Indonesi
an
Journa
l
of El
ect
ri
cal Engineer
ing
an
d
Comp
ut
er
Scie
nce
Vo
l.
13
,
No.
2
,
Febr
uar
y
201
9
, pp.
4
69
~
4
74
IS
S
N: 25
02
-
4752, DO
I: 10
.11
591/ijeecs
.v1
3
.i
2
.pp
469
-
4
74
469
Journ
al h
om
e
page
:
http:
//
ia
es
core.c
om/j
ourn
als/i
ndex.
ph
p/ij
eecs
An an
gle spe
ed and
thrust relatio
nshi
p of the qu
ad
co
pt
er rot
or
Al A
l,
A
r
fit
a Yu
ana
Dewi
, Ant
ono
v
B
achti
ar, Dwi
H
ari
nita
Depa
rte
m
ent of Elect
ri
ca
l
Eng
in
ee
ring
,
FTI
ITP
Padang
,
Ind
ones
ia
Art
ic
le
In
f
o
ABSTR
A
CT
Art
ic
le
history:
Re
cei
ved
Sep
17
, 201
8
Re
vised
N
ov
2
2
, 2
018
Accepte
d
Dec
6
, 2
018
Util
izing
Quadc
opte
r
were
sti
ll
m
an
y
obstacles
such
as;
pla
ne
e
as
y
to
f
al
l
;
the
ba
tter
y
was
not
dura
b
le
;
v
ulne
rab
le
to
we
at
her
conditions
and
oth
ers.
The
rese
arc
h
an
d
deve
lopment
h
ave
grown
to
im
prove
ai
r
cra
f
t
fa
ci
litie
s
and
ca
pab
il
i
ti
es.
Ma
n
y
par
amete
rs
r
el
a
te
d
to
ai
rcr
af
t
li
ft
ca
p
abi
l
ity
fac
tors;
f
l
y
long;
fl
y
ing
h
ig
h;
t
y
pe
of
m
otor
;
the
t
y
p
e
of
pro
pel
l
er:
in
cl
uding
the
sensors
and
cont
ro
l
s
y
st
ems
used.
Thi
s
stud
y
was
to
fin
d
the
re
la
t
ionshi
p
bet
wee
n
cha
nges
in
th
e
BLDC
m
otor
vo
lt
ag
e
source
to
t
he
rotor
angle
v
el
oc
ity
(ω)
;
rotor
spee
d
of
th
e
rotor
lift
(Ft);
wind
spee
d
to
r
otor
li
ft
;
push
th
e
foll
owing
rotor
(Ct).
Emp
iri
c
al
te
st
ing
was
conduc
t
ed
in
the
la
bor
at
or
y
to
find
the
rel
a
ti
onship
of
t
hese
par
amete
rs.
The
r
esult
s
da
t
a
show
tha
t
;
th
e
li
ft
pow
er
gene
ra
te
d
wi
th
rota
ti
on
al
spe
ed
was
not
proporti
onal,
non
-
l
inea
rity
oc
cur
s
when
the
rotor
was
re
le
ase
d
fro
m
the
self
and
start
s
pull
ing
th
e
strai
n
gaug
e
when
the
rot
at
io
n
spee
d
reache
s
aro
und
65
rps.
Once
th
e
rotation s
pee
d
of
th
e
rotor
is
abl
e
to
r
ea
ch
up
to
1.
5
Newton
lift,
the
n
t
he
thrust
rising t
ren
d
shar
p
l
y
inc
re
asing
in
in
cre
asi
ng
of
th
e
rotor
spee
d
.
A
m
otori
st
had
12
00
KV
and
bla
de
with
a
r
adius
of
0.
12
m
,
th
e
n
obtained
thrust
(Ct)
of
1.
732.
Ke
yw
or
ds:
Rotor t
hrust c
oe
ff
ic
ie
nt
Copyright
©
201
9
Instit
ut
e
o
f Ad
vanc
ed
Engi
n
ee
r
ing
and
S
cienc
e
.
Al
l
rights re
serv
ed.
Corres
pond
in
g
Aut
h
or
:
Al A
l
,
Dep
a
rtem
ent o
f
Ele
ct
rical
E
nginee
rin
g,
FTI ITP
Pa
dang,
Jl. G
a
j
a
hm
ada
-
Kandis
-
Na
ngga
lo Pa
dang 2
5143
I
ndonesi
a,
te
lp:
+627
5170
55202
.
Em
a
il
:
al
.
m
tdrs@
gm
ai
l.com
1.
INTROD
U
CTION
In
this
m
il
le
nn
ia
l
era,
Qu
a
dc
opte
r
ai
r
cra
ft
ha
s
bec
om
e
a
trend
of
t
he
world'
s
pe
op
le
,
w
he
ther
us
e
d
a
s
a
sp
eci
al
pu
r
pose
al
thou
gh
a
s
a
ho
bby.
T
he
sp
eci
al
us
e
of
Q
ua
dcopter
ai
rcr
aft
su
c
h
as
m
ilit
ary
interest
s,
the
intere
sts
of
m
app
ing
s
urv
ey
s
an
d
oth
e
r
pur
p
os
es
s
uch
as
nat
ur
al
disa
ste
r
reli
ef
[
1]
.
Wah
y
un
i
at
.
al
2016
us
e
d
UAV
as
a
too
l
to
est
i
m
at
e
Bi
o
m
ass
a
bove
the
Lan
d
of
Forest
Re
cl
a
m
at
ion
.
The
y
fo
und
that
the
best
m
od
el
to
est
i
mate
the
above
gro
und
bio
m
ass
is
Ci
AG
B
=
0.237
1.368
wi
th
a
correla
ti
on
coeffic
ie
nt
of
0.712
[2,
3]
.
The
use
of
Q
uad
c
opte
r
as
a
ho
bby
ha
s
sp
aw
ne
d
a
com
m
un
it
y
of
Qu
a
dc
op
te
r
m
aniac
so
ci
et
ie
s,
alm
os
t
cov
e
rin
g
a
ny
c
ountry
in
the
world
a
s
a
Quadcopter
.
