Skip to main content
SpringerLink
Log in

How to Choose Parameters of the On-Board System for a Quadcopter Control

  • AUTOMATION AND CONTROL IN ENGINEERING
  • Published:
Journal of Machinery Manufacture and Reliability Aims and scope Submit manuscript

Abstract

The issue of how to simulate and choose parameters of the on-board system for controlling a quadcopter is examined in this paper. The examined system controls simultaneously the quadcopter’s rotation angles and its linear displacement. The procedure for calculating the orientation angles and torques of the drivers of the lifting propellers determining the orientation of the quadcopter and the thrust value and direction is presented. The initial equations for calculating the thrust and rotation torques are obtained. It is shown that control of the quadcopter is different from classical approach for motion of a solid considering the center of mass displacement and its required orientation. It is shown that the orientation angles are not independent coordinates and they are set by considering the condition for securing the thrust directions of lifting rotors aiming to secure the center of mass motion of the quadcopter along the given trajectory.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1.
Fig. 2.
Fig. 3.
Fig. 4.
Fig. 5.
Fig. 6.
Fig. 7.
Fig. 8.
Fig. 9.

Similar content being viewed by others

REFERENCES

  1. Pyrkin, A.A., Mal’tseva, T.A., Labadin, D.V., Surov, M.O., and Bobtsov, A.A., Synthesis of control system for a quadcopter with the use of a simplified mathematical model, Izv. Vyssh. Uchebn. Zaved. Priborostr., 2013, vol. 56, no. 4, pp. 47–51.

    Google Scholar 

  2. Luukkonen, T., Modelling and control of quadcopter, Espoo: Aalto University, 2011. http://sal.aalto.fi/publications/pdf-files/eluu11_public.pdf.

    Google Scholar 

  3. Gur’yanov, A.E., Modeling of quadcopter control, Inzh. Vestn., 2014, no. 8, p. 4.

  4. Pavlovskii, V.E. and Savitskii, A.V., The solving of inverse problem for the computation of control action for quadrocopter, Preprint of the Keldysh Inst. of Applied Mathematics, Russ. Acad. Sci., 2017, no. 17. https://doi.org/10.20948/prepr-2017-17

  5. Tsokurova, I.G., Denisov, A.N., Samoilenko, S.A., and Ostapchuk, M.L., Application of quadcopter UAVs DJI Inspire 1V 2.0 in searching for persons on the ground, Nauka, Tekh. Obraz., 2018, no. 11, pp. 43–46.  https://doi.org/10.20861/2312-8267-2018-52-005

  6. Krasovskii, A.N. and Suslova, O.A., On the mathematical model of the controlled motion of a drone-quadrocopter, Agrar. Vestn. Urala, 2016, no. 4, pp. 55–59.

  7. Shilov, K.E., Development of automatic control system for rotor-type unmanned aerial vehicle, Tr. Mosk. Fiz.-Tekh. Inst., 2014, vol. 6, no. 4, pp. 139–152.

    Google Scholar 

  8. Kanatnikov, A.N., Plane motion control of quadcopter, Mat. Mat. Mod., 2015, no. 2, pp. 23–36.

  9. Gen, K.K. and Chulin, N.A., Stabilization algorithms for automated trajectory motion control of quadcopter, Nauka Obraz.: Nauchn. Izd. Mosk. Gos. Tekh. Univ. im. Baumana, 2015, no. 5, pp. 218–235.  https://doi.org/10.7463/0515.0771076

Download references

Author information

Authors and Affiliations

  1. Mechanical Engineering Research Institute of the Russian Academy of Sciences, Moscow, Russia

    V. L. Afonin & V. V. Sleptsov

Authors
  1. V. L. Afonin
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. V. V. Sleptsov
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding authors

Correspondence to V. L. Afonin or V. V. Sleptsov.

Ethics declarations

The authors declare that they have no conflicts of interest.

Additional information

Translated by Yu.V. Zikeeva

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Afonin, V.L., Sleptsov, V.V. How to Choose Parameters of the On-Board System for a Quadcopter Control. J. Mach. Manuf. Reliab. 51, 659–667 (2022). https://doi.org/10.3103/S1052618822070020

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.3103/S1052618822070020

Keywords:

Search

Navigation