title: Ð¡Ð¸ÑÑÐµÐ¼Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÐµÑÑÑÐµÑ Ð²Ð¸Ð½ÑÐ¾Ð²Ð¾Ð³Ð¾ 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° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: The control system of a four-screw aircraft
Creators: name: ÐÐ¸Ð½ÑÐµÐ½ÐºÐ¾, ÐÐ°Ð½Ð¸Ð»
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: 2024
Subjects: ÐÐÐÐ
ÐºÐ²Ð°Ð´ÑÐ¾ÐºÐ¾Ð¿ÑÐµÑ
Ð»ÐµÑÐ°ÑÐµÐ»ÑÐ½ÑÐ¹ Ð°Ð¿Ð¿Ð°ÑÐ°Ñ
ÑÐ¸ÑÑÐµÐ¼Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ
Ð¼Ð¸ÐºÑÐ¾ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑ
Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ
ÑÐ¸Ð¼ÑÐ»Ð¸Ð½Ðº
matlab
ÐÐÐ¡
Ð´Ð°ÑÑÐ¸Ðº
UAV
quadcopter
aircraft
control system
sensor
microcontroller
mathematical model
simulink
INS

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description: The purpose of this work is to create a control system for a four-screw UAV and its subsequent implementation in a prototype. The tasks that were solved during the research were: analysis of existing mathematical models and control systems of the quadcopter; selection of components and assembly of the UAV; development of a mathematical model and control system in the MATLAB Simulink environment; writing a control program for a prototype and testing it. A structural diagram of the UAV has been created and the necessary components have been selected. Empirical tests of the propeller group were carried out, the results of which were used to create a mathematical model and a control system. A system of equations and a control law have been formed. Based on this, a mathematical model and a control system have been created in the MATLAB Simulink environment. The control system is implemented on the basis of the STM32F407VGT6 microcontroller in the C language. A control system diagram and a program code for initialization, integration and acquisition of sensor data and subsequent processing of this data are formed and presented. The results of the work are necessary for the use of UAVs in research works on its autonomous movement in enclosed spaces.â