Abstract
Considered the issues of a heavy quadcopter control automation. A mathematical model of the dynamics of motion of a quadcopter is proposed, taking into account the effect of inertia of the change in the speed of rotation of the lifting rotors. The model reveals the dependences of aerodynamic forces and moments acting on a quadcopter. For the purpose of simplification, it is proposed to use mathematical model of only an isolated pre-linearized longitudinal motion of a quadcopter for research. The use for automatic control of a quadrocopter is substantiated not by PID, but by PD-regulation. Variants of control laws are proposed that exclude the influence of the inertia effect on the dynamics of control loops.
Highlights
A quadcopter (QC) is an unmanned aerial vehicle with four lifting rotors
The control of QC is reduced to the control of the rotor rotation speed, which greatly simplifies the design of the control system
The purpose of this work is to develop a mathematical model of QC and to study the effect of the time delay of the change in the lifting rotational speed of the rotor on the dynamics of automatic control loops QC
Summary
A quadcopter (QC) is an unmanned aerial vehicle with four lifting rotors. Unlike a helicopter, which uses a swashplate for control, which changes direction of the lifting rotor thrust, and the total pitch and adequately the magnitude of the rotor thrust, in QC the thrust direction relative to the body and the pitch of the rotor blades are unchanged. To change the flight altitude, the QC synchronously changes the rotation speed and, the magnitude of the thrust of all four rotors. To change the roll and pitch angles, the corresponding control moments are created by changing the speeds of rotation of different rotors. Changes in the speeds of rotation of these pairs distort the condition of compensation and create a control yaw moment. The task of developing and researching an automatic control system that makes it possible to implement an autonomous flight of QC is becoming very urgent. When solving such problems in the dynamics of movement of miniature QC, the change persistence in the rotational speed of the rotor is usually ignored. The inertance of change in the speed of rotation of such rotors (inertia of control) can significantly affect the quality of control processes QC
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
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 call
