Baku,

Baku, Azerbaidschan,
Azerbaidschan, Sept 13-15,
13-15, 2018
18th IFAC
Stability Conference Sept 2018Culture and International
on Technology,
Stability
Baku, Azerbaidschan, Sept 13-15, 2018
18th
Baku,IFAC Conference Sept
Azerbaidschan, on Technology, Availableand
13-15, 2018Culture
online at www.sciencedirect.com
International
18th IFAC
Stability Conference on Technology, Culture and International
Stability
Baku, Azerbaidschan, Sept 13-15, 2018
Baku, Azerbaidschan, Sept 13-15, 2018 ScienceDirect
An
An Experimental
Experimental Study
Study toto Investigate
Investigate the the Effect
Effect of
of the
the Angle
Angle ofof Attack
Attack
IFAC
An Experimental Study onPapersOnLine
toVToL 51-30
Investigate
UAV (2018) 441–445
the Effect
Propellers of the Angle of Attack
An Experimental Study ontoVToL UAV Propellers
Investigate the Effect of the Angle of Attack
on VToL UAV Propellers
An
An Experimental
Fatih Study
Fatih AKKOYUN,
Experimental Study
AKKOYUN, onto
toVToL
Ismail
Ismail UAVPinar
Investigate
BOGREKCI,
Investigate
BOGREKCI, Propellers
the Effect
Effect of
of the
the Angle
the DEMIRCIOGLU,
Pinar DEMIRCIOGLU, Salih of
of Attack
Salih VARDIN
Angle Attack
VARDIN

on VToL
Fatih AKKOYUN, Ismail
on VToL UAV
BOGREKCI,
UAV Propellers
Pinar DEMIRCIOGLU, Salih VARDIN
Propellers
Fatih AKKOYUN, Ismail BOGREKCI,  Pinar DEMIRCIOGLU, Salih VARDIN
Adnan Menderes
Adnan Menderes University,
University,
 Aydin, 09010,
Aydin, 09010, Turkey
Turkey
(Tel: Fatih AKKOYUN, Ismail BOGREKCI, Pinar DEMIRCIOGLU, Salih VARDIN
(Tel: +90
+90 256
256 213213Fatih2000
2000 ;; e-mail:
AKKOYUN,e-mail:Adnan fatih.akkoyun@adu.edu.tr;
fatih.akkoyun@adu.edu.tr;
Ismail BOGREKCI,
Menderes University,
 Pinaribogrekci@adu.edu.tr;
ibogrekci@adu.edu.tr;
DEMIRCIOGLU,
Aydin, 09010, Turkey Salih pinar.demircioglu@adu.edu.tr;
pinar.demircioglu@adu.edu.tr;
VARDIN
Adnan
(Tel: +90 256 213 2000 ; e-mail: fatih.akkoyun@adu.edu.tr; Menderes svardin@adu.edu.tr)
University,

