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A digital twin of a direct current brushless (BLDC) electric motor andpropeller is developed for predicting the generated thrust when there is nomotion of the system (static conditions). The model accounts for the backelectromotive force, the propeller drag force, and the finite response timearising from the electromagnet winding inductance and DC resistance. The modelis compared to a textbook model of BLCD dynamics and to experimentalmeasurements on a KDE Direct KDE2315XF-885/885 Kv motor with a 945 propellerand a Holybro electronic speed controller (ESC) driving an AIR 2216/880 Kvmotor with a 1045 propeller. These systems are typically found on Group 1uncrewed quadcopters (drones). Both the steady-state and transient dynamicsdepart substantially from linearized models found in the literature. This studyis a starting point for disentangling the dynamics of the motor and the changein propeller dynamics due to complex airflow conditions.

Digital Twin of a DC Brushless Electric Motor-Propeller System with Application to Drone Dynamics