Numerical Simulation of the Motion of an Unmanned Aerial Vehicle

Il’Ya O Akimov,Vsevolod V Koryanov,L.H Chen,Y Kondo

doi:10.1051/matecconf/201822105003

Il’Ya O Akimov, Vsevolod V Koryanov + Show 2 more

Open Access

https://doi.org/10.1051/matecconf/201822105003

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Abstract

Unmanned aerial vehicles are used for research in many areas: photography and video shooting and so on. The development of unmanned aerial vehicles is directly related to the development of airspace. Today, a mathematical model is required that would describe the movement of such an aircraft with the purpose of predicting, correcting and optimizing it. The paper presents the results of a study of the controlled motion of an unmanned multi-rotor aircraft using the example of a quadrocopter. The study included the development of a law governing the apparatus and its modeling in the form of a software package. The structure of the autopilot, its main contours and parameters of these circuits are considered. After determining the necessary characteristics of the autopilot, modeling of the controlled motion of the quadrocopter in the execution environment was carried out.

Highlights

The aim of the presented work is the development of the law governing the multi-rotor unmanned aerial vehicle by the example of a quadrocopter providing motion to a given point, as well as the definition of the motion model implementing this law
The forces forming the linear motion of the center of mass of an unmanned aerial vehicle, as well as the moments that form the rotational movement of the apparatus around the center of mass, are created by rotating the carrier propellers installed on the rotors of DC motors, and the moments of forces depend on the mutual relations between the thrust forces of each of the screws
The change in the parameters corresponds to the expected ones, which made it possible to proceed to modeling taking into account external disturbances

Summary

Introduction

The aim of the presented work is the development of the law governing the multi-rotor unmanned aerial vehicle by the example of a quadrocopter providing motion to a given point, as well as the definition of the motion model implementing this law. Kinematic equations of motion of the apparatus around the center of mass in the base coupled coordinate system: ψk cos θk (wy cos γk wz sin γk);. Kinematic equations of motion of the center of mass of the apparatus in the starting coordinate system: 2.2 The moments and forces taken into account when designing a mathematical model. The forces forming the linear motion of the center of mass of an unmanned aerial vehicle, as well as the moments that form the rotational movement of the apparatus around the center of mass, are created by rotating the carrier propellers installed on the rotors of DC motors, and the moments of forces depend on the mutual relations between the thrust forces of each of the screws. The executive body responsible for the formation of force impacts in accordance with the commands of the control system is a system of four drives for stabilizing the speed of DC motors [8]

Numerical simulation of the obtained system

Conclusion