scholarly journals Identification of a simplified mathematical model of an unmanned aerial vehicle

2020 ◽  
pp. 26-33
Author(s):  
A. A. Lobaty ◽  
Y. F. Yatsyna ◽  
S. S. Prohorovith ◽  
Y. A. Hvitko
Keyword(s):  
Mathematical Model ◽  
Transfer Function ◽  
Unmanned Aerial Vehicle ◽  
Center Of Mass ◽  
Experimental Studies ◽  
Vertical Plane ◽  
Parametric Identification ◽  
Ease Of Use ◽  
Aerial Vehicle ◽  
Discrete Values

The problem of determining the shape and parameters of a mathematical model in the form of a transfer function for the movement of an unmanned aerial vehicle (UAV) in the vertical plane of space is solved. The angle of deviation of the Elevator is considered as the input signal, and the pitch angle of the UAV is considered as the output signal. We use the results of experimental studies of UAV flight, which are considered as known values of input and output signals under specified flight conditions. The measured discrete values of the experimental results are approximated by a fourth-order polynomial based on regression analysis for ease of use in identification. The analytical substantiation of the need to apply the methods of linearization of the mathematical model of UAV movement and the accepted assumptions for obtaining differential equations of UAV movement relative to the center of mass, allowing to synthesize the required transfer function of the corresponding element of the UAV control system. The results of computer modeling confirmed the validity of the synthesized mathematical model obtained on the basis of structural and parametric identification. This approach can be used to obtain simplified mathematical models that are used to solve problems of synthesis and optimization of control systems not only for UAVS, but also for other dynamic objects.

scholarly journals MATHEMATICAL MODELLING OF THE UNMANNED AERIAL VEHICLE DYNAMICS

2018 ◽  
pp. 37-44
Author(s):  
V. Y. Stepanov
Keyword(s):  
Mathematical Model ◽  
Mathematical Modelling ◽  
Unmanned Aerial Vehicle ◽  
Vehicle Dynamics ◽  
Point Of View ◽  
Dynamics Analysis ◽  
Aerial Vehicle ◽  
Main Components ◽  
Controlled Object

The article gives a classification of the main components of unmanned aerial vehicle (UAV) systems, gives the areas in which the application of UAVs is actual in practice today. Further, the UAV is considered in more detail from the point of view of its flight dynamics analysis, the equation necessary for creating a mathematical model, as well as the model of an ordinary dynamic system as a non-stationary nonlinear controlled object, is given. Next, a description of the developed software for modeling and a description of program algorithm are given. Finally, a conclusion describes the necessary directions for further scientific researches.

scholarly journals Probabilistic analysis of getting into in restricted area by unmanned aerial vehical

2019 ◽  
pp. 46-54
Author(s):  
A. A. Lobaty ◽  
Y. F. Yatsyna ◽  
V. Y. Stepanov ◽  
A. Y. Bumai
Keyword(s):  
Mathematical Model ◽  
Unmanned Aerial Vehicle ◽  
Probabilistic Analysis ◽  
Stochastic Equation ◽  
Random Structure ◽  
Restricted Area ◽  
Phase Coordinates ◽  
Probability Densities ◽  
Aerial Vehicle ◽  
The Mathematical Model

The probabilistic analysis of crossing by an unmanned aerial vehicle (UAV) of the boundary of the no-fly area is solved. Condition of stating of the fact of the violation of the boundary of the restricted area is to stand of UAV within the area during a specified time. The substantiation of the mathematical model to research through linearized vector stochastic equation is carried out. The problem is solved by applying the theory of Markov processes of random structure with absorption of realizations at the boundary of a given area. Particularity of the approach is the contemporaneously consideration of two probability densities of the distribution of phase coordinates that describe the boundary conditions. In this case, two equations systems are solved for probabilistic moments: taking into account the absorption of realizations and without taking into account the absorption. The probability of an object gets into specified area and do not leave one during the time that necessary to notice the unmanned aerial vehicle at the restricted area.

scholarly journals Formation of unmanned aircraft trajectory when flying around prohibited areas

2022 ◽  
pp. 47-53
Author(s):  
A. A. Lobaty ◽  
A. Y. Bumai ◽  
A. M. Avsievich
Keyword(s):  
Optimal Control ◽  
Unmanned Aerial Vehicle ◽  
Center Of Mass ◽  
Unmanned Aircraft ◽  
Control Synthesis ◽  
Initial Stage ◽  
Aerial Vehicle ◽  
Aircraft Trajectory ◽  
Flight Route ◽  
Definition Of

Considered the problem of flying over restricted areas by an unmanned aerial vehicle (UAV), which have various shapes and restrictions, set on the basis of the international airspace classification system for aviation in accordance with the Chicago Convention and the recommended principles for the formation of forbidden zones, rules for creating a flight route along forbidden zones and actions in case of border violations of restricted areas. The problem of analytical synthesis of the control acceleration of an unmanned aerial vehicle (UAV) is solved during its flight along a route passing along the boundaries of the forbidden zone of a given shape, along a given trajectory, which consists of subsequent segments located at the same height relative to the earth’s surface, in a given coordinate system. The optimal control synthesis problem is solved as an analytical definition of the optimal control of a linear non-stationary system based on the quadratic quality functional. A mathematical model of UAV motion in the horizontal plane is proposed, in the form of a system of ordinary differential equations in the Cauchy form. A law for measuring the control acceleration of the UAV’s center of mass is obtained on the basis of specifying the minimized quality functional and the corresponding constraints, which is a feature of the considered method of solving the problem. The proposed quality functional takes into account the parameters of coordinates and speed of the UAV, which correspond to the given points in the airspace, which characterize the necessary trajectory for flying around the restricted area. The derived mathematical dependences make it possible to implement them on board a UAV and minimize energy costs when guiding a UAV moving through specified points in space. Computer modeling of the derived analytical results, mathematical dependencies representing the optimal trajectory of the UAV flight along the boundaries of the forbidden zone, as well as the corresponding processes of changing the control acceleration and speed of the UAV movement was carried out, which made it possible to draw conclusions about the efficiency of the proposed method and the feasibility of its further use as a basis. for the initial stage of the synthesis of the UAV control system.