Qu
a
dcopter
existe
nce
will
becom
e
m
or
e
im
po
rtant
t
o
ta
ke
a
bi
gg
e
r
r
ol
e
in
var
i
ou
s
pur
po
ses
inclu
ding
busi
ness.
They
will
be
a
n
inte
gr
al
par
t
of
e
ve
ryday
hum
a
n
li
fe acti
viti
es, su
ch
as
from
s
m
al
l t
hin
gs t
o g
r
eat
er in
te
rests
su
c
h
as
de
fen
s
e an
d
sec
ur
it
y
[
4].
Ther
e
are
sti
ll
m
any
obsta
cl
es
in
operati
ng
a
qua
dcopter
s
uch
as
pla
ne
e
asy
to
fall
;
the
plane
is
easy
to
hit;
the
batte
ry
is
no
t
durab
l
e;
vu
lne
ra
ble
to
weat
her
c
ondi
ti
on
s
an
d
ot
he
rs.
I
n
relat
ion
t
o
that,
Qu
a
dc
opte
r'
s
researc
h
an
d
de
velo
pm
ent
is
beco
m
ing
m
or
e
and
m
or
e
dev
el
oped
to
c
over
the
weakne
sses
of
the
exi
sti
ng
Qu
a
dc
op
te
r
ai
rcr
a
ft
as
well
as
to
i
m
pr
ov
e
ai
rcr
aft
facil
it
ie
s
and
capa
bili
ti
es
[5]
.
The
Ve
rtic
al
Take
of
f
Lan
ding
(V
T
O
L)
Airc
raf
t
is
a
ty
pe
of
ai
rcr
af
t
that
can
do
ta
ke
off
an
d
la
nding
pe
rp
e
ndic
ul
ar
to
the
earth
so
it
can
be
do
ne
in
a
nar
r
ow
place.
The
U
AV
of
t
his
ty
pe
is
su
it
able
fo
r
the
s
urvey
locat
ion
functi
on
in
a
na
rrow
area
su
c
h
as
urban
re
side
ntial
areas
or
m
any
sh
r
ub
s
area
s
[
6]
.
Pounds
20
06
has
bee
n
res
earchi
ng
a
bout
Pil
ot,
qu
a
d
-
r
otor
r
ob
ot
cha
ssis
a
nd
avio
nics
us
i
ng
c
us
tom
-
bu
il
t
m
oto
r
an
d
ba
tt
ery
off
-
th
e
-
sh
el
f,
int
o
a
highly
reli
able
experi
m
ental
platform
.
This
veh
ic
le
us
es
the
pl
ant
dynam
ic
s
are
tun
e
d
wit
h
m
ou
nted
on
-
boar
d
at
ti
tud
e co
ntr
ol to
sta
bili
ze fli
gh
t
[
7].
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
2502
-
4752
Ind
on
esi
a
n
J
E
le
c Eng &
Co
m
p
Sci,
Vo
l.
13
, N
o.
2
,
Fe
bru
ary 2
019
:
4
69
–
4
74
470
The
process
of
analy
zi
ng
th
e
ro
t
or
li
ft
f
or
ce
is
ver
y
com
plex
an
d
c
om
plete.
The
res
ults
of
t
his
sty
le
are
i
m
po
rta
nt,
in
choosi
ng
a
m
oto
r
f
or
the
UAV
syst
em
[8
]
.
Ta
o
in
20
16,
ci
ti
ng
a
n
un
m
ann
e
d
ai
r
traff
i
c
m
anag
em
ent
syst
e
m
[9
]
.
The
pur
pose
of
his
resear
ch
is
to:
a
datin
g
syst
e
m
;
cur
re
nt
pra
ct
ic
e
syst
e
m
;
How
do
pilots
us
e
t
he
s
yst
e
m
,
and
w
ho
has
a
utho
rity
;
determ
ine
what
arch
it
ect
ur
e
is
need
e
d
in
a
syst
e
m
that
su
pport
s
var
i
ou
s
ty
pes o
f
ai
rc
raf
t.
In
de
velo
ping
knowle
dge
a
nd
in
f
or
m
at
ion
about
Quadc
opte
r
ai
rcr
a
ft,
t
his
stu
dy
pro
poses
t
o
fin
d
a
relat
ion
s
hip
be
tween
cha
nges
in
the
BLDC
m
oto
r
vo
lt
age
s
ource
an
d
the
ro
t
or
an
gle
vel
ocity
(ω
);
changes
i
n
ro
t
or
a
ngular
ve
locit
y
to
wind
sp
ee
d
th
rou
gh
the
r
otor
(
v);
changes
i
n
the
ro
t
or
a
ngle
vel
ocity
to
the
li
ft
ro
t
or
(F
t);
cha
nges
in
wi
nd
s
pee
d
to
the
el
evat
or
r
otor;
ro
t
or
th
rust
coef
fici
e
nt
(
Ct
).
The
a
bili
t
y
of
ai
rp
la
nes
in
ai
r
i
s
base
d
pr
inci
pa
ll
y
on
;
Ne
wton
'
s
Law;
Ar
c
hi
m
edes;
Pascal
;
Be
rno
ulli
,
an
d
the
la
w
of
s
ust
ai
nab
il
it
y.
Ne
wton'
s
la
w
descr
i
bes
the
relat
ion
s
hi
p
betwee
n
f
orces
act
ing
on
obj
ect
s
an
d
their
m
ov
em
en
ts.
Ar
c
him
ede
s'
la
w
exp
la
in
s
the
up
ward
pr
es
sure
on
ob
j
ect
s
w
he
n
im
m
ersed
in
li
qu
id.
Pascal
'
s
la
w
sta
te
s
that
the
press
ur
e
gi
ven
to
the
li
qu
i
d
is
passe
d
in
al
l
directi
ons.
