ARTICLE
TITLE

STUDY OF THE DYNAMICS OF HEAVY QUADCOPTER AUTOMATIC CONTROL LOOPS

SUMMARY

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.

PAGES
pp. 88 - 92

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