svardin@adu.edu.tr) Aydin, 09010, Turkey
ibogrekci@adu.edu.tr; pinar.demircioglu@adu.edu.tr;
(Tel: +90 256 213 2000 ; e-mail:Adnan fatih.akkoyun@adu.edu.tr;
Menderes University, ibogrekci@adu.edu.tr;
svardin@adu.edu.tr) Aydin, 09010, Turkey pinar.demircioglu@adu.edu.tr;
Adnan Menderes University, Aydin, 09010, Turkey
svardin@adu.edu.tr)
(Tel: +90 256 213 2000 ; e-mail: fatih.akkoyun@adu.edu.tr; ibogrekci@adu.edu.tr; pinar.demircioglu@adu.edu.tr;
(Tel: +90 256 213 2000 ; e-mail: fatih.akkoyun@adu.edu.tr; ibogrekci@adu.edu.tr; pinar.demircioglu@adu.edu.tr;
svardin@adu.edu.tr)
Abstract: Popularity
Abstract: Popularity of of Unmanned
Unmanned Aerial Vehicles
Vehicles (UAVs)
Aerialsvardin@adu.edu.tr) (UAVs) is is continuously
continuously increasingincreasing for for scientists
scientists as as
UAVs
UAVs allow
Abstract: allow observation
observation
Popularity of large
of large areas
of Unmanned areas
Aerial of land
of Vehicles surfaces
land surfaces (UAVs) economically
economically
is continuously and swiftly
and swiftly
increasing when
when compared
forcompared
scientists as to
to
traditional
Abstract:
traditional
UAVs allow methods.
Popularity
methods.
observationAnd
of today
Unmanned
And todayof large the importance
Aerial
the areas
importance of
Vehicles
of landofsurfacesUAVs
(UAVs)is also
is
UAVs iseconomically increasing
continuously
also increasing for civil
increasing
andforswiftly applications
for
civil applications such
scientists
when compared such as as
to
transporting,
UAVs allow
transporting, agricultural
observation
agricultural spraying
of large
spraying etc.
the areas
etc. These
of Vehicles
These land kind of
ofsurfaces
kind of civil applications
iseconomically
civil applications andare
are expected
forswiftly
expected whento
to require
compared more to
traditional
Abstract: methods.
Popularity And today
of Unmanned importance
Aerial UAVs
(UAVs) also increasing
is continuously forrequire
civil applications
increasing such
scientists more as
power
Abstract: and
traditional
power and different
Popularity
methods. propeller
of
And Unmanned
today geometries
the Aerial
importance to provide
Vehicles
of UAVs higher
(UAVs)is payload
is
also capacities.
continuously
increasing for In
increasing
civil this context,
for
applications scientists
suchaerial
as
UAVs allowdifferent
transporting, agricultural
observation propeller
spraying
of large geometries
areas oftoland
etc. These provide
kind ofhigher
surfaces civil payload capacities.
applications
economically andare swiftly In this
expected whentocontext,
require
compared aerial
more to
vehicle’s
UAVs allow
transporting,
vehicle’s propeller size
observation
agricultural
propeller size and
andofpitch
large
spraying
pitch are
areas
etc.important
oftoland
These parameters
surfaces
kind ofhigher
civil in order
economically to
inapplications obtain
andare proper
swiftly
expected lifting
when capacity
compared
tocontext,
require for
more to
power and
traditional different
methods. propeller
And today theare
geometries important
importance parameters
provide
of UAVs is also order
payload to capacities.
increasing obtain forproper
civil lifting
Inapplications
this capacity
such for
aerial
as
traditional
Vertical
power
Vertical
vehicle’s and methods.
Take-off
different
Take-off
propeller and
and And
size today
Landing
propeller
Landing
and pitch theare
(VToL)
(VToL) importance
geometries UAVs.
UAVs. to
important of
provide UAVs
parameters is also
higher in increasing
payload
order to forproper
capacities.
obtain civilIn applications
this
liftingcontext, such
capacity as
aerial
for
transporting, agricultural spraying etc. These kind of civil applications are expected to require more
transporting,
vehicle’s
Vertical Take-off agricultural
propeller andsize and
Landingspraying
pitch(VToL) etc.important
are These kind
UAVs. of civilinapplications
parameters are proper
order to capacities.
obtain expected to require
lifting capacity more
for
power
There and
is different
aa number ofpropeller
terms geometries to provide higher payload In this context, aerial
power
There
Vertical isand different
number
Take-off and terms to
ofpropeller
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geometries
to(VToL) the
the topropeller's
define UAVs. provide higher
propeller's specifications
payloadsuch
specifications as
as diameter,
capacities.
such In thispitch,
diameter, context,
pitch, disc area
discaerial
area
vehicle’sbore,
relation, propeller
materialsize type
and pitch
etc. are important
These characteristicsparametersmust in order
be to obtain
calculated to proper lifting capacity for
relation,
vehicle’s
There bore,
is Take-off material
apropeller
number size type etc.
and pitch
ofLanding
terms These
to(VToL) characteristics
are important
define the propeller'sparametersmust be calculated
in order
specifications tosuch toasdesign
obtain design
proper the
diameter, optimal
thelifting
optimal
pitch, propeller
propeller
capacity
disc for
area
Vertical
accordingly to matchand UAVs.
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Verticalis Take-off
accordingly
relation, a number
bore, andofspecific
to material
match terms
specific
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type etc. needs
to define
needs
(VToL)
These of aerial
of UAVs.
aerial vehicle
vehicle characteristics.
the propeller's
characteristics specifications
characteristics.
must be calculated It is
Itsuch very
is to
very important
asdesign