Be
r
noulli
Law
e
xpla
ins
t
hat
a
n
increase
in
flu
id
ve
locit
y
cau
ses
a
decr
ease
in
pre
ssu
re
in
the
fl
ow.
The
La
w
of
Co
ntinu
it
y
s
ho
ws
the
fact
th
at
the
m
ass
a
of
a
m
ov
in
g
flui
d
will
no
t c
ha
ng
e
wh
en
it
is
neg
at
iv
e
[
10
]
.
Re
search
on
th
e
Qu
a
dcopter
l
ift
and
drag
us
i
ng
the
C
om
pu
ta
ti
on
al
Fluid
D
ynam
ic
s
(CFD)
te
chn
i
qu
e
was
pr
opos
e
d
[10]
,
beca
us
e
wind
tu
nn
el
exp
e
rim
ents
a
re
ve
ry
dif
ficult
and
a
ddit
ion
al
c
os
ts
are
m
or
e
exp
e
ns
i
ve.
Thi
s
te
chn
iq
ue
shows
cl
ose
nes
s
with
real
ex
perim
ents.
In
pri
nc
iple,
wh
e
n
the
ai
rcr
aft
is
in
t
he
ai
r
,
there
a
re
f
our
m
ai
n
forces
act
ing
on
t
he
plane,
T
th
rus
t,
D
dr
a
g,
li
ft
and
ai
rcr
a
ft
weig
ht
(
weig
ht
W
).
Four
aer
odyna
m
ic
sty
le
s
in
fligh
t
wer
e
discuss
e
d
by
Geor
ge
Ca
yl
ey
,
2008.
Me
a
nwhile
,
the
m
ov
em
ent
of
the
qu
a
dc
op
te
r
wa
s
li
ke
goin
g
ba
ck
a
nd
f
or
th;
L
eft
an
d
ri
gh
t;
up
a
nd
dow
n,
in
flue
nced
by
va
riat
ion
s
i
n
di
re
ct
ion
,
sp
ee
d
and
acc
el
erati
on
of
f
our
r
otors.
f
or
quadc
opte
r
t
hat
has
fixe
d
bla
de
par
am
et
ers
t
hat
can
cha
ng
e
is
the
sp
ee
d
a
nd acce
le
rati
on
of the
pro
pelle
r
an
gle
[11
]
.
Re
search
on
li
fts
and
dr
a
g
force
of
a
U
AV
by
us
i
ng
Com
pu
ta
ti
onal
Fluid
Dy
na
m
ic
s
(CFD
)
te
chn
iq
ue
is
pro
posed
[
12]
,
because
wind
tunnel
e
xp
e
rim
ents
are
ve
r
y
diff
ic
ult
an
d
ad
diti
on
al
c
ost
m
or
e.
This tech
nique
shows a clo
se
pro
xim
it
y t
o
the r
eal
expe
rim
ent. In
t
he pri
nc
iple, w
he
n
the
aircra
ft is on t
he
ai
r
,
there
a
re
f
our
m
ai
n
forces
ac
ti
ng
on
t
he
pla
ne,
th
e
thr
us
t
T,
drag
D
,
li
ft
and
weig
ht
of
the
pla
ne
(
wei
gh
t
W).
Geor
ge
Ca
yl
ey
,
2008,
disc
us
ses
t
he
f
ou
r
aer
od
y
nam
i
c
forces
in
f
li
gh
t.
Me
an
w
hile,
the
qu
a
dcopter
m
ov
e
m
ents
suc
h
as
bac
k
a
nd
f
ort
h;
Le
ft
and
ri
gh
t;
up
and
do
wn,
in
f
luence
d
by
va
riat
ion
s
i
n
dir
ect
ion
,
sp
ee
d
a
nd
acce
le
rati
on
of
fou
r
r
otors
f
or
a
q
uad
c
opte
r
t
hat
has
fixe
d
blad
e
pa
ram
et
ers
that
ca
n
c
hange
is
the
sp
ee
d
a
nd acce
le
rati
on
of the
pro
pelle
r
an
gle
[13
]
.
The
pro
pelle
r
s
erv
es
to
tra
ns
f
er
powe
r
by
ch
ang
i
ng
r
otati
on
al
m
ov
e
m
ents
into
an
im
pu
lse
to
m
ov
e
a
veh
ic
le
li
ke
an
ai
rp
la
ne,
th
r
ough
an
ai
r
m
ass,
by
r
otati
ng
two
or
m
ore
twin
blades
from
the
m
ai
n
sh
aft.
The
pr
op
el
le
r
act
s
as
a
ro
ta
ti
ng
wing
a
nd
pro
duces
a
f
or
c
e
that
app
li
es
Be
rnou
ll
i'
s
pr
inciple
s
a
nd
Ne
wton'
s
la
ws
of
m
otion
,
resu
lt
in
g
in
diff
e
re
nces
in
pr
es
sure
bet
w
een
the
fro
nt
and
rear
or
top
-
dow
n
or
le
ft
-
rig
ht
su
r
faces.
T
he
s
iz
e
of
the
knife
us
e
d
i
n
the
qu
adcopter
va
ries
de
pendin
g
on
the
siz
e
of
the
qu
a
dc
op
te
r
a
nd
th
e
load
to
be
li
fted
by
the
qua
dcopter
.
The
re
fore
to
cal
culat
e
ho
w
m
uch
li
ft
and
sp
ee
d
a
qu
a
dcopter
i
s,
it
i
s
i
m
po
rtant
t
o
kno
w
t
he
relat
ion
s
hi
p
betwee
n
siz
e,
r
otati
on
sp
ee
d
a
nd
pro
pelle
r
li
ft.
T
he
relat
ion
s
hip
be
tween
m
easur
es
of li
f
t and s
peed suc
h
as
(
1
)
an
d
(
2
)
[
14
].
T = (
C
t
.π
.ρ.r
2
. v
2
)
/2
(1)
On the line
, C
oe
ff
ic
ie
nt t
hrust
(
C
t
)
ca
n be e
xp
resse
d
as e
quat
ion
7
.
