Abstract
The quadrocopter used to perform mine surveying and geodetic work, to develop a non-contact ore sampling technology based on the use of an intelligent unmanned aerial vehicle equipped with technical vision and a specialized X-ray fluorescent energy-dispersive device installed on it. In this work, the equations of quadrocopter dynamics under load derived, and the influence of dynamic disturbances on SSS propellers carried out. The analysis of torques on four propellers carried out. The equations of dynamics of 4 rotors of the RW-UAS robot (quadcopter) are written on the basis of the Lagrange-Maxwell equations. An analysis of the control moments carried out, which makes it possible to implement horizontal and vertical flights of the quadrocopter. The simulation carried out using the Maple analytical computing environment. Based on the modal analysis of the equations of dynamics of the air robot, the results obtained where the ranges of wave disturbances on the air vehicle are determined and the SSS of the blades and their elastoplastic displacement obtained. The conducted research shows the need for a detailed study of dynamic processes on an air robot, the behavior of the rotor system is especially important.
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