(КПІ ім. Ігоря Сікорського, 2019) Шеремет, М. М.; Збруцький, О. В.
The problem of wind disturbances influence reducing on the accuracy of multicopter stabilization by developing a stabilization system capable of compensating
for these disturbances is considered.
A mathematical model is developed and a multicopter control algorithm is proposed to compensate for the effects of wind disturbances. It is based on adaptation
of the PID controller coefficients in the process of operation, most effectively affecting the multicopter response.
A stabilization system has been developed to provide compensation for current
disturbances. The stabilization system algorithm, taking into account the readings
of a wind speed meter, is implemented on a microcontroller.
Studies of the simulation management system using the Matlab software have
been carried out. Flight tests have confirmed the effectiveness of the synthesized
adaptive PID controller.