A review of the current state in quadcopters’ flight control systems showed that the electric drives of their propellers are performed according to single-circuit schemes with feedback on rotational speed in which the error in the results of monitoring the angles of roll, pitch, yaw is worked out by a control system with a PI or PID regulator. There is no astaticism load in such systems and the parameters of the current consumed from the on-board battery are not optimized. The consequence of this is a decrease of service life on-board battery and low quality flight control when the load changes. It is proposed to perform the electric drive system of the quadcopter’s screw according to a two-fold integrating structural scheme in which astaticism is provided during perturbations in control and load. A transient speed characteristic based on the optimization results of the double-integration scheme with speed and current circuits in accordance with a symmetrical optimum the parameters of which do not meet the requirements of quadcopter’s high-quality control flight mode was obtained and do not contribute to an increase in the time of using the energy resource of the on-board battery. It is proposed to include additional smoothing differentiating links at its input to eliminate the shortcomings of the obtained transient characteristic of the electric drive system in terms of speed. The parameters of these links were found using the compensation conditions. The obtained transient characteristics of the electric drive system of the quadcopter’s screws in terms of speed and current do not have sudden changes in the adjustable value and do not have overregulation. The result of such parameters in transient characteristics is high-quality control of the quadcopter’s flight mode and an increase in the time of using the energy resource of the on-board battery.

To stabilize the phase position of the working body of the robotics complex a single-circuit precision electric drive system was developed based on the principle of phase-locked loop. The direct-driven electric drive is made on the basis of brushless direct current motor, which is switched to synchronous mode with minimal discrepancy between the phases of the reference signals and the pulse speed sensor. The phase error signal is fed to the input of the PID controller, which controls the pulse width modulation of the impulses controlling the operation of the power transistors of the autonomous voltage inverter. In a static mode, the control system of the autonomous voltage inverter implements a sinusoidal law of the pulse width modulation of the output pulses. The PID controller and the control system of the autonomous voltage inverter are programmatically implemented on the basis of the controller. In the process of analysing of the stabilization accuracy, the synchronous motor is represented by a second-order linear link, which establishes a relation between the phase deviations of the motor rotor and the stator magnetic field. The autonomous voltage inverter is represented by a zero-order hold whose coefficient of amplification on amplitude is found by the results of the approximation of its output voltage using the Walsh-Fourier series. The analysis of the phase stabilization process is performed on the basis of the state variables method taking into account the perturbations at the moment of load using the program which implements the recurrent procedure. The settings of the PID controller are determined by the variation results when the moment of load changes. Their initial values ​​are determined as a result of optimizing the system in terms of operation speed considering the condition of finite duration processes. It is assumed that there is no moment of load perturbation. The procedure for setting the PID controller parameters to the optimal operation speed mode can also be performed on the basis of neural networks. As a result of the calculations, it was found that with an increase of the load moment by 5%, the maximum deviation of the rotor phase was 0.22 us and 0.03 us of minimum deviation respectively.

Для точного виконання команд бортового комп’ютера на лінійне переміщення робочого органу відповідного механізму літального апарату запропоновано адаптувати параметри налаштування регулятора контуру струму в залежності від глибини широтно-імпульсної модуляції напруги живлення електродвигуна з збереженням оптимальної швидкодії. З цією метою розроблений визначник номеру зон широтно-імпульсної модуляції, який подає команди на перебудову параметрів регулятора контуру струму залежно від глибини модуляції. З урахуванням специфіки широтно-імпульсної модуляції першого і другого роду виконано аналіз процесів в контурі струму лінійного електроприводу, надані рекомендації щодо структури регулятора контуру струму і його налаштування на процес кінцевої тривалості.

Step splitting control mode of the electric drives stepper motors working bodies of the positioning mechanisms of onboard aviation equipment is carried out by means of programmable controllers. From their output signals, pulse-wide signals are formed by means of drivers that control power transistors, which are included in the windings of a stepper motor. A simpler version of building control systems for stepper motors (SM) involves the use of programmable timers, which requires its reprogramming when changing the step splitting factor. In the process of step splitting the shape of the current in the winding of the SM approaches sinusoidal with an increase in the number of sine discretes stored in the controller's memory. However, in this case, the sine samples must follow at a higher frequency, which difficulties in programming them. There is a problem of finding new ways of programming in the controller's memory information about the changing shape of the supply voltage SM in the process of step splitting in order to ensure the maximum speed of the code and the minimum consumption of the processor time of the microcontroller. To solve this problem, it is proposed to specify information about the changing shape of the SM supply voltage not in the form of sine samples (table method), but the sum of the coefficients of the Walsh-Fourier series, the amplitudes of which depend of value of the step splitting factor. The Walsh-Fourier series is a natural basis for approximating the pulsed supply voltage of a stepper motor. Structural diagrams of digital and analog systems for stepper motors in the step splitting are proposed. In the digital control system, the Walsh matrix is entered into the permanent memory of the controller, the size of which is determined by the value of the minimum step splitting factor, and the column vectors of the coefficients of the amplitudes of the Walsh functions are entered into the random-access memory, each of which corresponds to its step splitting factor. The input controller sets the program for implementing the inverse Walsh transform to the control controller, as a result of which control signals for the driver are generated at the output of the DAC controller. As its output, control signals are generated for power transistors including in the windings of the stepper motor. In the analog control system, the main links are the Walsh functions generator and the block of summing coefficients. In the block of summing coefficients of each Walsh function is assigned an amplitude corresponding to a given step splitting factor, and then they are summed. As a result, a pulsed voltage is formed, which is fed to the input of the driver, as in a digital system. It is shown that an analog control system can be used to form low-frequency quasi- sine signals of high stability. They can be used in precision electric drives with high stability.