Range of octocopter balancing angles with excessive degrees of freedom
Static balancing of a multi-rotor octocopter type drone with a design different from the classical one due to the non-parallel arrangement of the axes of the propellers is considered. The motors of the drone are mounted on the radial beams and rotated around the beams alternately left to right through one. The resulting design allows independent control of the device by angular and spatial coordinates. The calculation of the balancing angles of roll and pitch in statics. As a criterion for supplementing the system of equations of static balance, the criterion of the minimum power consumed by motors is considered. Using numerical methods of nonlinear optimization, diagrams of the available balancing angles are constructed for various thrust-toweight ratios. The choice of the optimal value of the thrust-to-weight ratio is substantiated. A modification of the criterion of minimum power consumption is proposed, which allows to increase the range of available balancing angles in which there is no saturation of the control motors. The initial and modified criteria are compared. The ranges of the balancing angles for the flight with one failed motor were calculated and the ability of the drone to continue the task in case of single failures was demonstrated. The possibility of constructing an apparatus using engines of one direction of rotation was investigated.