C
t
=
2.T/
(π.ρ
. r
2
. v
2
)
(2)
Wh
e
re:
C
t
is
thr
us
t
coe
ff
ic
ie
nt;
T
is
ro
tor
t
hrust;
π
is
3.1
4;
ρ
is
den
sit
y
of
ai
r
=
1.2
25
;
r
is
rad
i
us
of
blade
;
v
is ai
r
s
pee
d.
2.
RESEA
R
CH MET
HO
D
In
t
his
stu
dy,
e
m
pirical
te
sti
ng
wa
s
do
ne
in
the
la
borato
ry
to
fin
d
ou
t
t
he
relat
ion
s
hip
a
m
on
gs
t
oth
e
r
things:
change
s
in
BLDC
m
oto
r
volt
age
sou
rce
to
ro
t
or
a
ngle
velocit
y
(
ω
);
changes
in
r
oto
r
an
gle
velo
ci
ty
to
wind
s
pee
d
th
rou
gh
the
ro
t
or
(
v
);
the
cha
ng
e
in
t
he
a
ngula
r
velocit
y
of
the
r
otor
t
o
the
r
otor
li
f
ts
(
Ft
);
changes
in
wind s
pee
d
to
roto
r
li
ft; r
oto
r
th
rust coef
fici
ent
(
Ct
).
To
ob
ta
in
the
r
esults
of
these
m
easur
em
ents
than
require
d
m
at
erial
s
and
e
qu
i
pm
ent
as
fol
lows
;
12
00
Kv
BL
DC
Motor;
30
Am
per
e
Ele
ct
ro
nic
sp
e
ed
co
ntr
oller
(
ESC);
V
oltage
sensor;
500
K
Oh
m
Po
te
ntiom
et
er;
Ardu
i
no
U
no
Mi
cro
co
ntr
oller;
Me
cha
nic
sta
nd
up;
LCD
disp
la
y;
Bl
ade
pro
pelle
r
with
ra
dius
(
r)
is
0.1
2
m
et
er;
Digital
A
nem
o
m
et
er;
Digital
Tac
hom
et
er;
Digital
Strain
Ga
uge.
Im
ple
m
entat
ion
of
this
ro
t
or
Evaluation Warning : The document was created with Spire.PDF for Python.
Ind
on
esi
a
n
J
E
le
c Eng &
Co
m
p
Sci
IS
S
N:
25
02
-
4752
An a
ng
le
s
pee
d a
nd thr
us
t rel
ationshi
p of th
e quadc
op
te
r
r
oto
r
(
Al Al
)
471
par
am
et
er
m
easur
em
ent
is
done
in
acc
ord
ance
with
the
blo
c
k
diag
ram
as
in
Fig
ur
e
1.
T
he
m
at
erial
and
m
easur
em
ent eq
ui
pm
ent are
s
how
n
as i
n
Fig
ur
e
2.
A
n
e
m
o
m
e
t
e
r
B
l
a
d
e
A
r
d
u
i
n
o
U
n
o
M
i
c
r
o
c
o
n
t
r
o
l
l
e
r
T
a
c
h
o
m
e
t
e
r
S
t
r
a
i
n
G
a
u
g
e
E
l
e
c
t
r
o
n
i
c
s
p
e
e
d
c
o
n
t
r
o
l
E
l
e
c
t
r
o
n
i
c
s
p
e
e
d
c
o
n
t
r
o
l
L
i
p
p
o
B
a
t
t
e
r
y
P
o
t
e
n
s
i
o
M
e
t
e
r
V
o
l
t
a
g
e
s
e
n
s
o
r
L
C
D
D
i
s
p
l
a
y
Figure
1
.
Bl
oc
k diag
ram
o
f
m
easur
em
ent
syst
e
m
Figure
2. The
m
at
erial
an
d
m
easur
em
ent
eq
uip
m
en
3.
RESU
LT
S
A
ND AN
ALYSIS
In
this
te
sti
ng
ph
a
se
it
ca
n
be
seen
that:
pro
vid
in
g
sou
rces
rangin
g
from
1
to
2
volt
s
ca
nnot
m
ov
e
the
pro
pelle
r;
by
pro
vid
i
ng
a
volt
age
s
ource
bet
ween
2.26
to
2.8
5
volt
s
the
pro
pelle
r
has
be
en
a
ble
to
r
ota
te
but
do
e
s
not
ye
t
ha
ve
the
po
wer
to
so
a
k
it
sel
f;
a
fter
bein
g
give
n
betwee
n
2.86
unti
l
the
c
onditi
on
of
t
he
3
vo
lt
ro
t
or
is
now
floati
ng
or
sta
rting
t
o
rise.
Cu
r
ren
tl
y
the
co
ntro
l
volt
age
is
giv
e
n
as
3.1
volt
s
and
t
he
r
ot
or
ha
s
been
li
fted
a
nd
is
hi
gh
e
r.
The
sta
rt
of
t
he
el
e
vato
r
r
otor
is
ind
ic
at
ed
by
th
e
r
oto
r
r
otati
on
sp
ee
d
of
3539
r
pm
.
Wh
il
e
t
he
high
est
an
gle
r
otati
on
al
sp
ee
d
rea
ches
5285
r
pm
w
hen
giv
e
n
a
5
vo
lt
s
ource
volt
age.
F
ur
the
r
m
or
e,
the
ro
to
r
pa
ra
m
et
ers
are
te
st
ed
by
sel
f
-
loa
d
wh
ic
h
is
add
ed
with
a
load
of
50
gram
s,
so
that
the
tot
al
load
beco
m
es
215 g
ram
s an
d
the
c
on
te
nt is s
how
n
in
Ta
ble 1.
Table
1
.
