Quadrotor parameters identification and control system design

The article is devoted to the parameter's identification of the propulsion subsystem and control system design for small unmanned aerial vehicles (UAV) helicopter type. Parameter's identification is realized with a special test rig developed by authors of the project, the description of which is presented in the article. The designed test rig application is the parameter's identification of power systems with fixed step propeller. The test rig can also be used for identification of drives with variable step propellers, which requires the additional channel for swashplate control. The measurements are static and dynamic characteristics of the propulsion subsystem and can be used for computer model design and verification. The parameters identification results can be used to develop control systems for UAV control systems propulsion systems of the UAV. Moreover, UAV control system performance allows it to keep stable flight and execute various tasks. To debug and tune control system gimbals test rig was designed. The gimbals test rig has a capability to research various control system behaviors without probable injuries of untuned subsystem UAV.