scholarly journals Simulation of quadcopter flight altitude stabilization system

2020 ◽  
Vol 33 (02) ◽  
pp. 638-650
Author(s):  
Mikhail Yu. Babich ◽  
Mikhail M. Butaev ◽  
Dmitry V. Pashchenko ◽  
Alexey I. Martyshkin ◽  
Dmitry A. Trokoz
Keyword(s):  
Mathematical Model ◽  
Unmanned Aerial Vehicles ◽  
Control Algorithm ◽  
Angular Position ◽  
The Other ◽  
Practical Implementation ◽  
Stabilization System ◽  
Flight Altitude ◽  
Aerial Vehicles ◽  
Aerial Vehicle

Recently, unmanned aerial vehicles have been an important part of scientific research in various fields. Quadrocopter is an unmanned aerial vehicle with four rotors, two of which rotate clockwise, the other two counterclockwise. Changing the speed of screw rotation allows you to control the movement of the apparatus. The article proposed and tested a mathematical model of a quadcopter. They presented the development of a simple control algorithm that allows to stabilize the height and angular position. The research results show the efficiency of the algorithm and the possibility of its practical implementation. The developed mathematical model can be used instead of a real quadcopter, which will significantly reduce the time during research, as well as avoid the quadrocopter damage, reducing the number of launches.

scholarly journals Influence of wind disturbances and nonlinearities of servo drive on the contour of stabilization of the flight of height of unmanned aerial vehicle

2019 ◽  
pp. 23-30
Author(s):  
V. A. Malkin ◽  
I. V. Rozhkov ◽  
A. A. San’ko
Keyword(s):  
Mathematical Model ◽  
Comparative Analysis ◽  
Unmanned Aerial Vehicles ◽  
Control Systems ◽  
Velocity Vector ◽  
Flight Altitude ◽  
Servo Drive ◽  
Automatic Control Systems ◽  
Aerial Vehicles ◽  
Aerial Vehicle

The article discusses a mathematical model of wind, taking into account its stochastic component and wind of a steady direction, presents the results of a comparative analysis of the effect of wind parameters on the total wind velocity vector acting on unmanned aerial vehicles (UAV). The main non-line arities of the autopilot servo elements and their influence on the output signal are considered. The reaction of the contour of the UAV flight altitude stabilization to the wind is considered, taking into account the nonlinearity of the servo drive elements. Proved the need to take into account the wind in the synthesis of automatic control systems (ACS) and the contours of the angular stabilization of the drone at stages where the flight speed of the drone is less than 30 m / s.

Evaluation of disturbance effect on geese caused by an approaching unmanned aerial vehicle

2019 ◽  
Vol 30 (2) ◽  
pp. 169-175 ◽  
Author(s):  
MADS BECH-HANSEN ◽  
RUNE M. KALLEHAUGE ◽  
JANNIK M. S. LAURITZEN ◽  
MATHIAS H. SØRENSEN ◽  
BJARKE LAUBEK ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Unmanned Aerial Vehicle ◽  
Initial Disturbance ◽  
Flight Altitude ◽  
Aerial Vehicles ◽  
Disturbance Effects ◽  
Vigilance Behaviour ◽  
Aerial Vehicle

SummaryUnmanned aerial vehicles (UAVs) are useful tools in ornithological studies. Importantly, though, UAV-caused disturbance has been noted to vary among species. This study evaluated guidelines for UAVs as a tool for researching geese. Twenty-four flocks of foraging geese were approached at an altitude of 50–100 m with a quadcopter UAV and disturbance effects were analysed across different horizontal distances between the UAV and the flocks. Geese were increasingly disturbed when approached by a UAV, with birds showing increased vigilance behaviour within approximately 300 m. Increasing UAV flight altitude as well as increasing take-off distance from the flocks both decreased the risk of bird flocks flushing. In conclusion, when monitoring geese using UAVs, flight altitudes of 100 m and take-off distances of ideally ∼500 m are recommended, to minimise initial disturbance and reducing the risk of birds flushing.

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.