Me
as
ur
em
ent
with
215
-
G
ram
Load
N0
Vo
ltag
e Sou
rce
Sp
eed (r
p
m
)
Dev
ice
Co
n
d
itio
n
0
0
0
stag
n
an
1
1
Vo
lt
0
stag
n
an
2
2
Vo
lt
0
stag
n
an
3
3
Vo
lt
3339
stag
n
an
4
3
,10
Volt
3539
stag
n
an
5
3
,15
Volt
3562
cu
tin
h
alf
6
3
,50
Volt
4034
go
-
up
7
4
Vo
lt
4708
go
-
up
8
5
Vo
lt
5185
go
-
up
W
it
h
a
loa
d
o
f
215
gram
s,
it
can
be
seen
in
T
a
ble
1
that;
betwee
n
1
to
3.14
volt
s
s
our
ce
volt
age
,
the
r
otor
ca
nnot
be
li
fte
d.
Wh
en
giv
e
n
a
3.1
5
-
volt
source
volt
age
t
hen
the
ai
rcr
a
ft
sta
rts
to
float.
Starti
ng
from
the
3.2
5
-
volt
so
urce
volt
age
an
d
r
ushin
g
up
the
ro
t
or
i
s
al
read
y
up
and
m
ov
ing
hi
gh
e
r.
F
urt
he
r
m
or
e,
by
pro
vid
in
g
a
total
weigh
t
of
315
gram
s,
t
he
res
ult
of
t
he
par
am
et
er
m
easur
em
ent
is
sh
ow
n
as
in
T
able
3.
Table
2
s
how
s
that
the
r
otor
floats
w
he
n
th
e
source
vo
lt
a
ge
is
gi
ven
at
3.78
volt
s.
Whereas,
a
fter
the
source
vo
lt
age
is
giv
e
n
by 3.8 v
olts c
on
ti
nues
up t
o 5 volts,
the
ro
t
or is raise
d
a
nd the
higher
.
Her
ei
naf
te
r
,
th
e
m
easur
em
ent
of
r
otor
pa
ra
m
et
ers
with
a
total
load
of
365
gr
am
s,
the
resu
lt
s
are
sh
ow
n
in
Tabl
e
3
.
T
he
data
in
Ta
ble
4
s
ho
ws
that
the
sou
rce
volt
age
bet
ween
1
t
o
3.8
vo
lt
s
has
no
t
be
en
a
ble
to
hol
d
the
r
ot
or
al
ong
wit
h
t
he
l
oad.
T
he
r
otor
beg
i
ns
t
o
float
at
a
gi
ven
sourc
e
vo
lt
ag
e
of
3.81
vo
lt
s
with
a
ro
t
or
ro
ta
ti
on
sp
ee
d
of
4355
rp
m
.
By
provi
din
g
a
volt
ag
e
source
of
3.
8
2volts
to
produce
a
r
oto
r
ro
ta
ti
on
sp
ee
d
of
44
92
-
rp
m
ro
tor
sta
rt
m
ov
ing
up
wa
r
d,
a
nd
s
o
on
t
he
add
it
io
n
of
s
ource
volt
age
up
t
o
5
vo
lt
s
in
crease
the s
peed o
f
th
e
r
oto
r
is m
ark
ed wit
h
a
pea
k ro
ta
ti
on s
pee
d of 5
079 r
pm
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
2502
-
4752
Ind
on
esi
a
n
J
E
le
c Eng &
Co
m
p
Sci,
Vo
l.
13
, N
o.
2
,
Fe
bru
ary 2
019
:
4
69
–
4
74
472
Tab
le
2
.
Me
as
ur
em
ent
with
315
-
G
ram
Lo
ad
N0
Vo
ltag
e so
u
rce
Ro
to
r
Sp
eed (r
p
m
)
Dev
ice con
d
itio
n
1
1
Vo
lt
0
stag
2
2
Vo
lt
0
stag
3
2
,26
Volt
964
stag
4
2
,50
Volt
2008
stag
5
3
Vo
lt
3339
stag
6
3
,77
Volt
4317
stag
7
3
,78
Volt
4355
f
lo
atin
g
8
4
Vo
lt
4581
go
-
up
9
5
Vo
lt
5079
go
-
up
Table
3
. Meas
ur
em
ent
with
365
-
G
ram
Lo
ad
No
.
Vo
ltag
e so
u
rce
Ro
to
r
Sp
eed (r
p
m
)
Dev
ice con
d
itio
n
1
1
Vo
lt
0
stag
2
2
Vo
lt
0
stag
3
2
,26
Volt
964
stag
4
2
,50
Volt
2008
stag
5
3
Vo
lt
3339
stag
6
3
,80
Volt
4419
stag
7
3
,81
Volt
4578
f
lo
atin
g
8
3
,82
Volt
4492
Go
-
up
9
4
Vo
lt
4523
Go
-
up
10
5
Vo
lt
4944
Go
-
up
By
exam
ining
the
res
ults
of
the
te
st
T
able
1
al
rea
dy
with
T
a
ble
3
,
it
is
directl
y
in
dicat
ed
that
th
e
increase
i
n
s
ou
rce
vo
lt
age
rai
ses
the
i
ncr
eas
e
to
the
sp
ee
d
of
r
otati
on
of
the
r
ot
or
.
T
he
s
peed
of
ro
ta
ti
on
of
t
he
ro
t
or
m
akes
the
ai
r
velocit
y
t
hro
ugh
it
is
propo
rtion
al
.
T
he
ai
r
velocit
y
t
hro
ugh
the
r
ot
or
is
w
hat
will
gen
e
rate
the
ro
to
r
li
ft,
accor
ding
to
the
con
ce
pt
propo
sed
by;
New
t
on'
s
la
w;
Ar
chim
edes;
Pascal
;
Be
rn
oull
i
,
and
the
la
w
of co
ntin
uity
.
To
kn
ow
direct
ly
the
relat
ion
sh
ip
bet
wee
n;
ro
ta
ti
on
s
peed
of
the
ro
t
or
with
a
vo
lt
age
sou
r
ce;
sp
eed
of
ro
ta
ti
on
of
the
ro
t
or
with
wind
sp
ee
d
a
nd
th
e
ro
ta
ti
on
s
pee
d
of
the
r
otor
to
the
res
ulti
ng
thr
us
t,
the
n
co
ntinue
d
si
m
ultaneou
s
te
sti
ng
as
a
f
ur
t
her
e
xpla
natio
n.
