Development of an information measuring and control system for a quadrocopter
The article deals with the issues of synthesis and analysis of information-measuring and control systems of quadrocopters. The main sensors and modules used to determine the parameters of the coordinates of quadrocopters are given. The speed-controlled electric drives used for control and the featur...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | Russian |
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MIREA - Russian Technological University
2021-12-01
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| Series: | Российский технологический журнал |
| Subjects: | |
| Online Access: | https://www.rtj-mirea.ru/jour/article/view/397 |
| _version_ | 1797999696827908096 |
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| author | V. V. Sleptsov V. L. Afonin A. E. Ablaeva Ba Phuong Dinh |
| author_facet | V. V. Sleptsov V. L. Afonin A. E. Ablaeva Ba Phuong Dinh |
| author_sort | V. V. Sleptsov |
| collection | DOAJ |
| description | The article deals with the issues of synthesis and analysis of information-measuring and control systems of quadrocopters. The main sensors and modules used to determine the parameters of the coordinates of quadrocopters are given. The speed-controlled electric drives used for control and the features of their choice are considered. The coordinate systems (fixed and mobile) and the kinematic scheme are given, according to which a system of differential equations is presented. The system describes the dynamics of the quadrocopter movement and takes into account the expected smooth movement of the quadrocopter with small roll and pitch angles. A functional scheme and a mathematical model of the information-measuring and control system of the quadrocopter in the form of a block diagram are developed taking into account the influence of delays in the receipt of information from the sensors of the quadrocopter parameters. A special feature of this work is to take into account the specific characteristics of the elements: adjustable electric drives (both direct and alternating current), parameter sensors (barometers, accelerometers, rangefinders, etc.). The paper studies an illustrative algorithm for the operation of the informationmeasuring and control system of the quadcopter. The type and parameters of the controllers of the quadrocopter control systems are determined. Special attention is paid to the settings for the control contours at the corresponding coordinates. The influence of the controllers of the coordinate control systems of the information-measuring and control systems of the quadrocopter on the effects of the interaction of coordinates is considered. The simulation results are presented. The optimal number of control loops for the coordinates of the information-measuring and control systems of the quadrocopter and the optimal type of settings for obtaining smooth transients (without overshoot) and for excluding the interaction of coordinates on quality indicators are determined. |
| first_indexed | 2024-04-11T11:08:49Z |
| format | Article |
| id | doaj.art-af5c455bdf69497282b6732874fed781 |
| institution | Directory Open Access Journal |
| issn | 2500-316X |
| language | Russian |
| last_indexed | 2024-04-11T11:08:49Z |
| publishDate | 2021-12-01 |
| publisher | MIREA - Russian Technological University |
| record_format | Article |
| series | Российский технологический журнал |
| spelling | doaj.art-af5c455bdf69497282b6732874fed7812022-12-22T04:28:04ZrusMIREA - Russian Technological UniversityРоссийский технологический журнал2500-316X2021-12-0196263610.32362/2500-316X-2021-9-6-26-36289Development of an information measuring and control system for a quadrocopterV. V. Sleptsov0V. L. Afonin1A. E. Ablaeva2Ba Phuong Dinh3MIREA – Russian Technological UniversityMechanical Engineering Research Institute of the Russian Academy of SciencesMIREA – Russian Technological UniversityMIREA – Russian Technological UniversityThe article deals with the issues of synthesis and analysis of information-measuring and control systems of quadrocopters. The main sensors and modules used to determine the parameters of the coordinates of quadrocopters are given. The speed-controlled electric drives used for control and the features of their choice are considered. The coordinate systems (fixed and mobile) and the kinematic scheme are given, according to which a system of differential equations is presented. The system describes the dynamics of the quadrocopter movement and takes into account the expected smooth movement of the quadrocopter with small roll and pitch angles. A functional scheme and a mathematical model of the information-measuring and control system of the quadrocopter in the form of a block diagram are developed taking into account the influence of delays in the receipt of information from the sensors of the quadrocopter parameters. A special feature of this work is to take into account the specific characteristics of the elements: adjustable electric drives (both direct and alternating current), parameter sensors (barometers, accelerometers, rangefinders, etc.). The paper studies an illustrative algorithm for the operation of the informationmeasuring and control system of the quadcopter. The type and parameters of the controllers of the quadrocopter control systems are determined. Special attention is paid to the settings for the control contours at the corresponding coordinates. The influence of the controllers of the coordinate control systems of the information-measuring and control systems of the quadrocopter on the effects of the interaction of coordinates is considered. The simulation results are presented. The optimal number of control loops for the coordinates of the information-measuring and control systems of the quadrocopter and the optimal type of settings for obtaining smooth transients (without overshoot) and for excluding the interaction of coordinates on quality indicators are determined.https://www.rtj-mirea.ru/jour/article/view/397quadrocopteradjustable electric driveparameter sensorsoptimum modulus |
| spellingShingle | V. V. Sleptsov V. L. Afonin A. E. Ablaeva Ba Phuong Dinh Development of an information measuring and control system for a quadrocopter Российский технологический журнал quadrocopter adjustable electric drive parameter sensors optimum modulus |
| title | Development of an information measuring and control system for a quadrocopter |
| title_full | Development of an information measuring and control system for a quadrocopter |
| title_fullStr | Development of an information measuring and control system for a quadrocopter |
| title_full_unstemmed | Development of an information measuring and control system for a quadrocopter |
| title_short | Development of an information measuring and control system for a quadrocopter |
| title_sort | development of an information measuring and control system for a quadrocopter |
| topic | quadrocopter adjustable electric drive parameter sensors optimum modulus |
| url | https://www.rtj-mirea.ru/jour/article/view/397 |
| work_keys_str_mv | AT vvsleptsov developmentofaninformationmeasuringandcontrolsystemforaquadrocopter AT vlafonin developmentofaninformationmeasuringandcontrolsystemforaquadrocopter AT aeablaeva developmentofaninformationmeasuringandcontrolsystemforaquadrocopter AT baphuongdinh developmentofaninformationmeasuringandcontrolsystemforaquadrocopter |