Research and Analysis of the Issue of Flight Stability of an Unmanned Aerial Vehicle

Abstract

The main goal of this work was to develop a mathematical model in the field of UAV object flight dynamics, taking into account the stabilization of its location in space in such a way that the balancing state of the flying object can be ensured despite both atmospheric and equipment disturbances. Mathematical model of quadcopter dynamics developed using the Newton-Euler method, which describes the exact relationship between all variables, significant in the context of the movement of the object in the coordinate system. For this purpose, it was necessary to derive linear equations regarding state spaces intended for the design of the controller and its further evolution. It should be noted that the issues related to the stability of the quadrotor flight in terms of making turns and wear during operation (explosion) of its propellers are due to the aerodynamic force and gyroscopic effect during take-off and landing. In addition, vibrations resulting from the influence of atmospheric turbulence are an additional disturbance indirectly affecting the stability of the UAV object. The created mathematical model of the quadcopter was developed in the Matlab/Simulink programming environment, and the obtained test results at the stage of simulation tests were presented in the form of tilts in the motion of the considered quadrotor object. In the final stage of this article, based on the UAV object research (mathematical model, simulations, tests) and analysis of the results obtained, practical conclusions were formulated