Altitude consensus based 3D flocking control for fixed-wing unmanned aerial vehicle swarm trajectory tracking

2016 ◽  
Vol 230 (14) ◽  
pp. 2628-2638 ◽  
Author(s):  
Xiangyin Zhang ◽  
Haibin Duan
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Unmanned Aerial Vehicle ◽  
Control Algorithm ◽  
Field Method ◽  
External Input ◽  
Consensus Algorithm ◽  
Aerial Vehicles ◽  
Input Signals ◽  
Aerial Vehicle ◽  
Distributed Tracking

This paper studies the 3D flocking control problem for unmanned aerial vehicle swarm when tracking a desired trajectory. In order to allow the unmanned aerial vehicle swarm to form the stable flocking geometry on a same horizontal plane, the altitude consensus algorithm is applied to the unmanned aerial vehicle altitude control channel, using the trajectory altitude as the external input signals. The flocking control algorithm is only performed in the horizontal channel to control the horizontal position of unmanned aerial vehicles. The distributed tracking algorithm, which controls the local averages of position and velocity of each unmanned aerial vehicle, is implemented to achieve the better tracking performance. The improved artificial potential field method is introduced to achieve the smooth trajectory when avoiding obstacles. The practical dynamic and constraints of unmanned aerial vehicles are also taken into account. Numerical simulations are performed to test the performance of the proposed control algorithm.

scholarly journals Applications of Internet of Things and Unmanned Aerial Vehicle in Smart Agriculture: A Review

2022 ◽  
Author(s):  
Caprio Mistry ◽  
Ahona Ghosh ◽  
Mousumi Biswas ◽  
Bikalpa Bagui ◽  
Arighna Basak
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Single Mode ◽  
The Other ◽  
Insecticide Application ◽  
Remote Locations ◽  
Aerial Vehicles ◽  
Human Ability ◽  
Aerial Vehicle ◽  
Smart Agriculture ◽  
Multi Mode

With the rapid advancement of technology and decline in human ability, technology has become a part of every aspect of our lives. Agriculture and irrigation are two domains in which man's potential may be exploited to its fullest. To commercialise in the industry, a variety of sensors and electronics devices are employed to keep prices down in a few domains. In order to save money and enhance the abilities of agricultural experts, UAVs (unmanned aerial vehicles) can be used for reconnaissance, pesticide and insecticide application, and bioprocessing mistake detection. When it comes to this application, both single-mode and multi-mode UAV systems will work just fine. On the other hand, this chapter identifies the challenges and limitations of IoT and UAVs connection in remote locations, demonstrating several use cases of smart agriculture and the advantages and applications of using IoT and UAVs in agriculture.

A distributed swarm control for an agricultural multiple unmanned aerial vehicle system

2019 ◽  
Vol 233 (10) ◽  
pp. 1298-1308 ◽  
Author(s):  
Chanyoung Ju ◽  
Hyoung Il Son
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Unmanned Aerial Vehicle ◽  
Control Algorithm ◽  
Haptic Feedback ◽  
Vehicle Control ◽  
Haptic Device ◽  
Aerial Vehicles ◽  
Vehicle System ◽  
Aerial Vehicle ◽  
Control Layer

In this study, we propose a distributed swarm control algorithm for an agricultural multiple unmanned aerial vehicle system that enables a single operator to remotely control a multi-unmanned aerial vehicle system. The system has two control layers that consist of a teleoperation layer through which the operator inputs teleoperation commands via a haptic device and an unmanned aerial vehicle control layer through which the motion of unmanned aerial vehicles is controlled by a distributed swarm control algorithm. In the teleoperation layer, the operator controls the desired velocity of the unmanned aerial vehicle by manipulating the haptic device and simultaneously receives the haptic feedback. In the unmanned aerial vehicle control layer, the distributed swarm control consists of the following three control inputs: (1) velocity control of the unmanned aerial vehicle by a teleoperation command, (2) formation control to obtain the desired formation, and (3) collision avoidance control to avoid obstacles. The three controls are input to each unmanned aerial vehicle for the distributed system. The proposed algorithm is implemented in the dynamic simulator using robot operating system and Gazebo, and experimental results using four quadrotor-type unmanned aerial vehicles are presented to evaluate and verify the algorithm.

scholarly journals SYNTHESIS OF THE MATHEMATICAL MODEL OF THE AUTOMATIC CONTROL SYSTEM OF THE UNMANNED AIRCRAFT COURSE

2019 ◽  
pp. 152-159
Author(s):  
I. V. Zimchuk ◽  
V. I. Ishchenko ◽  
T. M. Shapar
Keyword(s):  
Mathematical Model ◽  
Computer Simulation ◽  
Control System ◽  
Automatic Control ◽  
Unmanned Aerial Vehicles ◽  
Unmanned Aerial Vehicle ◽  
Automatic Control System ◽  
Aerial Vehicles ◽  
Aerial Vehicle ◽  
The Mathematical Model

