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Aerospace Instrument-Making

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MATHEMATICAL MODEL OF THE QUADCOPTER WITH TWO ADDITIONAL PULLING DRIVES
G.V. Lysukho, A.L. Maslennikov

Various multi-rotor unmanned aerial vehicles (UAVs) configurations make it possible to use them in many areas of human activity, for example, in tracking a moving object on the ground from the air. To solve this problem, high requirements are imposed on multi-rotor UAVs itself and its control systems. Those requirements are typically include suffi ciently high speed with a guaranteed dynamic stability over the entire speed range, control performance characteristics that do not exceed the given ones. To develop such multi-rotor UAVs, it is necessary to investigate assessment of the already mentioned requirements, that cannot be done without a mathematical model of the system. In this paper, we consider a new configuration of a multi-rotor UAV – a quadcopter, in which, in addition to four drives with a traditional location in the horizontal plane of the UAV, two others are added, located in the vertical plane of the UAV. Such location of two additional drives allows the quadcopter to achieve a high speed and to create an addition moment over the yaw axis. The paper discusses the advantages and disadvantages of this configuration and provides its mathematical model.
Keywords: UAV, multi-rotor UAV, quadrocopter, mathematical model, high-speed UAV.


DOI: 10.25791/aviakosmos.6.2022.1284

Pp. 32-39.

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