SUN Chai-cheng，XV Yu，TAN Zhong-hua，TONG Chang-fei，LI Huai-zhong

（College of Physics and Electronic Information Engineering，Wenzhou University，Wenzhou 325035，China）

Abstract：Aiming at developing high dynamical and high efficient drive system for quadrotor，the hardware design，dynamic model，and power efficiency of quadrotor drive system were researched，and the quadrotor drive system based on ATmega88 microcontroller and I2C bus technology was proposed. The dynamic performance and power efficiency of drive system were tested by using lift force test platform. The dynamic models of rotor thrust were established through system identification experiments，and the influences of supply voltage on

model parameters and power efficiency were discussed. The experimental results indicate that the proposed drive system possesses high bandwidth of more than10 rad/s and excellent energy efficiency of 9 gram/watt corresponding to 300 gram thrust，thus can fully meet the design requirements of autonomous flying quadrotor.

Key words：quadrotor；drive system；rotor thrust dynamic model；autonomous flight