KVADROKOPTER TIPIDAGI UCHUVCHISIZ UCHISH APPARATINING BALANDLIK BO‘YICHA BOSHQARUV TIZIMINI PID VA LQR USULLARI ASOSIDA QIYOSIY TADQIQ QILISH
Keywords:
uchuvchisiz uchish apparati, kvadrokopter, avtomatik boshqarish, PID rostlagich, LQR, Rikkati tenglamasi, modellashtirish.Abstract
Maqolada kvadrokopter tipidagi uchuvchisiz uchish apparati (UUA) ning vertikal kanal (balandlik) bo‘yicha harakatini boshqarish masalasi ko‘rib chiqilgan. Apparatning Nyuton–Eyler tenglamalari asosidagi matematik modeli, motor inersiyasi, datchik shovqini va tashqi shamol ta’siri hisobga olingan holda tuzildi. Klassik PID rostlagich hamda integral qismli chiziqli-kvadratik optimal rostlagich (LQI) sintez qilinib, Python muhitida sonli modellashtirish orqali taqqoslandi. Natijalar LQR usuli shamol impulsi ta’sirida balandlikning maksimal og‘ishini taxminan 5 marta, o‘rtacha kvadratik xatolikni esa 3,6 marta kamaytirganini hamda massaning ±33 % o‘zgarishiga nisbatan barqarorroq ekanini ko‘rsatdi.
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