HIGH TECH IN EARTH SPACE RESEARCH

Range of octocopter balancing angles with excessive degrees of freedom

Palagin A.V., Degtyarev A.A.

Static balancing of a multi-rotor octocopter type drone with a design different from the classical one due to the non-parallel arrangement of the axes of the propellers is considered. The motors of the drone are mounted on the radial beams and rotated around the beams alternately left to right through one.

The resulting design allows independent control of the device by angular and spatial coordinates.

The calculation of the balancing angles of roll and pitch in statics. As a criterion for supplementing the system of equations of static balance, the criterion of the minimum power consumed by motors is considered. Using numerical methods of nonlinear optimization, diagrams of the available balancing angles are constructed for various thrust-to-weight ratios.

The choice of the optimal value of the thrust-to-weight ratio is substantiated. A modification of the criterion of minimum power consumption is proposed, which allows to increase the range of available balancing angles in which there is no saturation of the control motors. The initial and modified criteria are compared.

The ranges of the balancing angles for the flight with one failed motor were calculated and the ability of the drone to continue the task in case of single failures was demonstrated. The possibility of constructing an apparatus using engines of one direction of rotation was investigated.

Editorial board

Bobrowsky V.I.
(Ph.D., Associate Professor, Head of Department of "INTELTEH")

Borisov V.V.
(Ph.D., Professor, Actual Member of the Academy of Military Sciences, Professor, Department of Computer Science of MPEI)

Budko P.A.
(Ph.D., Professor, Department of Technical communication and automation in S.M. Budjonny Military Academy of the Signal Corps)

Budnikov S.A.
(Ph.D., associate professor, Actual Member of the Academy of Education Informatization, Head of the automated control systems Department in Russian Air Force Military Educational and Scientific Center “Air Force Academy named after Professor N.E. Zhukovsky and Y.A. Gagarin”)

Verhova G.V.
(Ph.D., Professor, Head of Department of Automation communication companies In the Bonch-Bruevich Saint Petersburg State University of Telecommunications)

Goncharevsky V.S.
(Ph.D., Professor, Honored Worker of Science and Technology of the Russian Federation, Professor of technologies and technical support and maintenance of the automated control systems in Military Space Academy of A.F. Mozhaysky)

Komashinskiy V.I.
(Ph.D., Professor, professor of processing and transmission discrete messages in the Bonch-Bruevich Saint Petersburg State University of Telecommunications)

Kirpanev A.V.
(Ph.D., Associate Professor, Head of JSC "Scientific Production Enterprise "Radar MMS")

Kurnosov V.I.
(Ph.D., Professor, Academician of Academy of Sciences of the Arctic, Academician of the International Academy of Informatization, International Academy of defense, security, law and order, corresponding member of the Academy of Natural Sciences, Senior Researcher" Open Joint Stock Company "Scientific Research Institute "Rubin")

Manuilov Y.S.
(Ph.D., Professor, Department of automated control systems space complexes in Military Space Academy of A.F. Mozhaysky)

Morozov A.V.
(Ph.D., Professor, Actual Member of the Academy of Military Sciences, Head of the Department of automated command and control systems in Military Аcademy of troops of antiaircraft defense)

Moshak N.N.
(Ph.D., Associate Professor, head of the department of "INTELTEH")

Prorok V.Y.
(Ph.D., Professor, professor of automatic control systems in Military Space Academy of A.F. Mozhaysky)

Semenov S.S.
(Ph.D., associate professor, professor of technical communication and automation in S.M. Budjonny Military Academy of the Signal Corps)

Sinicyn E.A.
(Ph.D., Professor, Head of the Research Department of JSC "The All-Russian research institute of radio equipment")

Shatrakov Y.G.
(Ph.D., Professor, Honored Worker of Science, Scientific Secretary of JSC "The All-Russian research institute of radio equipment")