Mathematical description of a hybrid quadrocopter for the purpose of computer simulation of controlled motion

Abstract

The problem of constructing the most complete mathematical model of the movement of a hybrid-type quadcopter, which, in addition to electric motors, is also equipped with an internal combustion engine, is considered. The relevance of this development is due to the desire to create a control system for a quadcopter of relatively new design, and the feasibility of development is due to the desire to use integrated design, improving the design of the device and elements of navigation and control. The developed mathematical model of the motion of the center of mass of the quadcopter and around the center of mass includes control variables and takes into account the gyroscopic moments from the rotors of the engines - carriers of kinetic moments. This model can be used in the process of designing and debugging control algorithms for such aircraft. The main method of modeling is the numerical integration of the system of differential equations. The given modeling complex will allow to carry out researches on influence of perturbing factors and imperfection of elements of a control system; test and improve management laws; to modernize the design of the quadcopter to increase the efficiency of operation. The advantage of the model is its validity, openness, versatility, as it is easy to adapt to any other design of the quadcopter.