Abstract
This publication is part of a study aimed at finding the optimal configuration (tricopter, quadcopter, octacopter, etc.) in terms of flight stability, payload and energy efficiency. For this purpose, full non-linear quadcopter and octacopter models have been created. Data from real objects (linear and weight characteristics, parameters of the engine-propeller system) were used to create them. Quadcopter and Octacopter use the same motors and propellers. In the simulations, the mass of the two objects is the same. Both models are controlled with PID controllers in four channels (Yaw, pitch, roll and height). The initial adjustment of the regulators was carried out according to the second method of Ziegler-Nichols. A secondary adjustment of the regulators was carried out, with the goal of minimal over-adjustment, speed and accuracy. A parallel simulation of the nonlinear models in the Simulink environment was performed, on the basis of which the conclusions about the stability and energy efficiency of the quadcopter and the octacopter were made.
Published Version
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