Cuadrocoptero

 masa del dron=1000g

 masa de la batería=2575g
 masa de la aplicación=2500g
 masa de reserva=1000g
 masa total=7075g

9.8∗7.075
FUERZA T = =8.66 N
8
Condiciones de entorno

Densidad de Cochabamba a 2558msnm

[ ]
M ∗g 9.8∗0.03
Lb ( h−hb ) R∗Lb (−0.0065)(2558−40) 8.31∗(−0.0065)
P=Pb 1+ =101325[1+ ] =753 hPa
Tb 288

P∗M ( 753.75∗10 )∗0.0289644

2
kg
ρ= = =0.89 3
T∗R 293∗8.31432 m
19*12
RPM CT CP
3007 0.0680 0.0416

T
n=
ρ∗n2∗D4

√ √
T 8.66
n= = ∗60=3081.66 rpm
ρ∗Ct∗D 4 19∗2.54 4
0.89∗0.0680∗( )
100

Cp 0.0416 −3
Cq= = =6.62 x 10
2π 2π
Q
Cq=
ρ∗n2∗D 5

( )( )
2 5
−3 3081.66 19∗2.54
Q=6.62 x 10 ∗0.89∗ ∗ =0.40 Nm
60 100
Kv=380rpm/V

Al vacio

I=0.3A

V=10V

P=380W

R=0.194ohm

380∗2 π
Kv= ∗10 V =397.93
60
Vm=R∗I + Ke∗Ω Kf=Ke=K

10−( 0.194 ) ( 0.3 )

Ke= =0.0249
397.93
0=K∗I −Kf ∗Ω
K∗I 0.0249∗0.3
kf = = =1.87 x 10−5
Ω 397.93
Con carga

3081.66∗2 π rad
Ω= =322.71
60 s
Q=K∗I −Kf ∗Ω

Q+ Kf ∗Ω 0.65+ ( 1.87 x 10 ) ( 322.71 )

−5
I= = =26.34 A
K 0.0249
V =R∗I + K∗Ω=0.194∗26.34+ 0.0249∗322.71=13.14 V
P=I∗V =26.34∗13.14=346.1W
Ptot =P∗4=392.52∗4=1384.43W
Eficiencia rotacional

n=0.8
1384.43
Ptot= =1730.53W
0.8
Batería=32000mAh

V=22.8V

13.14
n bat= =0.5 7
22.8
Pout 1730.53
Iau= = =75.9 A
Vau 22.8
 Bat∗0.8=I∗t
32∗0.8
t= =0.34 min=20.4 min
75.9