DESIGN AND SOFTWARE FEATURES OF UNMANNED AERIAL VEHICLE MOTION CONTROL
Authors:
1.
Kazan National Research Technical University named after A.N. Tupolev
2.
Kazan National Research Technical University named after A.N. Tupolev
Type:
Article
Pages:
from 142
to 146
Status:
Published
Received:
31.01.2026
Accepted:
31.01.2026
Published:
31.01.2026
Language:
Russian
Keywords:
MATHEMATICAL MODEL, UNMANNED AERIAL VEHICLE, CONTROL, QUADCOPTER
Abstract:
This study focuses on unmanned aerial vehicles, the production of which is among the most high-tech in the aviation industry. A promising area in this field is the production and use of compact quadcopters. Their operation poses a number of challenges, including low flight efficiency and insufficient structural rigidity. One promising solution to these challenges is the use of a diagonal, multi-height configuration, which can improve flight efficiency by employing a larger propeller-motor combination. This paper explores the feasibility of using a diagonal, multi-height quadcopter configuration. To address this challenge, a prototype of the diagonal, multi-height configuration was developed, several samples were fabricated from various materials, and filtering and PID controller coefficient tuning were implemented. The components of the proposed diagonal, multi-height quadcopter configuration were developed using solid-state modeling in the Compass-3D computer-aided design system. The work utilized a method for constructing parts using caisson sections. This allowed for the main sections of the structural components to be as rigid as possible while using a minimum amount of material. The use of caissons also reduced aerodynamic drag in flight. Thus, the developed structural components possess sufficient rigidity while minimizing structural weight, while the protection additionally enhances the rigidity of the base component, which is unachievable with an X-configuration. All developed prototypes underwent flight testing. During test flights of various prototypes, gyroscope data was recorded to tune and filter the parameters of the quadcopter flight controller. The obtained data was analyzed using Betaflight Blackbox Explorer. A PID controller, fed with filtered signals from the gyroscope, is used to control the quadcopter's four motors. Signal filtering is necessary to prevent strong vibration interference from disrupting the PID controller. If this occurs, the quadcopter motors will operate in sync with the vibration interference, causing them to overheat. To stabilize the quadcopter's flight, three PID controllers were used on the pitch, roll, and yaw axes. In this study, the coefficients were selected experimentally using software that analyzed the raw signals from the quadcopter's flight controller gyroscope.
This study focuses on unmanned aerial vehicles, the production of which is among the most high-tech in the aviation industry. A promising area in this field is the production and use of compact quadcopters. Their operation poses a number of challenges, including low flight efficiency and insufficient structural rigidity. One promising solution to these challenges is the use of a diagonal, multi-height configuration, which can improve flight efficiency by employing a larger propeller-motor combination. This paper explores the feasibility of using a diagonal, multi-height quadcopter configuration. To address this challenge, a prototype of the diagonal, multi-height configuration was developed, several samples were fabricated from various materials, and filtering and PID controller coefficient tuning were implemented. The components of the proposed diagonal, multi-height quadcopter configuration were developed using solid-state modeling in the Compass-3D computer-aided design system. The work utilized a method for constructing parts using caisson sections. This allowed for the main sections of the structural components to be as rigid as possible while using a minimum amount of material. The use of caissons also reduced aerodynamic drag in flight. Thus, the developed structural components possess sufficient rigidity while minimizing structural weight, while the protection additionally enhances the rigidity of the base component, which is unachievable with an X-configuration. All developed prototypes underwent flight testing. During test flights of various prototypes, gyroscope data was recorded to tune and filter the parameters of the quadcopter flight controller. The obtained data was analyzed using Betaflight Blackbox Explorer. A PID controller, fed with filtered signals from the gyroscope, is used to control the quadcopter's four motors. Signal filtering is necessary to prevent strong vibration interference from disrupting the PID controller. If this occurs, the quadcopter motors will operate in sync with the vibration interference, causing them to overheat. To stabilize the quadcopter's flight, three PID controllers were used on the pitch, roll, and yaw axes. In this study, the coefficients were selected experimentally using software that analyzed the raw signals from the quadcopter's flight controller gyroscope.
Keywords:
MATHEMATICAL MODEL, UNMANNED AERIAL VEHICLE, CONTROL, QUADCOPTER
MATHEMATICAL MODEL, UNMANNED AERIAL VEHICLE, CONTROL, QUADCOPTER
