Experimental Verification of Thrust-Vibration-Suppression for Multirotor Propeller Based on Wind Direction Estimation in Rotational Plane

Vibrations during operations in strong crosswinds and high-speed fights are becoming critical problems as multirotors are increasingly used in industrial applications. While harmonic inputs to rotational speed effectively suppress thrust vibrations in multirotor propellers, the model-based determination of input phases has not been achieved. This study aims to clarify the relationship between vibrations and wind direction and to develop an estimation method for determining harmonic rotational speed control. A method for estimating wind direction in the rotational plane is proposed based on the rotor position harmonics of counter-torque estimates derived from a propeller aerodynamic model. Its effectiveness has been validated through wind tunnel tests. By determining the harmonic input phase using the estimated wind direction, a 48% improvement in thrust vibration suppression was demonstrated under operating conditions, compared to when wind direction compensation was not used.