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Opracowanie algorytmu autonomicznego lotu dla bezzałogowego systemu latającego

Szywalski P., Wajnert D.

Śląskie Wiadomości Elektryczne

2018

Nr 3 (119)

4--7

W artykule opisano bezzałogowy system latający z możliwością lotu autonomicznego na podstawie wcześniej ustalonej trajektorii. W celu realizacji tego zagadnienia zbadano dwa odbiorniki GPS oraz barometryczny czujnik wysokości. Na ich podstawie stworzono system nawigacji. Trajektoria lotu była generowana za pomocą napisanego programu w Matlabie. Opracowany algorytm autonomicznego lotu działa na zasadzie minimalizacji kąta pomiędzy wektorem idealnym (zmierzającym od urządzenia do punktu celu) a rzeczywistym wektorem przemieszczenia.

In the work is described an unmanned aerial system with the possibility of an autonomous flight on the basis of predetermined trajectory. To accomplish this aim, two GPS receivers and a barometric altitude sensor were tested. These sensors were used to create a navigation system. The flight trajectory was generated by the program created in Matlab. The developed autonomic flight algorithm works on the principle of minimizing the angle between the ideal vector (from the device to the target point) and the actual displacement vector.

Modelling and optimal control system design for quadrotor platform – an extended approach

Zawiski R., Błachuta M.

Bulletin of the Polish Academy of Sciences. Technical Sciences

2014

Vol. 62, nr 3

535--550

This article presents the development of a mathematical model of a quadrotor platform and the design of a dedicated control system based on an optimal approach. It describes consecutive steps in development of equations forming the model and including all its physical aspects without commonly used simplifications. Aerodynamic phenomena, such as Vortex Ring State or blade flapping are accounted for during the modelling process. The influence of rotors’ gyroscopic effect is exposed. The structure of a control system is described with an application of the optimal LQ regulator and an intuitive way of creating various flight trajectories. Simulation tests of the control system performance are conducted. Comparisons with models available in the literature are made. Based on above, conclusions are drawn about the level of insight necessary in creation of control-oriented and useable model of a quadrotor platform. New possibilities of designing and verifying models of quadrotor platforms are also discussed.