scholarly journals Experimental inspection of the dosing-sowing device by unmanned aerial vehicle for the resettlement of trichogrammes

2019 ◽  
pp. 61-71
Author(s):  
Maranda, S.
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Statistical Data ◽  
Experimental Studies ◽  
Material Distribution ◽  
Flight Altitude ◽  
Operating Modes ◽  
Aerial Vehicle ◽  
Biological Protection ◽  
The Right

Purpose. Improving the quality of the trichograms' resettlement by establishing rational operating modes of the dosing and sowing device of an unmanned aerial vehicle. Methods. Experimental studies using the method of planning a three-factor experiment, methods of statistical data processing. Results. Based on the analysis of the technical means for resettlement of the trichograms, the design of the dosing-sowing device of a unmanned aerial vehicle for the resettlement of the trichogram was substantiated. As a result of the experimental studies, it was established that during the deployment of a trichogram with a dosing-seeding device, a stable leakage of the material due to ejection was ensured by using diaphragms with a diameter of 2.5 mm or more. According to the results of the research it was established that with the increase in flight altitude, the quality of material distribution does not change significantly. But factors such as the height of the plants and the presence of obstacles on the field must be taken into account, so it is necessary to keep the flight altitude not less than 5 m. Due to changing the size of the confuser, the range of flight of the particle did not change, which leads to the conclusion to use a smaller cone of diameter due to which reduces the frontal resistance. When using a dosing-seeding device for resettlement of a trichogram on a quadracycle, due to air flow from propellers, the width of the capture significantly decreases. Therefore, for the qualitative distribution of biomaterials on the surface of the field, the distance between adjacent passages should be 6 m. Conclusions 1. The height of the flight of an unmanned aerial vehicle during the resettlement of the trichogram must not be less 5 m from the upper edge of the plant. 2. The uniform distribution of material on the surface of the field depends on the flight speed, which should be within the range of 3–5 m/s. 3. The quality of the material distribution increases from the right choice of the width of the ceiling, which should be about 6 m. Conclusions: dosing sowing device, ejector, unmanned aerial vehicle, biological protection of plants, reshaping of trichograms, norm of settlement, width of capture.

scholarly journals Numerical Simulation of the Motion of an Unmanned Aerial Vehicle

2018 ◽  
Vol 221 ◽  
pp. 05003
Author(s):  
Il’ya O. Akimov ◽  
Vsevolod V. Koryanov
Keyword(s):  
Numerical Simulation ◽  
Mathematical Model ◽  
Unmanned Aerial Vehicles ◽  
Unmanned Aerial Vehicle ◽  
Software Package ◽  
Aerial Vehicles ◽  
Aerial Vehicle ◽  
Execution Environment ◽  
Controlled Motion

Unmanned aerial vehicles are used for research in many areas: photography and video shooting and so on. The development of unmanned aerial vehicles is directly related to the development of airspace. Today, a mathematical model is required that would describe the movement of such an aircraft with the purpose of predicting, correcting and optimizing it. The paper presents the results of a study of the controlled motion of an unmanned multi-rotor aircraft using the example of a quadrocopter. The study included the development of a law governing the apparatus and its modeling in the form of a software package. The structure of the autopilot, its main contours and parameters of these circuits are considered. After determining the necessary characteristics of the autopilot, modeling of the controlled motion of the quadrocopter in the execution environment was carried out.

Optimal PID controller design with Kalman filter for Qball-X4 quad-rotor unmanned aerial vehicle

2016 ◽  
Vol 39 (12) ◽  
pp. 1785-1797 ◽  
Author(s):  
Feng Pan ◽  
Lu Liu ◽  
Dingyu Xue
Keyword(s):  
Mathematical Model ◽  
Kalman Filter ◽  
Unmanned Aerial Vehicle ◽  
Pid Controller ◽  
Closed Loop ◽  
Controller Design ◽  
Absolute Error ◽  
Pid Controller Design ◽  
Aerial Vehicle ◽  
Set Up

In this paper, we used a Qball-X4 quad-rotor unmanned aerial vehicle (UAV) which was developed by the Quanser Company as the experimental platform. First, a fundamental mathematical model of the Qball-X4 quad-rotor UAV was built and a simulation model was set up based on the proposed mathematical model; then, a double closed-loop optimal proportional–integral–derivative (PID) controller based on integral of time multiplied by absolute error (ITAE) indices was designed according to the model structure. In consideration of the possible system error and data delay, we designed a corresponding Kalman filter, which can estimate the target trajectory and be put before the proposed PID controller to ensure their validity. Finally, simulation results of the system with presented PID controller and Kalman filter were shown to verify their effectiveness.

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