T
he
ro
t
or
a
ngula
r
vel
ocity
and
volt
age
s
ource
relat
ionsh
ip
te
st,
the w
i
nd s
peed an
d
the
li
ft pr
oduce
d by the
ro
t
o
r
a
re
perf
orm
ed
with
sta
nd
up as
Fig
ur
e
3
.
Figure
3
.
Roto
r
unde
r
te
sti
ng
The
prepa
rat
io
ns
an
d
te
st
instru
m
ents
in
F
igure
1
com
pri
ses
blades
wi
th
a
rad
iu
s
of
0.
06
45
m
;
BLDC
Moto
r
1200K
v;
Ele
ct
ronic
sp
ee
d
co
ntr
oller
(ESC);
Ardu
i
no
m
ic
r
ocontr
oller
U
N
O;
L
it
hiu
m
30
A
5
V
Ba
tt
ery;
LCD
disp
la
y
as
an
ind
ic
at
or
of
the
volt
age
s
ourc
e;
An
em
om
et
e
r;
Di
gital
Tacho
m
et
er
an
d
Digital
strai
n gauge.
The
res
ults
of
the
ai
r
veloc
it
y
te
s
ti
ng
of
the
ro
t
or
s
pee
d
are
s
how
n
in
the
gra
ph
of
F
ig
ur
e
4
.
This
gr
a
ph
il
lustrate
s
that
the
increase
i
n
r
ot
or
s
pee
d
pr
oduces
ai
r
veloci
ty
pr
op
or
ti
onal
to
the
li
nea
r
t
rend
durin
g
t
he
c
ha
ng
e
.
Evaluation Warning : The document was created with Spire.PDF for Python.
Ind
on
esi
a
n
J
E
le
c Eng &
Co
m
p
Sci
IS
S
N:
25
02
-
4752
An a
ng
le
s
pee
d a
nd thr
us
t rel
ationshi
p of th
e quadc
op
te
r
r
oto
r
(
Al Al
)
473
Figur
e
4
.
Roto
r
and
ai
r
sp
ee
d r
el
at
ion
sh
i
p
Me
asur
em
ent
of
the
r
oto
r
li
ft
to
the
cha
nge
in
ro
ta
ti
on
s
pe
ed
of
the
r
otor
ang
le
is
do
ne
by
m
easur
ing
instru
m
ent
of
the
dig
it
al
strai
n
ga
ug
e
a
nd
di
gital
ta
cho
m
e
t
er.
The
r
esult
is
sh
own
in
th
e
gr
a
ph
in
F
i
gure
5
.
Figure
4
sta
te
s
that
the
inc
rea
se
in
r
oto
r
s
pe
ed
ca
us
es
an
i
ncr
ease
in
the
ro
t
or
thr
us
t.
th
e
relat
ionshi
p
of
both
par
am
et
ers
inc
rease
is
no
t
li
ne
ar
at
al
l.
O
n
t
he
gr
a
ph
s
how
s
that
bet
wee
n
zero
to
60
r
ps
sta
rts
with
a
l
inear
tren
d,
betwee
n
65
up
to
75
r
ps
tren
d
oc
cu
rs
bend
a
nd
after
that
gr
eat
e
r
tha
n
75
rp
s
obta
in
ed
li
near
t
rend
back.
In
a
non
-
li
near
co
nd
it
io
n
bet
ween
65
a
nd
75
rp
s
,
a
c
ha
ng
e
of
th
rust
sta
te
is
us
e
d
only
to
el
evate
it
sel
f
un
ti
l
i
t
beg
i
ns
t
o dr
a
w t
he
strai
n ga
ug
e as a m
easur
e
of the
ro
t
or
'
s li
ft po
wer
.
By
us
ing
1200 K
v
/ 5
V
olt
BL
DC
m
oto
r
an
d
blade
wh
ic
h
is has
a
ra
di
us
r
0.1
2
m
,
and
the
n
acco
r
ding
to
eq
uation
C
t
=
2.T/
(
π.
ρ.r
2
.v
2
)
is
ob
ta
ined
by
the
thru
st
c
oe
ff
ic
ie
nt
(C
t
)
a
ccordin
g
to
the
wind
sp
ee
d
as
sh
ow
n
in
the
F
ig
ur
e
5.
Wh
e
re:
C
t
is
thr
us
t
c
oeffici
en
t;
T
is
ro
t
or
t
hrust;
π
is
3.1
4;
ρ
is
the
densi
ty
of
ai
r
=
1.2
25
;
r
is
the r
a
diu
s
of t
he
b
la
de;
v
is ai
r
sp
ee
d.
Figure
5
.
A
thr
us
t a
nd roto
r
s
peed sel
at
ionsh
ip
Table
4
.
A
ver
a
ge of
Ct
From
Th
r
us
t a
nd
A
ir
Sp
ee
d
v
Total th
rus
t (
N
ewt
o
n
Airsp
eed
(
m
/s)
π
ρ
radiu
s r
(
m
)
Co
ef
f
icien
t T
h
rus
t
(Ct)
0
0
0
0
0
0
1
.22
5
5
.5
3
.14
1
.22
5
0
.12
1
.46
2
2
1
9
1
.22
5
5
.9
3
.14
1
.22
5
0
.12
1
.27
0
6
7
3
1
.28
3
8
6
3
.14
1
.22
5
0
.12
1
.28
7
6
4
6
1
.56
8
6
.2
3
.14
1
.22
5
0
.12
1
.47
2
8
7
2
.25
4
6
.5
3
.14
1
.22
5
0
.12
1
.92
6
3
2
2
2
.59
7
7
3
.14
1
.22
5
0
.12
1
.91
3
7
1
7
2
.84
2
7
.5
3
.14
1
.22
5
0
.12
1
.82
4
3
3
3
.67
5
8
3
.14
1
.22
5
0
.12
2
.07
3
3
8
1
4
.16
5
8
.5
3
.14
1
.22
5
0
.12
2
.08
1
5
1
2
4
.31
2
9
3
.14
1
.22
5
0
.12
1
.92
2
1
8
6
Total Ct
1
7
.23
4
8
6
Av
erage Ct
1
.72
3
4
8
6
Th
r
ust
(Ne
wton
)
Rotor
speed
(r
ps)
Th
r
ust
an
d rotor
speed
r
ela
t
i
onshi
p
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
2502
-
4752
Ind
on
esi
a
n
J
E
le
c Eng &
Co
m
p
Sci,
Vo
l.
