Лисенко, С.М.Румянцев, С.В.Lysenko, S.Rumiantsev, S.2020-12-162020-12-162020Лисенко С. Інтелектуалізована система керування безпілотними літальними апаратами / С. Лисенко, С. В. Румянцев // Комп’ютерні системи та інформаційні технології. – 2020. – № 1. – С. 21-26.https://elar.khmnu.edu.ua/handle/123456789/9591В роботі представлено інтелектуалізовану систему керування безпілотними літальними апаратами. В її основі лежить застосування апарату нечіткої логіки, імплементація якої в контролер безпілотного літального апарату дозволила відстежувати та керувати траєкторію його руху. Проведені експериментальні дослідження доводять ефективність застосування апарату нечіткої логіки для керуванням дрону в умовах здійснення зовнішніх впливів.The paper presents an intellectualized control system for unmanned aerial vehicles. It is based on the use of the fuzzy logic, implementation of which in the Controller of the unmanned aerial device allowed to track and control the trajectory of its movement. The experimental researches prove the efficiency of the device application of fuzzy logic for control of the drone in conditions of external influences implementation. To construct an intellectualized control system of unmanned aerial vehicles, their structure was considered. The base of the system is used for quadunmanned aerial vehicle, which includes four screws, located symmetrically around the central building. The peculiarity of the drone is that its adjacent screws must spin the opposite one from each other. This requirement is explained by the need to prevent system rotation around its own central axis. Depending on the required trajectory, an important aspect was the ability to set different values of the power of the drone engines. Despite the fact that the simplicity of its structure are characterized, they are able to implement a large set of motion models together with a demonstration of high maneuverability. It is reached the presence of six degrees of freedom, which consist of three progressive and three rotating components to set the trajectory of a movement. In order to solve this problem it was possible to solve the apparatus of fuzzy logic as the basis of mathematical model of the system. This allowed to ensure a vague logical control of the fog, and, in turn, intellectualize the behavior of drone in the air in the conditions of external influences on the change of a predetermined trajectory of its movement. At the heart of the Intellectualized unmanned Aerial vehicle control system, two fuzzy controllers were involved in the production of control signals for the command of a UAV flight height and an angle of inclination.ukбезпілотний літальний апаратдронPID-контролерсистема керуванняUnmanned aerial vehicledronePID-controllercontrol systemСтаття004