diameter,
important that
that both
pitch,
the optimal disc
both angle
area
angle
propeller
of
of attack
relation, and todiameter should properly be investigated to be able to
to choose optimal propeller. The effect
is bore,
attack
accordingly
There and
a numbermaterial
diameter
matchofspecifictype etc.
should
terms These
properly
needs
to define of characteristics
be
theinvestigated
aerial must
to bebe
vehicle characteristics.
propeller's calculated
able
specifications choose is to
Itsuch very design
optimal
as the
diameter, optimal
propeller.
important pitch, propeller
The
that bothdisc effect
angle
area
of angle
There is
accordingly of
angle bore,
of attack a
of attack
number
to
andattackmatch dominates
of terms
specific
dominates
diameter should characteristics
to define
needs of
characteristics
properly the
aerial of the
propeller's
vehicle propellers
of the propellers
be investigated and
specifications
characteristics.
to bebe and
able in turn,
such
It
in choose
to is aerial
very
turn, aerial as vehicles.
diameter,
important
vehicles. In
thatthis
pitch,
In thisbothmanner,
disc area
angle
manner,
relation, material type etc. These characteristics must calculated to optimal
design propeller.
the optimal The effect
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this
of paper
relation,
attack
thisangle and focuses
bore,
paperoffocuses on
material
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on specific
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properlyattack
These
of attack be of the
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investigated
of ofthe propeller must
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able
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design
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propeller. The results
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© 2018,
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Keywords:
Keywords:
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presented
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on(International
for
VToL
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power Federation
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consumption
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Angle
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performance
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capacity. Hosting
and
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effectbyofElsevier
outcomes
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performance
effect of angle
were
angle Ltd. All rights
explained
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comparison.
comparison.
of attack
that reserved.
using charts.
dominates
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are presented for comparison of the propellers performance and outcomes
characteristics of propellers and lifting capacity of aerial vehicles was investigated. Experiment results were explained using charts.
characteristics
Keywords: VToLof propellers
UAV Propeller, and liftingAngle capacity
of Attack, of aerial vehicles
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performance comparison. Experiment results
are presented
Keywords: for comparison
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comparison.
are presented for comparison of the propellers performance ducted and outcomes were explained using charts.
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Keywords:1. 1. VToL UAV
INTRODUCTION
INTRODUCTION Propeller, Angle of Attack,  Propeller
thrust performance
generation was comparison.
decreased (Yilmaz et al., 2015). Inhand
the
Keywords: VToL UAV Propeller, Angle of Attack, Propeller thrust generation
ducted performance
propellers were was decreased
more efficient but on the otherIn
comparison. (Yilmaz et al., 2015). the
1. INTRODUCTION study
ducted
study
thrust of
of Bontempo
propellers
Bontempo
generation were
was et
et al.,
more
al., airflow
efficient
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decreased around
buteton
around
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2015). In the
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In general
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propeller's length
length provides
1. INTRODUCTION provides more more powerpower but but were
thrust analyzed
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et al., disk
2015). model
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study analyzed
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around
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1.
of
of the
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length
INTRODUCTION
motor,
motor, and
and its
provides pitch
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ducted
study
various operating
propellers
of Bontempo
operating conditions.
were et more
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conditions. According
efficient
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around
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on
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thrust analyzed
generation with was a semi-analytical
decreased (Yilmaz actuator
et al., disk
2015). model
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alsogeneral
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revolutions propeller's
per length
minute
1. INTRODUCTION
of the (RPM)
