Вибір оптимального режиму керування процесом аварійного приземлення безпілотного квадрокоптера: Fìz.-mat. model. ìnf. tehnol. 2021, 32:46-51

• Datum: 2021
• Hauptverfasser: Blahitko, Bohdan, Mochulsky, Yuriy, Zayachuk, Ihor
• Format: Artikel
• Sprache: Ukrainisch
• Veröffentlicht: Інститут прикладних проблем механіки і математики ім. Я. С. Підстригача НАН України 2021
• Schlagworte: безпілотний квадрокоптер; висотомір; пропорційно-диференціальний регулято; керування
• Online Zugang: https://www.fmmit.lviv.ua/index.php/fmmit/article/view/158
• Назва журналу: Physico-mathematical modeling and informational technologies

Peculiarities of the process of emergency landing of an unmanned quadcopter have been studied by mathematical modeling. The method of landing an unmanned quadcopter in case of failure of one of the four pairs of electric motor-propeller is proposed. The basis of this technique is the application of the parachuting effect. Parachuting is achieved by forcibly turning off the power of the motor, which is located at the opposite end of the same traverse as the faulty motor. As a result, the vertical speed of the unmanned quadcopter at the time of landing is significantly reduced and approaches a relatively safe value. References Huang, H., Hoffmann, G. M., Waslander, S. L., Tomlin, C. J. (2009). Aerodynamics and control of autonomous quadrotor helicopters in aggressive maneuvering. IEEE International Conference on Robotics and Automation, 3277–3282. DOI doi.org/10.1109/robot.2009.5152561 Wissiere, D. (2008). Experimental autonomous flight of a small-scaled helicopter using accurate dynamics model and low-cost sensors / David Wissiere, Pierse-Jean Bristeau, Alain Pierse Martin, Nikolas Petit. Proceeding of the 17th Word Congress The International Federation of Automatic Control, Seoul Korea. DOI doi.org/10.3182/20080706-5-KR-1001.02480 Nartin, P., Salaun, E. (2010). The True Role of Accelerometer Feedback in Quadrotor Control. IEEE International Conference on Robotics and Automation, Anchorage. DOI doi.org/10.1109/robot.2010.5509980 Becker, Marcelo, R.C.B.Sampaio, Bounabdallah, S., de Perrot, V., Siegwart, R. (2012). In-Flight Collision Avoidance Controller Based Only on OS4 Embedded Sensors.Journal of the Brazilian Society of Mechanical Sciences and Engineering, 34(3), 294–107. DOI doi.org/10.1590/s1678-58782012000300010 Blahitko, B., Zayachuk, I., Mochulskyy, Yu. (2015). Matematychne modelyuvannya vplyvu osoblyvostey sensoriv na protses polʹotu bezpilotnoho kvadrokoptera. Fizyko-matematychne modelyuvannya ta informatsiyni tekhnolohiyi, 21, 22–29. Blahitko, B., Zayachuk, I., Kit, L., Mochulskyy, Yu. (2013). Modelyuvannya protsesu stabilizatsiyi ta kerovanosti bezpilotnoho kvadrokoptera u polʹoti. Fizyko-matematychne modelyuvannya ta informatsiyni tekhnolohiyi, 18, 21-31. Blahitko, B., Zayachuk, I., Mochulskyy, Yu. (2016). Modelyuvannya protsesu zletu ta pryzemlennya bezpilotnoho kvadrokoptera z pokhyloyi poverkhniv avtomatychnomu rezhymi polʹotu. Fizyko-matematychne modelyuvannya ta informatsiyni tekhnolohiyi, 24, 7-13. Mochulskyy, Y. U. (2004). Matlab u fizychnykh doslidzhennyakh: navch. - metod. posib. — Lviv: VTS LNU im. Ivana Franka.