Математичне моделювання впливу особливостей сенсорів на процес польоту безпілотного квадрокоптера
The results of study of mathematical models of unmanned quadrocopter flight with taking intoaccount the sensor peculiarities: altimeter, 3-axis gyroscope, 3-axis accelerometer, 3-axismagnetometer are demonstrated. The mathematical model of unmanned quadrocopter flight isrepresented by the system of...
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| Datum: | 2019 |
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| Hauptverfasser: | , , |
| Format: | Artikel |
| Sprache: | Ukrainisch |
| Veröffentlicht: |
Інститут прикладних проблем механіки і математики ім. Я. С. Підстригача НАН України
2019
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| Online Zugang: | https://www.fmmit.lviv.ua/index.php/fmmit/article/view/88 |
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| Назва журналу: | Physico-mathematical modeling and informational technologies |
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Physico-mathematical modeling and informational technologies| Zusammenfassung: | The results of study of mathematical models of unmanned quadrocopter flight with taking intoaccount the sensor peculiarities: altimeter, 3-axis gyroscope, 3-axis accelerometer, 3-axismagnetometer are demonstrated. The mathematical model of unmanned quadrocopter flight isrepresented by the system of differential equations in the form of Cauchy of 16th order. The inputinformation is the values of the unmanned quadrocopter altitude, corners pitch, roll, yaw, andtheir changes in time. The way of proportionally differential flight control of unmannedquadrocopter has been considered to stabilize the quadrocopter flight and to optimally put thequadrocopter into the given mode. PD-controller changes the traction increments of electricmotors – screws, the sign of the increments, and the time points, at which all those changes shouldbe done. The suggested technique of the unmanned quadrocopter flight control has been tested byexample of automatic execution of simple aerobatics figures - a horizontal figure-of-eight - withboth right and left-turns. |
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