# Modeling and Implementation of Quadcopter Autonomous Flight Based on Alternative Methods to Determine Propeller Parameters

**Authors:** Gene Patrick S. Rible, Nicolette Ann A. Arriola, Manuel C. Ramos Jr  
**arXiv:** [2010.08806](https://arxiv.org/abs/2010.08806)  
**Date:** 2020-10-17  
**Summary page:** https://www.summarizepaper.com/en/paper/2010.08806v1/

## Key points

- The paper presents a study on modeling and implementing quadcopter autonomous flight based on alternative methods to determine propeller parameters.
- Quadcopter models require accurate parameters on various relationships including propeller thrust-torque, thrust-PWM, and thrust-angular speed.
- Thrust-torque modeling requires an expensive reaction torque measurement sensor, so the study proposes alternative methods to complete the quadcopter model.
- The study also presents a method of modeling the rotational aerodynamic drag on the quadcopter.
- Experimental modeling techniques ensure that the derived dynamic model for the quadcopter will behave identically with its true model, even if it may not yield true values for reaction torque or drag torque.
- The derived dynamic model is validated by basic flight controller simulation and actual flight implementation.
- The authors use this model as a basis for designing a fail-safe control system for a quadcopter experiencing an unexpected motor failure.
- This study serves as a baseline for future research in developing more accurate models for simulating and implementing autonomous flight controls in drones.
- The paper was published in Advances in Science, Technology and Engineering Systems Journal's special issue on Multidisciplinary Sciences and Engineering.

## Summary

This paper presents a study on the modeling and implementation of quadcopter autonomous flight based on alternative methods to determine propeller parameters. To properly simulate and implement a quadcopter flight control for intended load and flight conditions, the quadcopter model must have parameters on various relationships including propeller thrust-torque, thrust-PWM, and thrust-angular speed to a certain level of accuracy. However, thrust-torque modeling requires an expensive reaction torque measurement sensor. In the absence of sophisticated equipment, this study proposes alternative methods to complete the quadcopter model. The study also presents a method of modeling the rotational aerodynamic drag on the quadcopter. Although the resulting model of the reaction torque generated by the quadcopter's propellers and the model of the drag torque acting on the quadcopter body may not yield true values, experimental modeling techniques ensure that the derived dynamic model for the quadcopter will nevertheless behave identically with its true model. The derived dynamic model is validated by basic flight controller simulation and actual flight implementation. The authors use this model as a basis for designing a fail-safe control system for a quadcopter experiencing an unexpected motor failure. This study serves as a baseline for future research in developing more accurate models for simulating and implementing autonomous flight controls in drones. The paper was published in Advances in Science, Technology and Engineering Systems Journal's special issue on Multidisciplinary Sciences and Engineering. The journal is published by ASTESJ (ISSN: 2415-6698), which focuses on publishing high-quality research papers covering various fields such as automation, robotics, computer science, electrical engineering, mechanical engineering, civil engineering, chemical engineering, materials science and engineering. In conclusion, this paper provides valuable insights into alternative methods for determining propeller parameters in quadcopters' models without requiring expensive equipment. It also highlights how these models can be used to design fail-safe control systems for drones and serves as a foundation for future research in this field.