MATHEMATICAL MODEL OF FLIGHT AN UNMANNED AERIAL VEHICLE 

Anatoly I. Godunov, Doctor of technical sciences, professor, the honoured worker of science of the Russian Federation, professor of the sub-department of automation and telemechanics, Penza State University (40 Krasnaya street, Penza, Russia), E-mail: godunov@pnzgu.ru
Pavel S. Suzdaltsev, Adjunct, Branch of the Military Academy of Logistics named after Army General A.V. Khrulev in Penza (Military town, Penza, Russia), Е-mail: suzdal.1990@bk.ru
Andrey A. Zhezhuk, Candidate of technical sciences, head of the NTC GRAU, Main Rocket and Artillery Directorate (6 Kozlovsky lane, Moscow, Russia), E-mail: Zezhuk@mail.ru
Askar G. Izbasov, Deputy head, Military Institute of the Air Defense Forces (39A Aliya Moldagulova street, Aktobe, Kazakhstan), Е-mail: iag1973@mail.ru
Asylbek M. Mukhambetov, Senior officer of the department of communications and radio engineering support, Military Institute of the Air Defense Forces (39A Aliya Moldagulova street, Aktobe, Kazakhstan), Е-mail: suimbayeva@internet.ru
Nikolay K. Yurkov, Doctor of technical sciences, professor, the honoured worker of science of the Russian Federation, head of the sub-department of radio equipment design and production, Penza State University (40 Krasnaya street, Penza, Russia), E-mail: yurkov_NK@mail.ru 

Background. The application and relevance of the use of unmanned systems currently does not cause any doubt, work in this direction is constantly being carried out, respectively, and the capabilities of unmanned vehicles are growing. Materials and methods. In the Simulink/MATLAB environment based on an unmanned aerial vehicle of the quadrocopter type, the results of modeling its flight control system are presented. Results. A mathematical model of a quadcopter was built and developed in the CAD system of SolidWorks, after which it was exported to Simscape Multibody. The simulation of the quadcopter control system was obtained by exporting it from the developed model in the Simulink environment. Conclusions. This control system simulation method allows you to analyze and evaluate the operation of the quadcopter control system, as well as simulate its flight characteristics to achieve the most accurate reproduction of a real flight. 

quadcopter, mathematical model, control systems 

Godunov A.I., Suzdaltsev P.S., Zhezhuk A.A., Izbasov A.G., Mukhambetov A.M., Yurkov N.K. Mathematical model of flight an unmanned aerial vehicle. Nadezhnost' i kachestvo slozhnykh sistem = Reliability and quality of complex systems. 2024;(1):21–30. (In Russ.). doi: 10.21685/2307-4205-2024-1-3