A Simplified Mathematical Model of the Controlled Motion of the Quadrocopter
Journal Title: Наукові записки Міжнародного гуманітарного університету - Year 2016, Vol 26, Issue
Abstract
A simplified mathematical model of a quadrocopter motion under some controlled actions is considered. As these actions angular velocities of helix blades rotation are chosen. Each of four helix blades has own electric motor and, consequently, rotation velocities can be different. Cases of control choose, that provide vertical takeoff and landing, cases of quadrocopter rotation in horizontal plane on some fixed height and case of its flight in some direction in horizontal plane are considered. Some new modification of a mathematical model of the flight in the form of Newton-Euler differential equations is proposed and proved. An optimization of the flight motion with the quality index of control process, that determines the energy consumption for the production of control actions in a given fixed time interval is considered. In this time interval the drone makes a flight from the given initial to the given terminal position in the three-dimensional Euclidian space.
Authors and Affiliations
А. Н. Красовский, О. А. Суслова
Keywords
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