This paper proposes a generalised propulsion energy consumption model (PECM) for rotary-wing ummanned aerial vehicles (UAVs) under the consideration of the practical thrust-to-weight ratio (TWR) with respect to the velocity, acceleration and direction change of the UAVs. To verify the effectiveness of the proposed PECM, we consider a UAV-enabled communication system, where a rotary-wing UAV serves multiple ground users as an aerial base station. We aim to maximize the energy efficiency (EE) of the UAV by jointly optimizing the user scheduling and UAV trajectory variables. However, the formulated problem is a non-convex fractional integer programming problem, which is challenging to obtain its optimal solution. To tackle this, we propose an efficient iterative algorithm by decomposing the original problem into two sub-problems to obtain a suboptimal solution based on the successive convex approximation technique. Simulation results show that the optimized UAV trajectory by applying the proposed PECM are smoother and the corresponding EE has significant improvement as compared to other benchmark schemes.

翻译：本文在考虑无人驾驶飞行器速度、加速度和方向变化方面的实际推力-重量比(TWR),为旋转翼无人驾驶航空器(UAVs)提出了一个通用推进能源消耗模型(PECM)。为核实拟议的PECM的有效性,我们考虑建立一个无人驾驶飞行器辅助通信系统,旋转翼无人驾驶航空器作为航空基地站为多个地面用户提供服务。我们的目标是通过共同优化用户的时间安排和无人驾驶飞行器轨道变量,最大限度地提高UAV的能效。然而,所拟订的问题是一个非螺旋分数整形的编程问题,很难找到最佳解决办法。为了解决这一问题,我们提议将最初的问题分为两个子问题,以获得基于连续的convex近似技术的亚最佳解决办法。模拟结果显示,应用拟议的PECM最优化的UA轨迹比较平滑,而相应的EE与其他基准计划相比,则有很大改进。