13
, N
o.
2
,
Fe
bru
ary 2
019
:
4
69
–
4
74
474
Af
te
r
m
easur
ing
m
or
e
tha
n
20
ti
m
es,
the
ave
rag
e
m
e
asur
em
ent
val
ue
as
sho
wn
in
Ta
ble
4
.
Table
4
gi
ves
inf
or
m
at
ion
tha
t
the
conver
si
on
of
wind
s
pee
d
ge
ner
at
e
d
by
the
ro
to
r
pro
duces
a
com
parable
thr
us
t.
Co
nver
ti
ble
resu
lt
s
a
re
in
flue
nced
by
m
any
factor
s
su
c
h
as;
t
he
siz
e
a
nd
s
hap
e
of
the
bl
ade;
earth
gravit
at
ion
;
de
ns
it
y
of
ai
r;
an
d
c
onsta
nt
ch
an
ges.
W
i
th
bla
de
c
ondit
ion
s
as
desc
rib
ed
ea
rlie
r
a
nd
at
an
a
m
bient tem
pe
ratur
e
of
27
o
C
el
sius the
c
oe
ffi
ci
ent o
f
this
rot
or
(Ct)
of 1.7
23 is
obta
ined
.
4.
CONCL
US
I
O
N
Pr
ovi
de
Af
te
r
do
i
ng
the
m
ea
su
rem
ent,
te
sti
ng
an
d
analy
s
is
of
data
the
n
it
ca
n
be
c
oncl
uded
as
fo
ll
ows.
T
he
increase
in
the
ro
ta
ti
on
sp
ee
d
of
the
r
otor
is
pro
portion
al
to
the
increase
of
the
source
volt
ag
e
app
li
ed
t
o
the
BLDC
m
oto
r
and
t
he
increase
is
no
t
al
ways
li
near
as
long
as
the
volt
age
changes
from
1
to
5
vo
lt
s.
The
li
ne
ar
ra
nge
occ
ur
s
bet
ween
2
.5
t
o
4
volt
s.
The
relat
ion
s
hi
p
bet
ween
r
ot
at
ion
s
peed
a
nd
the
resu
lt
in
g
ai
rs
pe
ed
is
pro
portio
nal to t
he
tre
nd
of linear
.
The
relat
io
ns
hi
p
betwee
n
li
f
t
po
we
rs
produced
with
r
ot
at
ion
al
sp
ee
d
is
no
t
com
parable.
The
nonlinea
rity
occu
rs
wh
e
n
the
root
is
reli
e
ved
of
the
weig
ht
of
onesel
f
a
nd
procee
ds
to
sta
rt
pu
ll
in
g
the
strai
n
gauge
w
hen
th
e
r
otati
on
sp
ee
d
reaches
ar
ou
nd
65
r
ps
.
O
nc
e
the
ro
ta
ti
on
s
peed
of
t
he
ro
t
or
is
able
to
ge
ner
at
e
li
ft
to
reach
1.5
Ne
wton
th
e
n
inc
rease
the
endu
ran
ce
r
oto
r
has
s
harp
i
ncr
eas
i
ng
ly
.
U
sing
a
BL
DC
m
oto
r
wh
ic
h
is
sp
eci
f
ic
at
ion
s
as
12
00
K
v,
5
V
olt
and
30
Am
per
e;
blade
with
a
r
adius
of
r
0.1
2
m
;
at
a
tem
pe
rature
of ab
out 2
7
o
C;
in
the
con
diti
on is
no
oth
er
wi
nd
c
urre
nts th
en ob
ta
ine
d
t
he
thrust c
oeffici
ent (
Ct
)
of
1.7
32.
ACKN
OWLE
DGE
MENTS
I
would
li
ke
to
than
k
the
Mi
nistry
of
Re
search
,
Tech
no
l
og
y
an
d
Hi
gher
Ed
ucati
on
of
Re
pu
bli
c
Ind
on
esi
a a
nd
In
sti
tut Te
knol
og
i
Pada
ng in
s
upportin
g
t
his
researc
h.
REFERE
NCE
S
[1]
Al,
Arfita
Yua
na
Dewi,
Joko
Ade
Saputro,
“
Quadcopte
r
capabi
li
t
y
de
ve
lop
ment
for
addit
i
onal
low
voltag
e
distribut
ion
ne
t
work
loc
at
ion
t
rack
ing”,
Int
ern
at
ion
al
conf
ere
n
ce
of
apl
i
ed
sci
enc
e
on
emngin
ee
ring
,
business
,
li
nguisti
cs
and
i
nform
at
ion
t
ec
h
nolog
y
,
Pad
ang
-
Indone
sia, Oct
o
ber
14
th, 2017.
[2]
S.
W
ah
y
uni,
I
.
N.
Surati
Ja
y
a
,
an
d
N.
Pus
pani
ngs
ih,
"M
odel
for
E
stim
at
ing
Above
Ground
Biom
as
s
of
Rec
la
m
at
ion
Forest
using
Un
m
anne
d
Aeri
al
Vehic
l
es,
"
Indone
sian
Journal
of
El
e
ct
rica
l
En
gine
ering
and
Computer
Sci
en
c
e
(
IJE
ECS)
,
2016.
vol. 4, p. 586.
[3]
H.
Muis,
I.
N.
