ISSN 2224-087X (Print)
ISSN 2224-0888 (Online)

Collected scientific papers
"Electronics and information technologies"

(In 1966-2010 published under the title "Electrical engineering")

(Certificate of State Registration 17618-6468 from February 11, 2011)

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Issue 8

Issue 8, Pages: 18-25
DOI: https://doi.org/
Emergency landing of quadrocopter in the unmanned flight
B. Blahitko, Yu. Mochulsky
The necessity of analyzing and modeling process of the emergency landing unmanned quadrocopter is described. All articles, without exception, are devoted to problems of an unmanned flight of a quadcopter, unconditionally foresee that all four pairs of screw-engines and their control system function correctly. In practice, often there are those or other faults in the sequence of links: the control circuit - the motor-the screw. When a malfunction suddenly appears during the quadrocopter unmanned flight, then an emergency situation occurs. Through mathematical modeling the basic features of landing unmanned quadrocopter are considered. The results of mathematical modelling of quadrocopter landing after the appearance of failure of one of the four pairs of electric motor-screw are presented. When the quadrocopter landing after failure of nose pair or of tail pair the electric motor-screw, the quadrocopter begins a counter-clockwise rotate and falls to the ground. When the quadrocopter landing after failure of right pair or of left pair the electric motor-screw, the quadrocopter begins a clockwise rotate and falls to the ground also. The vertical speed at the moment landing is equal to the free fall practically. The horizontal speed at the moment landing, as well as the angle and the landing site are unpredictable, The methods of safe landing of an unmanned quadrocopter in case of failure of one of four pairs of motor-screw are proposed. The basis of the proposed methods is to use a parachuting effect. Parachuting achieved by forced off the power of the motor, which is located at the opposite end of the same yoke as faulty motor As a result, the quadrocopter vertical speed at the moment landing is reduced significantly and is approaching a relatively safe value. The horizontal speed of an unmanned quadrocopter at moment landing, as well as the angle equals null.
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