Фізичні принципи стабілізації і керування польоту мультикоптерів

Abstract

The role of the Inertial Measurement Unit, including MEMS gyroscopes, accelerometers, and magnetometers, is examined. Physical principles such as the Coriolis force and the Hall effect are discussed. The flight controller's operation and PID control algorithm are investigated. The functions of proportional, integral, and derivative components in compensating for disturbances are demonstrated. The synergy of physical laws and computational algorithms is shown to be fundamental for UAV stability.