Abstract
Errors in the calculation of the parameters of quadcopter control models at design stage significantly change the desired aerodynamic properties of the drone and make it difficult to control its flight along the intended path. Therefore, to calculate the adequate operation modes of the blades, it becomes necessary to refine some parameters of the mathematical model of the drone as accurately as possible. This paper shows the possibility of using control parameters (rotational speed of the blades) and information received from navigation devices of the drone to refine the values of the parameters of the mathematical model of the drone. For this purpose, a mathematical model of a quadcopter is built, and the problem of refining the parameters of its dynamic model is investigated based on the information received from navigation devices and the control parameters in the initial period of its flight. From the results obtained from several consecutive measurements, a system of equations expressing a mathematical model is solved. The mean value of the corresponding solutions of the system of three-dimensional linear equations obtained at different time intervals is the refined value of the parameters.
Highlights
The low cost of unmanned aerial vehicles has given impetus to their widespread use for military purposes
In [4], a mathematical model that defines the spatial position of the quadcopter by Euler angles was developed and used to create a flight simulation program
This paper explores the possibility of using the control parameters and the data obtained from navigation devices of the drone to refine the values of the parameters of the mathematical model of the drone
Summary
The low cost of unmanned aerial vehicles (drones) has given impetus to their widespread use for military purposes. Several currently designed drone models provide for the use of MPU-9250 type devices [6] Since this device does not measure Euler angles, it is impossible to directly apply the results of the above studies to solving problems of quadcopter control when using it. A mathematical model of the quadcopter control problem is built in this paper based on feedback data received from an MPU-9250 type device. This paper explores the possibility of using the control parameters (rotational speed of the blades) and the data obtained from navigation devices of the drone to refine the values of the parameters of the mathematical model of the drone
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: Scientific Journal of Silesian University of Technology. Series Transport
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