motor,provides itsmore
nevertheless
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thrust
proposed method
generation
were analyzed method with accounted
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variables etsuch
actuator al.,
such as
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as slipstream
2015). In the
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at
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al., According
airflow around to the
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study
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et al.,
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around to and
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propellers
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is
In the easiest
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way to solve aa heat
heat
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Integration of the system was claimed to bequantify
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right pitch ideal
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able
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quantify the load
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able
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1.1
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1.1 Literature
Literature Review
consumption, propeller speed limitations
Reviewpropeller speed limitations and ideal and ideal overall
potential
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potential
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benefits
The authors
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obtained
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benefits inappropriately,
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et to2014).
al.,
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2014).
could be toanquantify
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propeller speed,Review
and gear reduction (Garner, 2009). the duct. The authors aimed to match the propeller load and
1.1 Literature
Recent studies consisted of aerial
Recent studies consisted of aerial vehicle propeller duct vehicle propeller the duct.
potential
propeller The authors
benefits
(Bontempo that aimed
could to match
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obtained propeller
by
et al., 2014).in an attempt to exploit load
ducting and
the
geometry appropriately,
characteristics and effects
effects of of attack angle
angle of VToL
VToL propellers
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In geometry
In multiple (Bontempo
studies, appropriately,
et al., 2014).
combinations in ofanVToL attempt to exploit
characteristics
Recent
1.1 studies
Literature and
Reviewconsisted attack
of aerial ofvehicle propellers multiple
potential studies,
benefits thatcombinations
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obtained and fixed
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by fixed wing
wing
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1.1
on
on Literature
flight
Recent
flight studiesReview
performance.
consisted
performance. Ducted
Ducted of propellers
aerial
propellers vehicle
characteristics and effects of attack angle of VToL propellers propeller and
and geometry
propeller
geometry potential
(FW)
(FW) benefits
approaches
approaches that
were could
inspected be obtained
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combinations
et al., 2014). of andVToL implemented
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optimization
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on flight were
and
were considered
effects
considered
performance. of
Ducted as
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well in
angle
in
propellers the
of
the literature.
VToL
literature.
and Take-
propellers
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geometry propeller
same
In
same multiple (Bontempo
aerial
aerial vehicle.
studies,
vehicle. et
In al.,
their 2014).
combinations
In their study,
study, Cakici
of VToL
Cakici and
and andLeblebicioglu
fixed
Leblebiciogluwing
Recent studies consisted of aerial vehicle propeller (FW) approaches were inspected and implemented for the
off and
Recent
on forward
flight studies flight
performance. simulations
consisted Ducted of were
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geometry zero
zero (FW) (2016) designed
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geometry.
Copyright 2018
2018 IFAC
IFACwere considered for optimization of duct 441
Results
©variables
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their study
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maneuverability
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Copyright
geometry.© Results
2018 IFAC of their study showed that operation of 441 and maneuverability (Cakici and Leblebicioglu, 2016).
geometry.©
2405-8963
Copyright 2018,
© ResultsIFAC
2018 IFAC of (International
their study Federation
showed that of Automatic
operation Control)
of 441Hosting by Elsevier Ltd. All(Cakici
and maneuverability rights reserved.
and Leblebicioglu, 2016).
Peer review under responsibility of International Federation of Automatic Control.
10.1016/j.ifacol.2018.11.322
Copyright © 2018 IFAC 441
Copyright © 2018 IFAC 441
IFAC TECIS 2018
442
Baku, Azerbaidschan, Sept 13-15, 2018 Fatih Akkoyun et al. / IFAC PapersOnLine 51-30 (2018) 441–445

