Purpose

The purpose of this study is to find the suitable trajectory path of the Numerical model of the Quadcopter. Quadcopters are widely used in various applications due to their compact size and ease of assembly. Because they are quite unstable, autonomous control systems would be used to overcome this problem. Modelling autonomous control is predominant as the research scope faces challenges because of its highly non-linear, multivariable system with 6 degree of freedom.

Design/methodology/approach

Quadcopters with antonym systems can operate in an unknown environment by overcoming unexpected disturbances. The first objective when designing such a system is to design an accurate mathematical model to describe the dynamics of the system. Newton’s law of motion was used to build the mathematical model of the system.

Findings

Establishment of the mathematical model and the physics behind a four propeller drone for the frame TAROT 650 carbon was done. Simulink model was developed based on the mathematical model for simulating the complete dynamics of the drone as well as location and gusts were included to check the stability.

Originality/value

The control response of the system was simulated numerically results are discussed. The trajectory path was found. The phases with their own parameters can be used to implement the mathematical model for another type of quadcopter model and achieve quick development.

中文翻译：

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四轴飞行器机架Tarot FY650数学建模及PID控制系统实现

目的

本研究的目的是寻找四轴飞行器数值模型的合适轨迹路径。四轴飞行器由于其紧凑的尺寸和易于组装而被广泛应用于各种应用。由于它们非常不稳定，因此将使用自主控制系统来克服这个问题。由于其高度非线性、具有 6 个自由度的多变量系统，因此研究范围面临挑战，因此建模自主控制占据主导地位。

设计/方法论/途径

具有反义系统的四轴飞行器可以通过克服意外干扰在未知环境中运行。设计此类系统的首要目标是设计一个准确的数学模型来描述系统的动态。牛顿运动定律被用来建立系统的数学模型。

发现

TAROT 650 碳框架四螺旋桨无人机的数学模型和物理原理已经建立。Simulink模型是基于数学模型开发的，用于模拟无人机的完整动力学以及位置和阵风以检查稳定性。

原创性/价值

对系统的控制响应进行了数值模拟，并对结果进行了讨论。找到了轨迹路径。这些具有各自参数的相位可用于实现另一种四轴飞行器模型的数学模型并实现快速开发。