title: ÐÐ¾ÑÑÐµÐºÑÐ¸Ñ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¾Ð² Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° ÑÑÐ°Ð±Ð¸Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð² Ð¿Ð¾Ð»ÐµÑÐ½Ð¾Ð¼ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÐµ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½Ð¾Ð³Ð¾ Ð»ÐµÑÐ°ÑÐµÐ»ÑÐ½Ð¾Ð³Ð¾ Ð°Ð¿Ð¿Ð°ÑÐ°ÑÐ°
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Development of parameters of the calculation algorithm in the flight controller of an unmanned aerial vehicle
Creators: name: Ð¥Ð°Ð±Ð¸Ð±ÑÐ»Ð»Ð¸Ð½, ÐÐ»ÑÑÑÐµÐ´
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2023
Subjects: ÐÐµÑÐ°ÑÐµÐ»ÑÐ½ÑÐµ Ð°Ð¿Ð¿Ð°ÑÐ°ÑÑ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÐµ
ÑÐ´ÐµÑÐ¶Ð°Ð½Ð¸Ðµ Ð²ÑÑÐ¾ÑÑ
Ð¿Ð¾Ð»ÐµÑ Ð½Ð° Ð¼Ð°Ð»Ð¾Ð¹ Ð²ÑÑÐ¾ÑÐµ
PID ÑÐµÐ³ÑÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ
Ð°ÑÑÐ¾Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ðµ ÑÑÑÐµÐºÑÑ
ÑÐ¾ÐµÐ²ÑÐµ ÑÐµÑ Ð½Ð¾Ð»Ð¾Ð³Ð¸Ð¸
ÑÐµÑÐµÐ½Ð¸Ðµ Ð¿ÑÐ¾Ð±Ð»ÐµÐ¼Ñ ÑÑÐ°Ð±Ð¸Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸
altitude maintenance
low altitude flying
PID control control
aerodynamic effects
swar technologies
stabilization problem solution

description: ÐÐ°Ð³Ð¸ÑÑÐµÑÑÐºÐ°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐµ ÐºÐ¾ÑÑÐµÐºÑÐ¸Ð¸ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² ÑÑÐ°Ð±Ð¸Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð² Ð¿Ð¾Ð»ÐµÑÐ½Ð¾Ð¼ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÐµ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½Ð¾Ð³Ð¾ Ð»ÐµÑÐ°ÑÐµÐ»ÑÐ½Ð¾Ð³Ð¾ Ð°Ð¿Ð¿Ð°ÑÐ°ÑÐ°. Ð ÑÐ°Ð±Ð¾ÑÐµ Ð±ÑÐ»Ð¸ Ð¸Ð·ÑÑÐµÐ½Ñ Ð¸ Ð¿ÑÐµÐ´ÑÑÐ°Ð²Ð»ÐµÐ½Ñ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ðµ Ð¼ÐµÑÐ¾Ð´Ñ ÑÐµÑÐµÐ½Ð¸Ñ Ð¿Ð¾ÑÑÐ°Ð²Ð»ÐµÐ½Ð½Ð¾Ð¹ Ð·Ð°Ð´Ð°ÑÐ¸, Ð±ÑÐ»Ð¸ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ñ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÑ Ð¸ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ñ ÑÐ¾Ð¿ÑÑÑÑÐ²ÑÑÑÐ¸Ðµ Ð³ÑÐ°ÑÐ¸ÐºÐ¸. ÐÑÐ» Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½ Ð¾Ð±Ð·Ð¾Ñ Ð°Ð¿Ð¿Ð°ÑÐ°ÑÐ½Ð¾Ð¹ ÑÐ°ÑÑÐ¸ ÐºÐ²Ð°Ð´ÑÐ¾ÐºÐ¾Ð¿ÑÐµÑÐ° Ð¸ Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð° Ð½Ð°ÑÑÑÐ¾Ð¹ÐºÐ° ÐºÐ²Ð°Ð´ÑÐ¾ÐºÐ¾Ð¿ÑÐµÑÐ°. Ð¦ÐµÐ»Ñ ÑÐ°Ð±Ð¾ÑÑ ÑÐ²Ð»ÑÐµÑÑÑ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÐºÐ¾ÑÑÐµÐºÑÐ¸Ð¸ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¾Ð² Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° ÑÑÐ°Ð±Ð¸Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð² Ð¿Ð¾Ð»ÐµÑÐ½Ð¾Ð¼ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÐµ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½Ð¾Ð³Ð¾ Ð»ÐµÑÐ°ÑÐµÐ»ÑÐ½Ð¾Ð³Ð¾ Ð°Ð¿Ð¿Ð°ÑÐ°ÑÐ° Ð ÑÐ¾Ð´Ðµ ÑÐ°Ð±Ð¾ÑÑ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½ Ð¼ÐµÑÐ¾Ð´ ÐºÐ¾ÑÑÐµÐºÑÐ¸Ð¸ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¾Ð² Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° ÑÑÐ°Ð±Ð¸Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð² Ð¿Ð¾Ð»ÐµÑÐ½Ð¾Ð¼ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÐµ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½Ð¾Ð³Ð¾ Ð»ÐµÑÐ°ÑÐµÐ»ÑÐ½Ð¾Ð³Ð¾ Ð°Ð¿Ð¿Ð°ÑÐ°ÑÐ°. Ð Ð°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ Ð°ÐºÑÑÐ°Ð»ÑÐ½ÑÐµ Ð½Ð° ÑÐµÐ³Ð¾Ð´Ð½ÑÑÐ½Ð¸Ð¹ Ð´ÐµÐ½Ñ ÑÐµÑÐµÐ½Ð¸Ñ, Ð½Ð°Ð¿ÑÐ°Ð²Ð»ÐµÐ½Ð½ÑÐµ Ð½Ð° ÑÐ»ÑÑÑÐµÐ½Ð¸Ðµ ÑÑÐ°Ð±Ð¸Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸. Ð Ð°Ð±Ð¾ÑÐ¾ÑÐ¿Ð¾ÑÐ¾Ð±Ð½Ð¾ÑÑÑ Ð¼ÐµÑÐ¾Ð´Ð° Ð¿ÑÐµÐ´ÑÑÐ°Ð²Ð»ÐµÐ½Ð° ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ°Ð»ÑÐ½Ð¾. ÐÐ°Ð¹Ð´ÐµÐ½ ÑÐ¿Ð¾ÑÐ¾Ð± Ð¾Ð±ÑÐ°Ð±Ð¾ÑÐºÐ¸ Ð´Ð°Ð½Ð½ÑÑ, Ð¿Ð¾Ð»ÑÑÐµÐ½Ð½ÑÑ ÑÐ¾ Ð²ÑÑÑÐ¾ÐµÐ½Ð½Ð¾Ð³Ð¾ ÑÐµÑÐ½Ð¾Ð³Ð¾ ÑÑÐ¸ÐºÐ° Ð¿Ð¾Ð»ÐµÑÐ½Ð¾Ð³Ð¾ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÐ°. Ð Ð°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ ÐºÐ¾Ð¼Ð¿Ð¾Ð½ÐµÐ½ÑÑ Ð¸ Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð° Ð¿Ð¾ÑÐ»ÐµÐ´ÑÑÑÐ°Ñ ÑÐ±Ð¾ÑÐºÐ° Ð»Ð°Ð±Ð¾ÑÐ°ÑÐ¾ÑÐ½Ð¾Ð³Ð¾ ÐºÐ²Ð°Ð´ÑÐ¾ÐºÐ¾Ð¿ÑÐµÑÐ°. ÐÐ¾ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ°Ð¼ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ¾Ð² Ð±ÑÐ»Ð¸ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ñ Ð³ÑÐ°ÑÐ¸ÐºÐ¸, Ð° ÑÐ°ÐºÐ¶Ðµ Ð¾ÑÐµÐ½ÐµÐ½Ð¾ Ð²Ð»Ð¸ÑÐ½Ð¸Ðµ Ð´Ð¾Ð¿Ð¾Ð»Ð½Ð¸ÑÐµÐ»ÑÐ½Ð¾Ð¹ Ð¿Ð¾Ð´ÑÐµÐ¼Ð½Ð¾Ð¹ ÑÐ¸Ð»Ñ, Ð²Ð¾Ð·Ð´ÐµÐ¹ÑÑÐ²ÑÑÑÐµÐ¹ Ð½Ð° Ð±Ð¾ÑÑ Ð¿ÑÐ¸ Ð¿Ð¾Ð»ÐµÑÐµ Ð½Ð° Ð¼Ð°Ð»Ð¾Ð¹ Ð²ÑÑÐ¾ÑÐµ. ÐÐ¾ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ°Ð¼ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ¾Ð² Ð²ÑÑÐ²Ð¸Ð»Ð¸ Ð´ÐµÐ¹ÑÑÐ²Ð¸Ðµ Ð¾ÑÑÐ°Ð»ÐºÐ¸Ð²Ð°ÑÑÐµÐ¹ ÑÐ¸Ð»Ñ, Ð¸Ð·Ð²ÐµÑÑÐ½Ð¾Ð¹ ÐºÐ°Ðº "Ð²Ð¾Ð·Ð´ÑÑÐ½Ð°Ñ Ð¿Ð¾Ð´ÑÑÐºÐ°", Ð¸ Ñ ÑÑÐ¸Ð¼Ð¸ Ð´Ð°Ð½Ð½ÑÐ¼Ð¸ Ð¾ÑÑÑÐµÑÑÐ²Ð»ÐµÐ½Ñ ÑÐ°ÑÑÐµÑÑ Ð´Ð»Ñ Ð´Ð°Ð»ÑÐ½ÐµÐ¹ÑÐµÐ³Ð¾ Ð²Ð½ÐµÑÐµÐ½Ð¸Ñ Ð¿Ð¾Ð¿ÑÐ°Ð²Ð¾Ðº