STUDY OF THE DYNAMICS OF HEAVY QUADCOPTER AUTOMATIC CONTROL LOOPS

Authors

  • M. K. Filyashkin National Aviation University, Kyiv

DOI:

https://doi.org/10.18372/1990-5548.65.14992

Keywords:

Quadcopter, lifting rotors, the rotor rotation speed, control inertance, control forces and moments, control laws

Abstract

Considered the issues of a heavy quadcopter control automation. A mathematical model of the dynamics of motion of a quadcopter is proposed, taking into account the effect of inertia of the change in the speed of rotation of the lifting rotors. The model reveals the dependences of aerodynamic forces and moments acting on a quadcopter. For the purpose of simplification, it is proposed to use mathematical model of only an isolated pre-linearized longitudinal motion of a quadcopter for research. The use for automatic control of a quadrocopter is substantiated not by PID, but by PD-regulation. Variants of control laws are proposed that exclude the influence of the inertia effect on the dynamics of control loops.

Author Biography

M. K. Filyashkin, National Aviation University, Kyiv

Department of Aviation Computer-Integrated Complexes

References

I. I. Ogoltsov, N. B. Roznin, and V. V. Sheval, "Development of a mathematical model of space flight quadcopter," Proceedings of MAI. no. 83, 2015, pp. 46–58.

Heavy Duty Quadcopters: https://digbox.ru/reviews/s-bolshoy-gruzopodemnosty/

A.O. Belyavsky and S. I. Tomashevich, "Synthesis of an adaptive control system for a quadcopter by the pacification method," Management of large systems. Moscow, no. 63, pp. 155–181, 2015.

V. A. Rogozhin, V. M. Sineglazov, and N. K. Fi-lyashkin, Automated aircraft control systems. Kyiv: NAU, 2003, 502 p.

K. Geng and N. A. Chulin, "Stabilization algorithms for automatic control of the trajectory motion of a quadcopter," Electronic journal "Science and education," Proceedings of MSTU, no. 83, 2015, pp. 218–235.

Downloads

Issue

Vol. 3 No. 65 (2020)

Section

AVIATION TRANSPORT

License

Authors who publish with this journal agree to the following terms:

Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.

Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.

Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).