SPORT APLICATION OF UNMANED AERIAL VEHICLE - MULTICOPTER

Mnogo je mogućih primjena letjelica bez posade - multirotora, a svaka primjena ima svoje specifičnosti i zbog toga postoje razlike u gabaritima i opremi takve letjelice. Zbog različitih uporabnih zahtjeva i karakteristika takvih letjelica potreban je individualan pristup rješavanju tehničkih problema vezanih uz konstrukciju i upravljanje tim sustavima. Ovaj rad fokusira se na primjeni multirotora u svrhu natjecanja natjecateljskih timova u brzini i okretnosti multirotora na zatvorenoj stazi posebno pripremljenoj za takve utrke koje se popularno nazivaju - „utrke dronova“. U takvim utrkama od presudne važnosti je vještina pilota i konstrukcija što lakše i što okretnije letjelice te precizan i pouzdan način daljinske kontrole multirotorom. Dakle, osim pilotske vještine operatera presudan je utjecaj opreme letjelice i prilagodbe letačkim zahtjevima i sposobnostima operatera. U sklopu ovog rada obrađene su metode kontrole i upravljanja i kinematika gibanja multirotora. Navedeni su glavni sustavi trkaćeg tetrarotora klase 250 i komponente tih sustava. Proveden je odabir različitih komponenata sustava i predstavljena je logika odabira ovisnih komponenta i na kraju je sastavljen testni primjerak trkaćeg tetrarotora. Također, obrađena je regulativa vezana za sustave bespilotnih letjelica, a posebno su obrađeni dijelovi koji se odnose na dotični multirotor i zakonska ograničenja uporabe istih.There are many possible applications of unmanned areal vehicle - multicopter, and each application has its own characteristics and therefore the differences in the dimensions and installed equipment of such an aircraft. There are many different requirements and characteristics of such an aircraft which requires an individual approach to solving technical problems related to the construction and management of these systems. This paper focuses on the application of multicopters for the purpose of the competition races of teams competing speed and agility of multicopters on a closed circuit specially prepared for such a race which is popularly called - "drone racing". In these races of crucial importance are the skills of pilot and construction of as light and as agile aircraft as possible, and precise and reliable method of remote control of aircraft. So, except piloting skills there is crucial importance of customization of quadcopter to the requirements of the pilot. This paper covers methods of control and kinematics of motion of multicopters, the main systems of racing quadrotors of class 250 and the components of these systems. The selection of the various components of the system are conducted and the logic of selection of dependent components is presented, and finally one test model of racing quadcopter is assembled . Legislation and regulation of the unmaned areal vehicles is also presented, and specially parts of the legislation which would be related to racing quadcopters