Mathematical modeling of movement of multi-rotor type aircraft
The problem of determining the features and setting the problem of mathematical modeling of multirotor aircraft (LA) is considered. Differences of their mathematical models from the classical mathematical models of aircraft and single-rotor helicopter type aircraft are considered. The analysis and s...
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| Format: | Article |
| Language: | English |
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Belarusian National Technical University
2023-08-01
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| Series: | Системный анализ и прикладная информатика |
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| Online Access: | https://sapi.bntu.by/jour/article/view/602 |
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| author | A. A. Lobaty Penghao Gu |
| author_facet | A. A. Lobaty Penghao Gu |
| author_sort | A. A. Lobaty |
| collection | DOAJ |
| description | The problem of determining the features and setting the problem of mathematical modeling of multirotor aircraft (LA) is considered. Differences of their mathematical models from the classical mathematical models of aircraft and single-rotor helicopter type aircraft are considered. The analysis and substantiation of the forces and moments acting on a multirotor aircraft are carried out, taking into account the peculiarities of considering the corresponding coordinate systems necessary for studying the spatial motion of the aircraft. The problem of controlling the trajectory motion of an aircraft is formulated taking into account the rotation of its structure around the center of mass. Based on the consideration of the structural diagram of one of the most common four-rotor aircraft (quadcopter), a scheme for creating control forces and moments acting on the aircraft, under the influence of which the aircraft’s trajectory in space changes, is substantiated. The main mathematical dependences characterizing the kinematics of the motion of a multi-rotor aircraft are given. On the basis of the analysis carried out, a generalized block diagram of the control process for such an aircraft is substantiated and presented. To test the performance and adequacy of the mathematical model, a study was made of the movement of a quadrocopter in a vertical plane between given points in space in accordance with the law of forced control, which ensures the movement of an aircraft in space with maximum speed. The computer simulation of the obtained analytically mathematical dependences showed that this approach is applicable to the construction of mathematical models of the motion of multirotor type aircraft of various design layouts. |
| format | Article |
| id | doaj-art-e66a87fcd2a444778306146c55f1c5e8 |
| institution | Kabale University |
| issn | 2309-4923 2414-0481 |
| language | English |
| publishDate | 2023-08-01 |
| publisher | Belarusian National Technical University |
| record_format | Article |
| series | Системный анализ и прикладная информатика |
| spelling | doaj-art-e66a87fcd2a444778306146c55f1c5e82025-08-20T03:37:08ZengBelarusian National Technical UniversityСистемный анализ и прикладная информатика2309-49232414-04812023-08-0101101510.21122/2309-4923-2023-1-10-15447Mathematical modeling of movement of multi-rotor type aircraftA. A. Lobaty0Penghao Gu1Belarusian National Technical UniversityBelarusian National Technical UniversityThe problem of determining the features and setting the problem of mathematical modeling of multirotor aircraft (LA) is considered. Differences of their mathematical models from the classical mathematical models of aircraft and single-rotor helicopter type aircraft are considered. The analysis and substantiation of the forces and moments acting on a multirotor aircraft are carried out, taking into account the peculiarities of considering the corresponding coordinate systems necessary for studying the spatial motion of the aircraft. The problem of controlling the trajectory motion of an aircraft is formulated taking into account the rotation of its structure around the center of mass. Based on the consideration of the structural diagram of one of the most common four-rotor aircraft (quadcopter), a scheme for creating control forces and moments acting on the aircraft, under the influence of which the aircraft’s trajectory in space changes, is substantiated. The main mathematical dependences characterizing the kinematics of the motion of a multi-rotor aircraft are given. On the basis of the analysis carried out, a generalized block diagram of the control process for such an aircraft is substantiated and presented. To test the performance and adequacy of the mathematical model, a study was made of the movement of a quadrocopter in a vertical plane between given points in space in accordance with the law of forced control, which ensures the movement of an aircraft in space with maximum speed. The computer simulation of the obtained analytically mathematical dependences showed that this approach is applicable to the construction of mathematical models of the motion of multirotor type aircraft of various design layouts.https://sapi.bntu.by/jour/article/view/602unmanned aerial vehiclequadrocoptermathematical modelpropellercontrol force |
| spellingShingle | A. A. Lobaty Penghao Gu Mathematical modeling of movement of multi-rotor type aircraft Системный анализ и прикладная информатика unmanned aerial vehicle quadrocopter mathematical model propeller control force |
| title | Mathematical modeling of movement of multi-rotor type aircraft |
| title_full | Mathematical modeling of movement of multi-rotor type aircraft |
| title_fullStr | Mathematical modeling of movement of multi-rotor type aircraft |
| title_full_unstemmed | Mathematical modeling of movement of multi-rotor type aircraft |
| title_short | Mathematical modeling of movement of multi-rotor type aircraft |
| title_sort | mathematical modeling of movement of multi rotor type aircraft |
| topic | unmanned aerial vehicle quadrocopter mathematical model propeller control force |
| url | https://sapi.bntu.by/jour/article/view/602 |
| work_keys_str_mv | AT aalobaty mathematicalmodelingofmovementofmultirotortypeaircraft AT penghaogu mathematicalmodelingofmovementofmultirotortypeaircraft |