Thrust Force Vibration Suppression of Drone Rotor by Higher Harmonic Rotational Speed Control

Recent advancements in unmanned aerial vehicle (UAV) and multirotor technology have increased industrial applications, but safety and noise remain challenges. The aim is to devise a method to suppress thrust force vibration in cross-wind conditions that apply to small-sized multirotors. A higher harmonic rotational speed control method is proposed based on the position-dependent aerodynamic force model. Second-order harmonic thrust vibration under crosswind conditions is simply modeled, and higher harmonic input is designed only for use in the rotational speed and utilized high torque response performance of the electric motor. The effectiveness of the proposed method is validated through the wind tunnel experiment.