MATHEMATICAL MODEL OF MOTION OF A MULTIROTOR UNMANNED AERIAL VEHICLE 

Vladimir V. Ilyinykh, Design engineer, Russian Federal Nuclear Center – Zababakhin All-Russian Research Institute of Technical Physics (13 Vasilyeva street, Snezhinsk, Russia), E-mail: kb2@vniitf.ru
Stepan V. Andreev, Head of the department, Russian Federal Nuclear Center – Zababakhin All-Russian Research Institute of Technical Physics (13 Vasilyeva street, Snezhinsk, Russia), E-mail: kb2@vniitf.ru
Aleksandr V. Klyuchnikov, Candidate of technical sciences, chief engineer, Russian Federal Nuclear Center – Zababakhin All-Russian Research Institute of Technical Physics (13 Vasilyeva street, Snezhinsk, Russia), E-mail: kb2@vniitf.ru
Maksim S. Chertkov, Group leader, Russian Federal Nuclear Center – Zababakhin All-Russian Research Institute of Technical Physics (13 Vasilyeva street, Snezhinsk, Russia), E-mail: kb2@vniitf.ru

Background. Unmanned aerial vehicles (UAV) are widely used in present-day reality. When developing UAV new models, solution of both design-and- appearance and program-algorithm problems such as, for example, control and navigation algorithms has to be found. Materials and methods. In development of the UAV a mathematical simulation is commonly used. Mathematical simulation enables studying of the UAV’s operability both in routine mode and in emergency without producing UAV physical model. Results and conclusions. The article proposes a mathematical model of multirotor UAV using a quadcopter as an example, basic aspects of the multirotor UAV aerodynamics are set forth, equations of centroidal motion and motion around mass-center of a quadcopter are handled.

multirotor unmanned aerial vehicle, quadcopter, mathematical simulation

Ilyinykh V.V., Andreev S.V., Klyuchnikov A.V., Chertkov M.S. Mathematical model of motion of a multirotor unmanned aerial vehicle. Nadezhnost' i kachestvo slozhnykh sistem = Reliability and quality of complex systems. 2025;(2):34–46. (In Russ.). doi: 10.21685/2307-4205-2025-2-4