A mathematical model for controlling a quadrotor UAV

• Autorzy: Kowalik Rafał , Łusiak Tomasz , Novak Andrej

Identyfikatory

DOI

10.2478/tar-2021-0017

Warianty tytułu

PL

Model matematyczny do sterowania czterowirnikowym BSP

• Języki publikacji: EN

Abstrakty

EN

Given the recent surge in interest in UAVs and their potential applications, a great deal of work has lately been done in the field of UAV control. However, UAVs belong to a class of nonlinear systems that are inherently difficult to control. In this study we devised a mathematical model for a PID (proportional integral derivative) control system, designed to control a quadrotor UAV so that it follows a predefined trajectory. After first describing quadrotor flight dynamics, we present the control model adopted in our system (developed in MATLAB Simulink). We then present simulated results for the use of the control system to move a quadrotor UAV to desired locations and along desired trajectories. Positive results of these simulation support the conclusion that a quadrotor UAV spatial orientation control system based on this model will successfully fulfil its task also in real conditions.

PL

Wobec rosnącego zainteresowania bezzałogowymi statkami powietrznymi (BSP) i ich potencjalnymi zastosowaniami, w ostatnim czasie wykonano wiele prac w dziedzinie ich lepszego sterowania. BSP jednak należą do klasy nielinearnych systemów, które są z natury trudne do sterowania. W niniejszej pracy opracowano model matematyczny dla systemu sterowania opartego na metodzie PID (proportional integral derivative), zaprojektowanego do sterowania czterowirnikowym BSP tak, aby podążał on po wcześniej zdefiniowanej trajektorii. Opisano dynamiki lotu czterowirnikowym BSP i zaprezentowano model kontroli zastosowany w naszym systemie (opracowany w programie MATLAB Simulink). Przedstawione są wyniki symulacji użycia systemu do sterowania czterowirnikowym BSP w celu jego przemieszczenia się do pożądanej lokalizacji oraz wzdłuż pożądanej trajektorii. Wyniki tych symulacji potwierdzają wniosek, że oparty na tym modelu system sterowania dla czterowirnikowego BSP może z powodzeniem spełnić swoje zadanie również w warunkach rzeczywistych.

Słowa kluczowe

EN

UAV control system; dynamics model; quadrotor; linearization

PL

system kontroli BSP; model dynamiki; czterowimikowy BSP; linearyzacja

• Wydawca: Wydawnictwa Naukowe Sieci Badawczej Łukasiewicz - Instytutu Lotnictwa
• Czasopismo: Transactions on Aerospace Research
• Rocznik: 2021
• Tom: Nr 3 (264)
• Strony: 58--70
• Opis fizyczny: Bibliogr. 17 poz., rys., tab., wzory

Twórcy

autor

Kowalik Rafał

• Military University of Aviation, ul. Dywizjonu 303 no. 35 08-521 Dęblin, Poland

• https://orcid.org/0000-0001-6431-9561

autor

Łusiak Tomasz

• Lublin University of Technology, ul. Nadbystrzycka 38 D, 20-618 Lublin, Poland

• https://orcid.org/0000-0003-2324-4596

autor

Novak Andrej

• University of Žilina, Univerzitná 8215/1, 010 26 Žilina, Slovakia

• https://orcid.org/0000-0001-9567-5104

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).