Simulations were used to comprehend variables affecting

control of UAVs. Various models were generated and
inspected in the literature. Aerial vehicle dynamic modelling
method was presented in order to acquire and investigate
unknown parameters. The implemented identification 3010 propeller
experiments according to various sources and features of
unknown parameters. Attitude control system was designed
and tested by the authors, then verification of improvement
was carried out by simulating UAV flight at different
conditions. The mathematical results they obtained showed
that accuracy of the proposed model was comparatively
better with parameter identification (Zhengjie et al., 2013).
Another control method was proposed by Ruggiero et al.
(2015) for VToL UAVs. Disturbance effects because of 3095 propeller
external forces and moments acting on the vehicle were
inspected, the authors aimed to compensate such disturbances
in the study. Their control system arrangement enabled VToL
UAVs to carry out tasks such as hovering, tracking and aerial
manipulation. Experimental tests were presented by the Fig. 1. Compared propellers
authors in order to evaluate the effects of proposed control
design on the UAV performance (Ruggiero et al., 2015). Results showed that pitch effect increased thrust along with
power consumption as the motor required more current. In
Wing rock motion and the angle of attack relationship was order to investigate the effect of the pitch on propeller
examined in Xu and Deng’s study (2015). The authors aimed performance a simple lever mechanism was used to simulate
to reveal different patterns of wing rock motion and lateral a VToL UAV arm. A VToL UAV arm was assembled to the
deflection. Lateral deflection and wing rock motion was custom lever and was balanced with a counterweight. Thus,
claimed to be induced by separated flow from wings. At low thrust force measurements could resemble operational
angles of attack, flow separation and asymmetric vortices conditions closely as shown in Fig. 2. The arm consisted of
were tested and experimental rotating nose technique was an electronic speed controller (ESC), a brushless direct
included in the model to reduce wing rock or lateral current (BLDC) motor, a gear reducer that had a ratio 20/68
deflection. The authors stated that the uncommanded and shown in Fig. 3a and a carbon fiber propeller mounted on
undesired lateral motions could be suppressed effectively by main gear as shown in Fig. 3b.
the utilization of the rotating nose technique (Xu and Deng,
2015).

2. MATERIAL AND METHOD

This paper focuses on the effect of angle of attack for mid-

size UAV carbon fiber propellers commonly used in
agricultural applications. The attack angle difference was
investigated by comparing two propellers with same length
and different pitch. In this study, a thrust test apparatus was
developed to acquire thrust force generated by utilizing a
scale. Tests were implemented to obtain power consumption,
angular velocity and thrust force measurements for each
geometry of propellers, and the graphical results were also Fig. 2. VToL UAV arm setup.
investigated. Graphical evaluation for current and voltage
versus angular speed along with power consumption versus
generated thrust relations were indicated in this paper.

Propellers used in this study are shown in Fig. 1. 3010 and

3095 propellers comparison charts are included as a result of
implemented measurement.

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 IFAC TECIS 2018
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Fig. 3. Gear Reducer mounting on the top (a) and propeller

Fig. 5. Thrust Testing Apparatus and Measuring Equipment
mounting of the propeller in the bottom (b).
UAV arm consisting of a motor, an ESC and a gear set was
mounted to one end of the lever, a precision scale was used at
the other end of the lever. The spacing between the UAV arm
and balance point (center) of the lever was set equal to the
distance between scale and balance point of the lever. The
shaft located at the balance point of the lever was assembled
to a housing by utilizing bearings (Fig. 4b). The housing let
the shaft rotate freely around horizontal axis, and was fixed to
the ground. Weight of UAV arm assembled to the test setup
was also balanced by placing an external weight (1.280 kg) to
the other end of the lever.

Thrust generation, power consumption, angular speed,

temperature, modulation signal and test duration values were
obtained by experimental study. The experimental setup is
shown in Fig. 5. The relationship between the variables
a
which could be measured with the experimental setup and the
measurement devices are given in Fig. 4a and relations
indicated in Fig 6.

Fig. 4 a. Measuring equipment: Oscilloscope, Multimeter,

Current Clamp, IR Tachometer, Joystick and PWM
Generator Board., b: Thrust testing mechanism.

Fig. 6. Measurands of the test system

For thrust measurement, the leverage principle was utilized

through test procedure and application method is shown in
Fig. 7. At the start of every test run, arms of the lever were
balanced and the scale was reset to zero so that the
measurements for new test runs would be accurate.

