Вісник № 37

Переглянути

Зараз показуємо 1 - 1 з 1

Development of the controller for the quadcopter Finken in simulation enviroment VRep
(NTU "KhPI", 2016) Severin, Valeriy Petrovich; Nikulina, Elena Nikolaevna; Buriakovskyi, Vladyslav Serhiiovych
The problem of control of quadcopter Finken, that was created at department of Intellectual systems at Otto von Guericke University Magdeburg, was presented. The simulation environment VRep as 3D robot simulator was reviewed. The general mathematical model of copter was presented and the model of quadcopter Finken was created in VRep simulation environment. The principles of working continue and discrete PID controllers were described and analyzed. The models of motion of quadcopter Finken were reviewed and implemented in simulation environment VRep. The model of recommended PD controller for quadcopter Finken was described and implemented. The test flights were done and the stable flying motion of quadcopter was received. The conclusions about possible use such a model was made.