UCHUVCHISIZ UCHUVCHI APPARATLARI UCHISH DINAMIKASINI STABILLIGINI OSHIRISHDA PID SOZLAMALARINI O‘RNI
Keywords:
PID, Nyuton-Eyler usuli, dronni dinamik modellashtirish, kvadrokopterning matematik modelining umumiy tuzilishi, aerodinamik kuchlar, giroskopik effektlar, inertial qarshi moment, o'rganilayotgan tizimga qo'llaniladigan kuchlar, dronga ta'sir etuvchi momentlar, kvadrokopterni boshqaradigan to'liq dinamik model.Abstract
Maqolada birinchi navbatda, kvadrokopterning matematik modeli
yaratiladi va u Nyuton-Eyler usuli yordamida momentning harakat va kuchlari
tenglamasiga asoslanadi. Ikkinchidan, kaskadli PID kontrolleri berilgan traektoriyani
kuzatish uchun mo'ljallangan. Tanlangan model chiziqli bo'lmagan model chiziqli
bo'lgan balandlikda harakatlanish uchun qilingan. Bunga qo'shimcha ravishda, chiziqli
va chiziqli bo'lmagan modelning javobi tahlil qilinadi va chiziqli bo'lmagan model
uchun PID tekshirgichi ishlab chiqiladi va natijalar tahlil qilinadi. PID qanday
ishlashini tushunish dronini haqiqiy salohiyatini ochishning muhim jihati hisoblanadi.
Ushbu keng qamrovli PID sozlashda, biz uning parvoz samaradorligi, barqarorligi va
boshqaruviga qanday ta'sir qilishini o'rganamiz.
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