MATHEMATICAL MODEL OF THE SYSTEM CONTROL OF THE QUADCOPTER 

Anatoly I. Godunov, Doctor of technical sciences, professor, honored worker of Russia, professor of the sub-department of automation and telemechanics, Penza State University (40 Krasnaya street, Penza, Russia), E-mail: avitelpgu@mail.ru
Sergei A. Kukanov, Candidate of technical sciences, associate professor of the sub-department of melee weapons, Branch of the Military Academy of Logistics named after Army General A.V. Khrulev in Penza (Military town, Penza, Russia), Е-mail: Kuk_@mail.ru
Pavel S. Suzdaltsev, Adjunct, Branch of the Military Academy of Logistics named after Army General A.V. Khrulev in Penza (Military town, Penza, Russia), Е-mail: suzdal.1990@bk.ru
Asylbek M. Mukhambetov, Senior officer of the department of communications and radio engineering support, Military Institute of Air Defense (39A Aliya Moldagulova street, Aktobe), Е-mail: suimbayeva@internet.ru 

Background. This article discusses the control of an unmanned aerial vehicle-a quadcopter. Materials and methods. A quadcopter of a given class is studied as an object of control, an analysis and mathematical description of the quadcopter control system is carried out, a mathematical model is presented that describes the movement and behavior of the quadcopter in space, providing movement in the air and control of the stabilization of the device at specified position angles by applying control signals to the engines. Results. The control laws determine the dynamics of the UAV movement during control, as well as characterize the structure of the control system. Control systems are quite complex, therefore, the study of their dynamic properties is associated with serious difficulties. As a result, the multi-circuit control system was divided into several simpler ones. Conclusions. The method of representing a multi-circuit control system in the form of several simple systems allows you to analyze and evaluate the operation of the quadcopter control system, as well as simulate its flight characteristics to achieve the most accurate reproduction of a real flight. 

unmanned aerial vehicle, quadcopter, control system, model, mathematical model 

Godunov A.I., Kukanov S.A., Suzdaltsev P.S., Mukhambetov A.M. Mathematical model of the system control of the quadcopter. Nadezhnost' i kachestvo slozhnykh sistem = Reliability and quality of complex systems. 2024;(2):25–31. (In Russ.). doi: 10.21685/2307-4205-2024-2-3