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Information × Registration Number 0219U100646, 0117U002369 , R & D reports Title Methods trajectory flight control drones radio navigation in difficult conditions. popup.stage_title Head Hrekhov Andrii M., Доктор фізико-математичних наук Registration Date 22-02-2019 Organization National Aviation University popup.description2  The object of development are methods and means of trajectory control of a drone (quadrotor), in complex radionavigation environment. The subject of development is the hardware-software complex of trajectory flight control of the drones, as a key part of the aerodynamic navigation complex, for track following in unstable radionavigation field and atmospheric disturbances. A comprehensive system approach was used that combines the basic principles of theoretical mechanics, radio engineering, aerodynamics and modern theory of automatic control. Based on these principles, the mathematical model of the quadrotor as an object of automatic flight control is proposed. The optimal control laws for drone for cases of a holonomic and nonholonomic system are synthesized. In the first case, the planned trajectory was given by spatial coordinates and time, its programming is more complicated, and the laws of trajectory control are simpler. In the second case, the trajectory is given by a set of spatial coordinates; the system controls the velocity vector and compensates for the deviation of the drone’s position from the given path. For both cases, the problem of optimal tracking of planned trajectory under the action of radio interferences has been formulated and solved, the results of which are used for flight simulation in three-dimensional space. Also offered the software in the loop simulation scheme for software verification. The created experimental sample implements proven methods and algorithms in the form of corresponding software and hardware modules. The conducted experimental studies confirm the sample is an effective and promising domestic development. The results of the research work have been implemented in education process of the Department of Aerospace Control Systems in a number of disciplines ("Optimal Control Systems", "Models of Dynamics of Moving Objects", "Aircraft Control Systems", etc.) in lecture courses, laboratory works and Master’s diploma papers. Product Description popup.authors popup.nrat_date 2020-04-02 Close