Nested Power Models for Multirotor Propulsion: From Aerodynamic Drag to Electrical Losses

2026-10-06

AI Summary

This study addresses the limitation of velocity-only aerodynamic power models for multirotors in capturing acceleration-dependent effects by proposing a reusable, nested sequential propulsion power modeling framework. Starting from aerodynamic dissipation, the method progressively incorporates reversible kinetic power rates, torque-related electromechanical losses, and velocity-proportional dissipation, explicitly delineating the independent attribution mechanisms between reversible kinetic energy exchange and irreversible dissipation. Predictive validation is achieved through experimental parameter identification combined with independent inertia and drag estimations. The results demonstrate that torque-squared proportional dissipation is critical for enhancing dynamic prediction accuracy, effectively preventing the misattribution of irreversible losses as reversible kinetic energy exchange.

Abstract

Speed-only aerodynamic power models for multirotor propulsion cannot represent acceleration-dependent effects. This work develops a nested sequence of propulsion-power models that starts from aerodynamic power dissipation and progressively introduces a reversible kinetic-energy rate, torque-dependent electromechanical dissipation, and lumped speed-proportional dissipation. The models are identified using one subset of experiments and validated using the other on a motor-drive-propeller unit. Independent estimates of rotational inertia and aerodynamic drag complement predictive validation by assessing whether the models correctly attribute the measured power to reversible kinetic-energy exchange and irreversible dissipation and, within the latter, to aerodynamic and electromechanical losses. The results show that the reversible kinetic-energy rate is necessary but insufficient for accurate dynamic power prediction. Dissipation proportional to the squared motor torque provides the main additional improvement, while speed-proportional dissipation further prevents irreversible losses from being attributed to reversible kinetic-energy exchange. The resulting methodology provides a reusable and experimentally verifiable basis for developing and selecting dynamic propulsion-power models for multirotor systems.

Problem

• multirotor propulsion
• dynamic power prediction
• aerodynamic drag
• electromechanical losses
• power modeling

Innovation

• nested power models
• multirotor propulsion
• dynamic power prediction
• electromechanical dissipation
• reversible kinetic energy