Unmanned aerial vehicles are by far the most promising military and civilian systems. There is a tendency to increase the efforts of a number of leading countries in the development of unmanned aerial vehicles and their complexes. The mathematical model of any system reflects in one way or another its real properties, including the existing limitations. It has been found that one of the most favorable and efficient methods for constructing mathematical models of automatic control systems is to develop them using transfer functions. In order to solve this problem, the article deals with the composition of the control system of a drone. A mathematical model consisting of the joint design of the unmanned aerial vehicle and its automatic control system has been synthesized. The description of the proposed mathematical model of the system is based on the representation of a linear continuous system by the difference equations obtained using the Tustin relation. The mathematical model proposed in the article can be used for the study of typical aircraft whose course management system is built according to the considered structure. The practical significance of the obtained results is the possibility of applying the developed mathematical model to study the dynamics of the change of state and to set up the system of automatic control of the course of the unmanned aerial vehicle through computer simulation. Prospects for further research in this area are computer simulation of an unmanned aerial vehicle control system and estimation of the accuracy of the mathematical model developed.

scholarly journals Practical Aspects of Design and Testing Unmanned Aerial Vehicles

2020 ◽  
Vol 14 (1) ◽  
pp. 50-58
Author(s):  
Patryk Szywalski ◽  
Andrzej Waindok
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Global Positioning System ◽  
Practical Implementation ◽  
Positioning System ◽  
Positioning Systems ◽  
Autonomous Flight ◽  
Aerial Vehicles ◽  
Global Positioning ◽  
Aerial Vehicle ◽  
Design And Testing

AbstractA design of an unmanned aerial vehicle (UAV) construction, intended for autonomous flights in a group, was presented in this article. The design assumptions, practical implementation and results of the experiments were given. Some of the frame parts were made using 3D printing technology. It not only reduces the costs but also allows for better fitting of the covers to the electronics, which additionally protects them against shocks and dirt. The most difficult task was to develop the proper navigation system. Owing to high costs of precision positioning systems, common global positioning system (GPS) receivers were used. Their disadvantage is the floating position error. The original software was also described. It controls the device, allows performing autonomous flight along a pre-determined route, analyses all parameters of the drone and sends them in a real time to the operator. The tests of the system were carried out and presented in the article, as well.

A method for autonomous collision-free navigation of a quadrotor UAV in unknown tunnel-like environments

Robotica ◽  
2021 ◽  
pp. 1-27
Author(s):  
Taha Elmokadem ◽  
Andrey V. Savkin
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Autonomous Underwater Vehicles ◽  
Three Dimensional ◽  
Underwater Vehicles ◽  
Practical Implementation ◽  
Challenging Problem ◽  
Quadrotor Uav ◽  
Navigation Algorithm ◽  
Aerial Vehicles ◽  
Quadrotor Uavs

Abstract Unmanned aerial vehicles (UAVs) have become essential tools for exploring, mapping and inspection of unknown three-dimensional (3D) tunnel-like environments which is a very challenging problem. A computationally light navigation algorithm is developed in this paper for quadrotor UAVs to autonomously guide the vehicle through such environments. It uses sensors observations to safely guide the UAV along the tunnel axis while avoiding collisions with its walls. The approach is evaluated using several computer simulations with realistic sensing models and practical implementation with a quadrotor UAV. The proposed method is also applicable to other UAV types and autonomous underwater vehicles.

scholarly journals A Flow Analysis Using a Water Tunnel of an Innovative Unmanned Aerial Vehicle

2021 ◽  
Vol 11 (13) ◽  
pp. 5772
Author(s):  
Dawid Lis ◽  
Adam Januszko ◽  
Tadeusz Dobrocinski
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Unmanned Aerial Vehicle ◽  
Rapid Development ◽  
Lift Coefficient ◽  
Flow Analysis ◽  
Water Tunnel ◽  
Dual Use ◽  
Aerial Vehicles ◽  
Aerial Vehicle ◽  
Technical Construction

The purpose of this article is to present and discuss the results of a non-standard unnamed aerial vehicle construction with a constant cross-section square-shaped avionic profile. Based on the model’s in-air observed maneuverability, the research of avionic construction behavior was carried out in a water tunnel. The results show the model’s specific lift capabilities in comparison to classical avionic constructions. The characteristic results of the lift coefficient showed that the unmanned aerial vehicle presents favorable features than classic avionic constructions. The model was created with the prospect of using it in the future for dual-use purposes, where unmanned aerial vehicles are currently experiencing very rapid development. When creating the prototype, the focus was on low production cost, as well as convenience in operation. The development of this type of breakthrough avionic solution, which shows extraordinary maneuverability, may contribute to increasing the popularity and, above all, the availability of unmanned aerial vehicles for the largest possible group of recipients because of high avionic properties in relation to the technical construction complexity.

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