Modelling of Unmanned Aerial Vehicle – Tricopter
DOI:
https://doi.org/10.7494/automat.2016.20.1.7Keywords:
UAV modelling, flight dynamics, Tricopter, BLDC, dynamika lotu, modelowanie UAV, tricopter, bezzałogowy statek latającyAbstract
This paper presents detailed models of small aerial unmanned vehicle’s subsystems like propeller, BLDC motor or Li–poly battery. Furthermore, more accurate dynamic model of Tricopter is described. This, multi–system model can be used to synthesize precise controller which may have the advantage in hazardous situations.
W niniejszym artykule zaprezentowano modele poszczególnych podsystemów wchodzących w skład bezzałogowych statków latających. Opisano między innymi zespół napędowy składający się z silnika bezszczotkowego (BLDC) i śmigła oraz akumulator litowo-polimerowy. Dodatkowo zaproponowano dokładniejszy model dynamiki lotu tricoptera. Przytoczone modele można wykorzystać do syntezy bardziej optymalnego regulatora, który może mieć przewagę w krytycznych sytuacjach.
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