S.
Ja
y
a,
M.
B
.
Sa
le
h,
and
K.
Murtil
akono
,
"Infor
m
at
ion
Requi
r
ed
for
Esti
m
at
ing
The
Indi
ca
tor
of
Forest
Rec
l
amation
Succe
ss
in
E
x
Coal
-
Mining
Area
,
"
Indon
esia
n
Journal
of
Ele
ct
rical
Engi
n
ee
ri
ng
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Compute
r
Sci
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[4]
Para
g
Parih
ar,
Pri
y
an
shu
Bh
awsar,
Pi
y
ush
Hargod,
“
Desig
n
&
Dev
el
o
p
m
ent
Anal
y
sis
of
Quadc
op
ter”,
COM
PUSO
FT,
An i
nte
rn
at
ion
al
journa
l
of advan
ce
d
computer
technolog
y
,
5
(6)
,
June
-
2016
(Volu
m
e
-
V,
Iss
ue
-
VI
[5]
O
y
vind
M
a
g
n
u
s
s
e
n
,
Morten
O
t
t
e
s
t
a
d
,
Ge
ir
H
o
vl
an
d,
“
M
ul
t
ic
op
te
r
De
si
g
n
O
ptim
iz
at
io
n
a
nd
Va
li
da
ti
on
”,
M
o
deli
ng
,
I
d
en
tif
ic
ati
o
n a
nd
C
on
tr
ol,
20
1
5,
V
ol
.
3
6,
N
o.
2,
p
p.
67
–
7
9,
I
SSN
18
9
0
–
1
32
8
[6]
A.
Al,
“
An
Improv
ed
a
Quadcop
te
r
Capabil
i
ty
fo
r
Forestal
l
Bu
m
p
wit
h
t
h
e
Ultra
sonic
HC
SR04
Proxi
mit
y
Sensor
Design,
”
Interna
ti
onal Confe
r
ence
on
Technol
og
y,
I
nnova
ti
on
,
and
Societ
y
(IC
TIS)
2016.
[7]
Pounds
,
P.,
Mah
on
y
,
R.
,
and
Co
rke
,
P
.
,
“
Model
l
ing
and
Cont
rol
of
a
Quad
-
Roto
r
Robot,”
In
Proce
ed
ings
of
th
e
Aus
tra
la
sian
Co
nfe
ren
c
e
on
Rob
oti
cs
and
Autom
at
ion
,
2006
.
[8]
Yam
ika
Pate
l
,
A
nant
Gaur
av,
Kr
ovvidi
Sriniv
as,
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al
Singh,
“
A
Revi
ew
on
De
sign
and
Anal
y
si
s
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the
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lle
r
used
in
UA
V”.
Inte
rna
ti
ona
l
Jo
urna
l
of
Advanc
ed
Product
ion
a
nd
Industrial
En
gine
er
ing,
2016
IJA
PIE
-
SI
-
IDC
M
605
(2017)
20
–
2
3.
Avai
la
b
le
on
line
a
t
ww
w.i
j
apie
.
o
rg
[9]
Ta
o
Jiang
,
Jare
d
Gell
er
,
Daih
en
g
Ni,
John
Coll
ura
,
”
Unm
anned
Ai
rcra
ft
Syst
em
traff
ic
manag
e
ment:
Conce
p
t
of
operati
on
and
system
architec
ture
,
”
In
te
rn
at
ion
al
Journa
l
of
Tra
nsport
at
ion
Sc
ie
n
ce
and
T
ec
hnol
o
g
y
5
(2016)
123
–
1
35.
[10]
Giuseppe
Guido
,
Vinc
enz
o
G
allel
l
i,
Daniele
Rogano,
Al
essandro
Vita
l
e,”E
v
a
lua
ti
ng
th
e
a
ccuracy
of
vehicl
e
tra
ck
ing
da
ta
o
bta
in
ed
from
Unm
anne
d
Aeri
a
l
Vehic
le
s”
In
ternat
ion
al
Journa
l
of
T
ran
sporta
t
ion
Scie
n
ce
an
d
Te
chno
log
y
201
6
V
-
5
pp.
136
–
15
1.
[11]
Adam
Babi
nec
a
,
Jiri
Apeltaue
r
,
“
On
ac
cur
acy
of
positi
on
esti
m
ation
from
ae
ria
l
i
m
age
r
y
ca
ptur
ed
b
y
low
-
fl
y
ing
UA
Vs
”,
Inte
rna
t
iona
l
Journal
of Transportation
S
ci
en
ce
and Tech
nolog
y
,
2016
,
v
.
5
pp.
152
–
166.
[12]
S.
Patel
Kar
ana
,
B.
Pa
te
l
Saum
il,
“
CF
D
Anal
y
sis
of
an
Aero
f
o
il”,
In
te
rn
at
ion
al
Journal
of
Engi
n
ee
ring
Research
,
2014
Volum
e
No.3, Iss
ue
No.3,
pp:
154
-
158.
[13]
Krajn
´
ık,
T,
Vo
n´
ase
k,
V,
Fiˇser,
D
&
Faigl,
J
2
011,
AR
-
Drone
as
a
Plat
form
fo
r
Roboti
c
R
ese
a
rch
,
Th
e
Gerstne
r
La
bora
tor
y
for
Intelli
g
ent
De
ci
sion
Making
and
Control
D
epa
rtment
of
C
y
ber
n
et
ic
s,
Fac
ulty
of
Elec
tr
ical
Engi
ne
eri
ng
C
zech
T
ec
hni
cal
Un
ive
rsit
y
,
Pragu
e
.
[14]
Brandt
,
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an
d
Seli
g,
M.S.,
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rope
ll
er
Perfor
m
anc
e
Data
at
Low
Re
y
nolds
Num
be
rs,"
49th
AIA
A
A
erospace
Sci
en
ce
s M
ee
t
in
g
,
AIA
A Pape
r
2
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1255,
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an
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r
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Evaluation Warning : The document was created with Spire.PDF for Python.