Authors A.A. Kochkarov, R.T. Agishev
Month, Year 01-02, 2017 @en
Index UDC 21474
Abstract The main goal of this work was creating a computer simulation to estimate maximum pay-load a group of small multirotor UAVs can carry. This paper investigates symmetric payload transportation with qaudrotors. Dynamics of the system of four qaudrotors rigidly connected by the cross-like structure with a payload at the center of the cross are represented. The motion of system is described using mathematical quadotor model. Simulation of motion of the system along 3 different trajectories (“line”, “sine”, and “diamond”) was conducted. The set of trajectories allows investigating system’s behavior during performing of different maneuvers. Trajectory folowing coordinate errors were estimated for each of the 3 curves. The presence of the wind is taken into account. In addition the windflaw was simulated. The model includes time limitation of flight between starting and endpoint. Accuracy requirements to achieve endpoint are established. Precision involves small coordinate deviations of the center of mass at the endpoint, system’s ve-locity should be close to zero at the end of simulation. Also if the wind is small, the final angular deviation from the horizont should be close to zero. Control system for the structure is constructed such that the centre of mass follows desired trajectory. System’s behavior under variety of wind signals was researched. Speed and direction of wind could be set up as continuous or stepped functions of time. In case of successful transportation of payload system remains at hover at the endpoint. Energy consumption experiments were simulated As a result necessary amount of energy for every trajectory was estimated. Created simulation is universal. It allows setting desired pa-rameters of UAVs (like maximum thrust and battery capacity) before the simulation is started.

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Keywords Quadrotor; payload; PID-regulator; trajectory; group of UAVs.
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