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An empirical study on generic multicopter energy consumption profiles

机译：通用多直升机能耗曲线的实证研究

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摘要

Unmanned Micro-aerial vehicles (MAVs) enjoy high popularity in various application fields. They are capable of flying autonomously, following the instructions received from a controlling ground entity. One physical limitation of all mobile robotic vehicles is the restricted energy storage capacity they are able to carry. All processes in a robotic system, prominently in-air movements, consume energy and are thereby defining the overall operation time limit. This paper presents results of an analysis of the energy consumption in various discrete movement states of a multicopter, measured for two different systems. Findings regarding a systematic relation between system and movement parameters and the energy consumption levels are discussed. Furthermore, a generic energy consumption profile model is presented and validated.
机译：无人微型飞机（MAV）在各种应用领域中享有很高的知名度。它们能够按照从控制地面实体收到的指示进行自主飞行。所有移动机器人车辆的一个物理限制是它们能够携带的能量存储能力受到限制。机器人系统中的所有过程（主要是空中运动）都消耗能量，从而确定了总体操作时间限制。本文介绍了针对两种不同系统测量的多旋翼机各种离散运动状态下的能耗分析结果。讨论了有关系统和运动参数与能耗水平之间系统关系的发现。此外，提出并验证了通用的能耗曲线模型。

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