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Refinement of the parameters of a mathematical model of quadcopter dynamics

Pashayev Adalat, Sabziev Elkhan

Zeszyty Naukowe. Transport / Politechnika Śląska

2020

z. 109

141--151

Errors in the calculation of the parameters of quadcopter control models at design stage significantly change the desired aerodynamic properties of the drone and make it difficult to control its flight along the intended path. Therefore, to calculate the adequate operation modes of the blades, it becomes necessary to refine some parameters of the mathematical model of the drone as accurately as possible. This paper shows the possibility of using control parameters (rotational speed of the blades) and information received from navigation devices of the drone to refine the values of the parameters of the mathematical model of the drone. For this purpose, a mathematical model of a quadcopter is built, and the problem of refining the parameters of its dynamic model is investigated based on the information received from navigation devices and the control parameters in the initial period of its flight. From the results obtained from several consecutive measurements, a system of equations expressing a mathematical model is solved. The mean value of the corresponding solutions of the system of three-dimensional linear equations obtained at different time intervals is the refined value of the parameters.

An improvement in ro-ro stern berthing modelled on a case study

Perkovic M., Batista M., Vidmar P., Luin B.

Zeszyty Naukowe Akademii Morskiej w Szczecinie

2016

nr 45 (117)

134--142

The high volume transported by ro-ro vessels has not come without a price. Accidents and incidents related to design – lack of bulkheads, instability, problems with cargo access doors, stowage, securing cargo and lifesaving appliances – are growing along with the size of the vessels themselves. One particular and recurrent problem is the degree of these giant box-like high riding vessels exposed to wind. Recently the effect of a tramontana – a fierce, sudden and short term regional wind – in the Port of Koper was to detach a moored ship, causing an accident. This paper will present a study of that accident, and through simulations and modelling determine an improvement that will allow berthing perpendicular to the stern ramp to function more securely.