## 2 Methodology
### Development of UAV Model and Auxiliary Components  
A reference UAV model was selected from among the currently used UAVs in the determined class. The selected UAV's parameters are shown in Table 4[27]. A computer-aided model of the UAV and the auxiliary components, such as environment, movement control, etc., was created in MATLAB R2023a Simulink. To import aerodynamic forces based on wing span, the airfoil type, weight, angle of attack, speed and altitude were calculated with USAF DATCOM software version date 1979 [28]. The calculated parameters were imported to MATLAB Simulink as data tables and a package.  
The created UAV model with all sub-components is shown in Figure 3. Related modeling includes environmental models that contain wind and gravity, a control block which is for stabilizing the aircraft at the desired altitude and aerodynamic forces that were created by DATCOM softwareversion date 1979. The environmental model includes wind effects and gravitational forces, which were based on the aircraft's altitude and the weight onboard. The pilot block commanded the desired aircraft altitude, according to the flight profile. The airframe actuators block commands to elevate surfaces to maintain the desired altitude according to the pilot's command which is based on flight profile. Note that only the elevator command was considered and that the yaw and roll commands were not simulated in this study. There is also a subsystem, which contains a 3 DoF-to-6 DoF (Degrees of Freedom) conversion block. This block is obtaining applied forces and momentum data to the aircraft and convert it to 6 DoF parameters with using related calculation blocks. As a result of these calculations, the related parameters were sent adequate blocks as the feedback and flight simulation model was completed [29; 30].  
\begin{table}
\begin{tabular}{c c} \hline \hline
**Parameter** & **Value** \\ \hline Wingspan & 16.8 m (55 ft) \\ Length & 8.22 m (27 ft) \\ Height & 2.1 m (7 ft) \\ Maximum take-off weight (MTOW) & 1020 kg \\ Empty weight & 512 kg \\ Payload & 204 kg \\ Fuel capacity & 300 kg \\ Cruise speed & 36 m/s (up to 60 m/s) \\ \hline \hline \end{tabular}
\end{table}
Table 4: Main parameters of reference UAV.  
Figure 2: Designed multi-phase BLDC motor general visualization.  
The aerodynamics blocks include aerodynamic parameters that was created and implemented by USAF DATCOM software version 1979. This related block is shown in Figure 4. The affected values of force and momentum which are occurred by the aircraft's altitude, Mach, elevator position, angle of attack and pitch angle are created in this block. In addition, there were also additive forces and momentum that came from the elevator movement. According to the flight profile, the elevator movement was needed to reach the target altitude value. As a result of the elevator command, additional forces and momentum were applied to the aircraft. The sum of these forces and moments created total value that was applied to the aircraft. There was another block, which represented derivative conditions that calculated the mach and barometric pressure values based on feedback from the environment.  
Figure 4: Representation of aerodynamic block in UAV model.  
Figure 3: Components of the created UAV model on MATLAB-Simulink.  
The modeled UAV, which was based on the imported parameters, is shown in Figure 5. The model is shown from different angles: top, bottom and rear. Also shown is the airfoil type of wing, which affected the aerodynamic parameter's calculation.