Variations in flight trajectory and velocity during vertical takeoff, transition, and level flight cause substantial changes in the relative inflow vector of multi-rotor unmanned aerial vehicles (UAVs). In urban environments, disturbances from complex wind fields further increase the uncertainty of inflow conditions. This study investigates the aerodynamic characteristics of a fixed-pitch small-sized UAV rotor under varying inflow angles, velocities, and rotational speeds using a subsonic return-flow wind tunnel. The experimental setup enables inflow angle control from −90° to +90° via a turntable. Results indicate that, without incoming flow, the axial thrust and torque coefficients remain nearly constant. With inflow, both coefficients become highly sensitive to velocity in the 2000–5000 rpm range, with deviations up to four times those under static conditions. The in-plane lateral force along the X-axis increases significantly with inflow velocity, reaching about half the axial force, while the Y-axis component is minor and negligible under symmetric configurations. Pitching and rolling moments increase rapidly once inflow velocity exceeds 8 m/s, surpassing the axial torque and exhibiting strong directional asymmetry around ±15° inflow angles. The results demonstrate coupled aerodynamic force and moment behavior of small rotors under complex inflow, providing experimental evidence for improved dynamic modeling, control design, and the energy optimization of UAVs operating in turbulent wind environments.
Liu et al. (Wed,) studied this question.