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The paper presents a hardware/software architecture for the study of algorithms for controlling an unmanned aerial vehicle-type quadcopter in the presence of wind loads; an algorithm for the stabilization of the position of the center of mass of the quadcopter has been implemented and tested on an experimental model. The purpose of the presented hardware/software architecture is a study of the UAV control system parameters influence on the accuracy of the positioning of the vehicle in laboratory conditions under the influence of wind loads, as well as the movement of the vehicle along the specified points of the trajectory based on inertial sensors. The article discusses about the necessary hardware and software elements for reaching the stabilization of the position of the quadcopter in the hover mode based on data obtained from sensors. As the result of the study, the theoretical and experimental data are compared and the permissible range of the positioning error of the device is determined.

This paper deals with the design of a test bench for an unnamed aerial vehicle UAV type convertiplane with controlled electric drives and tilt rotors (propellers) executed on a quadcopter pattern. This experimental test bench provides an intermediate step between simulation process and real time flight of the UAV, it allows to test its and evaluate solutions in safe and controllable environment conditions. Thus, the development of methods of state estimation and control UAV becomes possible, in addition the developed system can be used for teaching about the basis of automatic control in multirotor aerial vehicles. The test bench presented in this paper contains a convertiplane type quadcopter attached on the base through a universal joint which let the UAV be able to rotate around plane axes x and y, while the vertical axis z is fixed, in turn this part of the system is fixed through a bar connected with a linear guideway block that moves over a linear guide which depends of the generated lifting force by the UAV. To determinate the travelled road of the system and the different parameters of the behavior of the convertiplane it has been also implemented a measuring system.

Abstract. The paper is devoted to the review of controlled motion of the unmanned aerial vehicle (UAV) with vertical takeoff and landing, the convertiplane type, with three tilt rotors. The UAV is equipped with a swept wing, the calculation of aerodynamic parameters of which has been carried out in the software program XFLR5, taking into consideration the weight and size requirements. There have been determined the lift and resistance coefficients of the UAV depending on the angle of attack on the basis of the vortex method. There has been done the analysis of the influence of wing profile on the calculated aerodynamic characteristics. There also has been realized the synthesis of the traction energy-efficient options of the drive propellers that reduce power consumption, increasing the accuracy of the automatic control system.