How to Choose Parameters of the On-Board System for a Quadcopter Control

The issue of how to simulate and choose parameters of the on-board system for controlling a quadcopter is examined in this paper. The examined system controls simultaneously the quadcopter's rotation angles and its linear displacement. The procedure for calculating the orientation angles and torques of the drivers of the lifting propellers determining the orientation of the quadcopter and the thrust value and direction is presented. The initial equations for calculating the thrust and rotation torques are obtained. It is shown that control of the quadcopter is different from classical approach for motion of a solid considering the center of mass displacement and its required orientation. It is shown that the orientation angles are not independent coordinates and they are set by considering the condition for securing the thrust directions of lifting rotors aiming to secure the center of mass motion of the quadcopter along the given trajectory.