Mathematical model of a generalized quadcopter kinematic scheme and its software implementation


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Abstract

A generalized kinematic scheme of the installation of quadcopter motors is presented and its main advantages are described. In accordance with the scheme, a mathematical model of the kinematics of the quadcopter was developed. The model was implemented in the MatLab software environment. The presented mathematical expressions are used to calculate kinematic characteristics, such as the values of the thrust of the motors and the reverse effect of the motors on the body of the quadcopter. The comparison of the obtained data with the experimental characteristics showed a 5% deviation of the magnitude of the dependence of the thrust on the average value of the voltage on the motors and a 30% deviation of the magnitude of the dependence of the motor action on the thrust magnitude.

About the authors

V. A. Zelenskiy

Samara National Research University, Samara, Russian Federation

Author for correspondence.
Email: zelenskiy.va@ssau.ru

Doctor of Science (Engineering), Associate Professor, Professor of the Department of Radio Electronic Systems

Russian Federation

M. A. Kovalev

Samara National Research University, Samara, Russian Federation

Email: kovalev.ma@ssau.ru

Doctor of Science (Engineering), Associate Professor, Professor of the Department of Aircraft Maintenance

Russian Federation

D. N. Ovakimyan

Samara National Research University, Samara, Russian Federation

Email: ovakimyan.dn@ssau.ru

Director of the Center for Unmanned Systems

Russian Federation

V. S. Kirillov

Samara National Research University, Samara, Russian Federation

Email: vskirilov2015@yandex.ru

Researcher of the Center for Unmanned Systems

Russian Federation

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