust must be twice than the flying weight of the quadcopter. The total weight of quadcopter is based on the
drone. This theory equation results are useful for the drone battery, fight controller, propeller, motor, driver, camera,
application in the extra features design during the fly such as the frame, and receiver. The calculation must confirmed that the
camera, thermal image sensor, wireless sensor and other sensors motor is suitable for the application. Ampere is one of the
application. The results are validated using a paid website considerations to choose the motor, battery and propeller.
calculator from “www.eCalc.ch”. The power factor is given by This paper is organised and divided into 4 sections as
the website is 3.5 and was compared with the theory equation. follows: Section II presents the theory analysis of the
The power factor from the theory equation must adjusted and equilibrium propeller thrust. Section III presents the
tuned to 3.15 in order in line with the “eCalc” results of the
calculation of take-off thrust while Section IV results
graph plotting.
investigation under which of the parameter is in line or
Keywords—Drone; Thrust estimation; Performance equation; identical with a paid website calculation conditions. The figure
1 is shown the fundamental components setup for a drone
I. INTRODUCTION system.
Drone has become an age of no longer like a toys or playing
II. THEORY ANALYSIS OF THE EQUILIBRIUM PROPELLER
fly for interested and enthusiast. Drone can be considered as an
THRUST
Unmanned Air Vehicle (UAV) .The drone technology has
matured enough providing many applications like The theory of the propeller thrust is based on the
thermography, agriculture [1], disaster management [2], Momentum theory [7], which is also known as helicopter rotor
military drone [3], Thermal observation [4], Disaster (disk actuator theory) The thrust force can be calculated as in
monitoring and management [5], state agency investigations, the mathematic terms equation (1) [8, 9]:
landslide and other steep terrain investigations, bridge T  A       [1]
inspections, roadside and roadway inspections [6] and others. Where T represents the thrust in Newton [N], A represents the
A quadcopter is a short form for quadrotor helicopter which is area of the propeller rotor in meter square (m2), ρ represents
commonly known as quadrotor and drone as well. This the density of air in kilogram per cubic meter (kg/m3), υ
mechanism is using multirotor to be lifted and propelled represents
against the gravity with four rotors that widely used nowadays
for many purposes. A pair diagonal propeller will rotate
clockwise and another pair will rotate counter-clockwise.
These rotation speed of a motor is used to control the direction
and achieve the movement of the drone. The speed of each
motor is directly proportional to the thrust as the rotational
speed of the motor increase the force that thrust the drone will
also increase and make the drone to fly. A quadrotor UAV is
required Global Positioning System (GPS), Gyroscope, fight
controller, transceiver, motor speed driver, flight controller,
lipo-Battery, brushless DC motor, propeller and quadcopter
airframe. The fundamental components set up for a drone are
Fig. 1. Fundamental components setup
shown in fig.1. GPS was not required in this research project
because of it was focused in the propeller thrust estimation. A

978-1-5386-2126-4/17/$31.00 ©2017 IEEE

 T  2  A     2 (10)

Refer to the Fig. 2. , the area of the rotor diameter is:

A    R2 (11)

Where R represents the propeller radius in meter [m].

Substituting equation (11) into equation (10)

Fig. 2. Propeller air flow
T  2    R 2     2 (12)
the velocity of air at the propeller in meter per second (m/s), ∆υ
represents the velocity of air accelerated by propeller in meter
per second. From the equation 12, the  , velocity of air accelerated by
The equation 1 is needed to derive further more according to propeller is produce by the force and velocity which can be
the type of propeller blade. Consider a full power of motor P
derived from the equation of  
propeller air flow without the losses as shown in Fig. 2. In the T
air flow diagram above shown P0 and PE are the pressure Where P represents the power of the motor transmitted to
difference before and after of the propeller. The equation (2) propeller in watt [W], T represents the thrust in newton [N].
and (3) of the mass flow and the change of the air flow are Substituting  into equation (12)
derive as shown below: 1
T  (2    R 2    P 2 ) 3 (13)
ṁ  A     (2)
The power is calculated based on the motor run in load
Momentumconservation, F  ṁ  (3) condition RPM (Revolutions per minute). Normally, the
specification is given in no load condition of the RPM per volt.
Where ṁ represents the mass flow rate in kilogram per second The rpm value should be calculated 75% approximately of its
[kg/s], ρ represents the density of air in kilogram no load rpm. The power equation is based on the propeller
per cubic metre (kg/m3), υ represents the velocity of air at the constant and power factor for the propellers that are used to
propeller in meter per second (m/s), ∆υ represents the velocity create thrust [10]. The power factor was tested according to the
of air accelerated by propeller in meter per second.The propellers constant from Mr. P. Connolly for Hyperion (APC
conservation of energy is given by: propellers).

Energy spent in one act = Energy gained in the related act (4) P = Propeller constant  rpmpower factor (14)

Similarly, the propeller spinning energy available in the air The Propeller constant is calculate by P/D ratios. D is the
flow is converted to force against the gravity which created the diameter length of a propeller of N blades while P is the pitch
thrust. Suppose a velocity of propeller motor is spanned (rpm) of the blade. Power factor is the ratio of operation power in
for a particular velocity air accelerated kilowatts (kW) to apparent total power in kilovolt-amperes
(kVA)
The conservation of energy equation can be written as
1 2 The RPM is calculate based on supplied voltage to the motor
Energy conservati on, F     ṁ   (6) as shown in equation 15. As the voltage increases, the spins is
2
Substituting equation (2) and (3) into equation (6) increases simultaneously.

