Modelling and simulation tests of a quadrocopter flying robot

摘要

Abstract In recent years, there has been a dynamic increase in the use of multirotor flying robots in various areas of economic and social life. Robots of this kind may be used in environmental research, after equipping them with an appropriate measuring systems. This includes taking measurements of various types of contaminants, such as: particulate matter (PM), various gases, noise and light pollution. To make this possible, it is necessary to conduct advanced model-simulation tests of the flying platform, analyse and determine the appropriate location for the measurement system. Most of the current research on methods and techniques of taking measurements on the flying platform does not take into account these issues. This work consists of two main parts: modeling and simulation tests, and experimental part carried out in laboratory conditions. As part of the work, quadrocopter dynamics equations have been developed and implemented in the Matlab/Simulink environment. The developed discrete mathematical model made it possible to simulate different robot maneuvers: upward, forward, sideways and rotation flight. In order to determine the required characteristics of the multicopter drive sets, a mobile dynamometer station was designed, constructed and programmed. The dynamometer allows, among others, to take measurements of thrust force, torque and rotational speed. The final stage of the work was the development of the numerical model and CFD calculations of the quadrocopter. In this part, distributions of the pressure fields and velocity for the robot's hover state were determined.