Studies of 4-rotor unmanned aerial vehicle UAV in the field of control system

Department of Avionics and Control Systems, Polish Air Force Academy, ul. Dywizjonu 303 nr 35, 08-521 Deblin

^* Corresponding author: l.setlak@wsosp.pl, r.kowalik@wsosp.pl

Abstract

The key goal of this work was to develop a functional mathematical model of a 4-rotor UAV, including regulatory apparatus and identification of its parameters. The functionality of a quadrocopter traffic control has been reduced to solving differential equations that define the motion and dynamics of an unmanned aerial vehicle. It should be noted that the synthesis of the quadrocopter control system is not an easy task, due to the non-linear nature of the dynamics of this object and its structural instability. Therefore, in this article the tested object UAV was accepted as a physical model, which may cause potential material damage resulting from damage to the device as well as other elements that are located in its immediate surroundings. In addition, the article discusses the problem of improving the quality of the estimation rate of climb of unmanned aircraft of vertical takeoff and landing UAV, this problem was considered for the object in the low-ceiling range, i.e. in the range of 0-6 m, so the issue concerns autonomous take-off and landing. For the presentation of the results, the 4-rotor UAV was used, with the use of a proportional-integral-derivative PID controller in the context of the control system. The obtained results were supported by research and analysis of real results - the discussed algorithm was implemented in the 4-rotor UAV driver.