1 RPM = Kv  Voltage (15)

ṁ       A       2 (7)
2
Where Kv represents the RPM per volt from the specification
Substituting equation (2) into equation (7), and simplify. of the motor. Voltage represents the supplied voltage from the
battery to the motor.
1 Substituting equation (14) and (15) into equation (13), the
A           A       2 (8) completed equilibrium propeller thrust equation can be
2 presented as in equation (16)
  2   (9)
III. CALCULATION OF TAKEOFF THRUST
Substituting equation (9) into equation (1) The procedures to obtain the takeoff thrust performances are

978-1-5386-2126-4/17/$31.00 ©2017 IEEE

Fig. 3. A eCalc thrust calculator

1
2 power factor 2 3
T  ( 2    R    ( propeller constanht  (rpm) ) ) (16)

made an assumption of thrust without frictional losses. The of parameters in table 1. Fig. 4 shows the theoretical
theory calculation was validated using a paid website webs calculation comparison with the simulation results.
calculator from “www.eCalc.ch” as shown in figure 3.
According to the equation 16, the parameters and For an example let the rpm is equal to 10000 rpm.
coefficients were needed to find the thrust are propeller 1
radius(R), pi (  ), air density (  ), APC propeller constant T  (2    0.1143 2  1.225  (0.048  10 3.55 ) 2 ) 3  14.287 N
and power factor. The estimated propeller rpm is used to
calculate the thrust. The APC propeller speeds are controlled TABLE I. PARAMETERS AND COEFFICIENT
COEFFI VALUES
by high power Kv motors, the vehicle motion can be
neglected affect the motor speed. The power factor and Parameters Values
propellers constant aree based on the aircraft world from Mr. Propeller modal APC
PC slow fly series(Prop. Size 9*38)
9*
P. Connolly for Hyperion (APC propellers) [10]. ].
Propeller radius(R), 0.1143 m
A. Parameters and coefficient value for performance Pi (  ), 3.14159
calculation Air density (  ), 1.225 Kg/m3
To compare and analyse the calculation results established in APC propeller 0.048
equation 16 and eCalc, this section is define all the values of constant
propeller radius(R), pi (  ), air density (  ), APC propeller power factor 3.55
constant and power factor and rpm. rpm 3000 rpm to 11000
11 rpm

The comparison of the thrust from the eCalc simulation and

IV. RESULTS AND ANKYSIS theory calculation is shown in Table 2 for the motor speeds
Using the eCalc thrust calculator and the equations 16 for from 3,500 rpm to 11,300 rpm. The relative error, designated
equilibrium propeller thrust can be estimated for a given set Theory  Simulation )
ET  ( )  100% (17)
Theory

978-1-5386-2126-4/17/$31.00 ©2017 IEEE

TABLE II. COMPARISON THRUST MOTOR AND RELATIVE ERROR WITH TABLE III. COMPARISON THRUST MOTOR AND RELATIVE ERROR WITH
THE POWER FACTOR 3.55 THE POWER FACTOR 3.15

Thrust Motor Thrust Motor

Relative Relative
Simulation Theoretical Simulation Theoretical
RPM errors % RPM errors %
(P.F=3.55) (P.F=3.55) (P.F=3.55) (P.F=3.15)
3586 1 1.261 21% 3586 1 0.89 -12.00%
4811 1.8 1.593 -13% 4811 1.8 1.05 -17.00%
5072 2 2.865 30% 5072 2 1.86 -0.14%
5783 2.6 3.909 33% 5783 2.6 2.45 -0.15%
6991 3.8 6.12 37% 6991 3.8 3.65 -0.15%
7857 4.8 8.073 41% 7857 4.8 4.66 0.14%
8930 6.2 10.93 43% 8930 6.2 6.1 -0.10%
9073 6.4 11.349 43% 9073 6.4 6.3 -0.10%
9887 7.6 13.9 45% 9887 7.6 7.55 -0.05%
10016 7.8 14.341 46% 10016 7.8 7.76 0.05%
11341 10 19.244 48% 11341 10 10.07 0.07%
.
According to the relative error results, The table did not
show thata constant datapercent variation on the exstimation V. CONCLUSISON
of 75% efficiency performance. The power factor of the As conclusion, the Quad copter motor rpm theoretically and
thoeritical was recalcuated again using the values of simulation comparison result obtained. The study on the
3.3,3.2,3.15 and 3.1 as shown in fig. 5. power factor reflected to the motor speed of the output
thrust are approximately identical to the simulation results
from the software specification used to calculate the thrust.
So, in this study, the theoretical calculation power factor
was fine-tuned to match the simulation results. After the
calculation, the power factor results obtained was 3.15. In
future work, the experiments should be carry out to validate
the theoretical and simulation results.

ACKNOWLEDGMENT
We would like to acknowledge the funding from UCSI
University, Centre of Excellence for Research, Value
Innovation and Entrepreneurship (CERVIE). The research
project code is Proj-In-FETBE-036.

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