Increasing the Time of Using the Energy Resource of the on-Board Accumulatory Battery by Improving the Quality of Controlling the Electric Quadcopter's Propeller Drives

Abstract

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.