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Table 2. 3010 Temperature Test Results

Temperature

Elapsed
Pinion
Time Motor ESC Room
Gear
(min.)
0 22.4 22.4 22.4 22
Fig. 7. Lever mechanism and VToL UAV Arm lay-out
0 24.5 22.5 23.5 22
For angular speed measurement, motor frequency from the 5 58.0 36.8 36.0 22
ESC output was measured by utilizing digital 10 65.0 37.0 35.0 22
frequencymeter. Power consumption measurement was Table 3. 3095 Propeller Performance Test Results
carried out by measuring current from the battery and
potential difference of the battery. The connection scheme is Elaps Prop. Mod.
given in Fig. 8. ed Power Angular Signal Thrust
Time (W) Velocity Duty Cycle (N)
(min.) (Rad/s) (%)
0 0 0 5.56 -
0 124.78 134.41 6.06 15
247.12 167.05 6.18 24
611.70 233.38 6.54 42
847.84 263.21 6.74 54
5 1159.03 294.44 7.00 68
Fig. 8. Power and angular velocity measurement method 1384.60 312.34 7.22 77
1605.29 328.13 7.34 86
Temperature data was obtained by measuring all components 1821.09 341.47 7.56 93
separately with an IR thermometer. Its measuring range is 10 2415.42 369.89 8.00 110
between -50 °C and +600 °C with the accuracy ±1.5°C above
0°C and the resolution of this sensor is 0.1°C. Table 4. 3095 Temperature Test Results

Temperature
3. RESULT AND DISCUSSION Elapsed Pinion
Motor ESC Room
Time (min.) Gear
In this study the performance data of two propellers were 0 22.0 22.0 22.0 22
investigated using the propeller thrust test apparatus. The 0 24.0 22.5 23.5 22
3010 propeller and 3095 propeller performance results 5 54.0 35.0 32.0 22
obtained from measured values are represented in Table 1 10 58.0 40.0 34.0 22
and 3. The temperature effect of the different pitch on motor,
ESC, and gear set was investigated which listed in Table 2 It is understood from tables that the angle of attack and power
and 4, respectively. consumption are proportional to each other. For equal power
consumption a propeller produces more thrust when the angle
Table 1. 3010 Propeller Performance Test Results of attack is lower. Motor, ESC and gear set temperatures are
clearly increasing when the angle of attack is higher as it is
Prop. Mod. seen in Table 2 and 4.
Elapsed Angular Signal
Time Power Velocity Duty Thrust The data obtained from the performance tests implemented in
(min.) (W) (Rad/s) Cycle (%) (N) this study is shown in Fig. 9, 10 and 11. According to the
0 0.00 0.00 5.30 - graphs showing the relation among power consumption,
0 164.80 133.01 6.68 16 thrust force and angular speed, when the angular speed is the
- 327.76 167.75 6.88 26 same, propellers with lower attack angle consumed less
- 569.94 196.53 7.08 35 power and produced more thrust. For the same amount of
- 849.45 226.36 7.28 47 power consumption, propellers with lower attack angle
5 1085.13 246.01 7.48 57 produced more thrust force.
- 1397.55 266.36 7.72 67
- 1705.81 281.10 7.92 75
- 1970.50 295.84 8.12 82
10 2323.42 312.34 8.30 91

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Fig. 9. Power - Angular Velocity Relationship
Fig. 10. Power-Thrust Relationship
Fig. 11. Angular Velocity-Thrust Relationship
Fatih Akkoyun et al. / IFAC PapersOnLine 51-30 (2018) 441–445 445
In order to determine the optimum attack angle of a propeller,
the power consumption which affects flight duration directly
should be considered. Reduction of attack angle enables
smoother flight but provides less thrust force. Considering
the same power consumption, a propeller with lower attack
angle could reach higher RPMs generating more thrust force.
On the other hand, the lower attack angle propeller reaches
the angular speed limit rapidly thus limiting lifting force.
4. CONCLUSIONS
According to the results of the study, propeller with lower
attack angle was found to be more efficient for power
consumption but reduction of attack angle increased angular
speed, and increment of angular speed brought limitations for
maximum lifting capacity. As a result, for better payload
capacity, choosing the propeller with higher attack angle
would be more convenient considering the same propeller
length. However, for smoother and longer flights, lower
attack angle could be the better choice.
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