Ð² ÐºÐ¾ÑÑÑÐ¸ÑÐ¸ÐµÐ½ÑÑ PID Ð¿Ð¾Ð»ÐµÑÐ½Ð¾Ð³Ð¾ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÐ°. Ð£ÑÑÐµÐ½Ñ ÑÐµÑÐ¼Ð¸Ð½Ð¾Ð»Ð¾Ð³Ð¸ÑÐµÑÐºÐ¸Ðµ Ð¾ÑÐ¾Ð±ÐµÐ½Ð½Ð¾ÑÑÐ¸ Ð¿ÑÐµÐ´Ð¼ÐµÑÐ½Ð¾Ð¹ Ð¾Ð±Ð»Ð°ÑÑÐ¸ Ð¸ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ñ Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½ÑÐµ ÑÑÐµÐ´ÑÑÐ²Ð° Ð´Ð»Ñ ÑÐµÑÐµÐ½Ð¸Ñ Ð·Ð°Ð´Ð°Ñ. ÐÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¾ ÑÐ¿ÐµÑÐ¸Ð°Ð»Ð¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½Ð¾Ðµ Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½Ð¾Ðµ Ð¾Ð±ÐµÑÐ¿ÐµÑÐµÐ½Ð¸Ðµ Inav Configurator 6.1.0, Inav Blackbox Explorer, Jupyter, Visual Studio.
description: Masters work is devoted to the development of stabilization algorithms correction in the flight controller of an unmanned aerial vehicle. In the work, the existing methods for solving the problem were studied and presented, experiments were carried out and accompanying graphs were built. A review of the hardware of the quadcopter was carried out and the quadcopter was configured. The purpose of the work is to develop a correction of the parameters of the stabilization algorithm in the flight controller of an unmanned aerial vehicle. In the course of the work, a method for correcting the parameters of the stabilization algorithm in the flight controller of an unmanned aerial vehicle was developed. Current solutions aimed at improving stabilization are considered. The performance of the method is presented experimentally. Found a way to process data received from the built-in black box of the flight controller. The components are considered and the subsequent assembly of the laboratory quadcopter is performed. Based on the results of the experiments, graphs were constructed, and the effect of the additional lift acting on the board during low-altitude flight was also estimated. From the results of the experiments, the effect of a repulsive force known as the "air cushion" was revealed, and calculations were made with this data to further correct the PID coefficients of the flight controller. The terminological features of the subject area are taken into account and software tools are used to solve problems. Used specialized software Inav Configurator 6.1.0, Inav Blackbox Explorer, Jupyter, Visual Studio.