Dört Döner Kanatlı Bir Sistemin Hareketli Bir Kara Platformuna Doğru Güdüm ve Denetimi

Yıl 2017, Cilt: 3 Sayı: 2, 1 - 14, 25.08.2017

Bülent Özkan

Öz

Dört döner kanatlı sistemler
(DDKSs), askerî ve sivil alanda çeşitli uygulamalarda kullanılmaktadır.
Belirtilen sistemlerin başarımlarını (performanslarını) yükseltmek için, toplam
kütleleri asgarî düzeyde tutulmalıdır. Öte yandan, menzil gereksinimindeki büyüme,
DDKS’lerin kritik bileşenlerinden olan güç kaynağının kütlesini de
artıracaktır. Ayrıca, hareketli hedef noktası söz konusu olduğunda güç
gereksinimi de fazlalaşacaktır. Bu nedenle, toplam işletim süresinin
kısaltılması ve dolayısıyla güç tüketiminin aşağıya çekilebilmesi adına,
DDKS’lerin hareket planlamasının uygun bir şekilde yapılması önem arz
etmektedir. Bu çalışmada, ele alınan bir DDKS’nin hareketli bir yer platformuna
yönlendirilmesinde uygulanabilecek güdüm esaslı farklı bir hareket planlaması
yaklaşımı önerilmektedir. Belirtilen yöntemde iki farklı güdüm kuralı göz önüne
alınmış olup, bu kurallarla uyumlu olacak şekilde iki kademeli etkin bir
denetim sistemi de tasarlanmıştır. Oluşturulan güdüm ve denetim algoritmasının
başarımı, uygun şekilde kurgulanmış bilgisayar benzetimleri yardımıyla
gösterilmeye çalışılmıştır. Sonuç olarak, doğrusal hedef takibi güdüm kuralının
ele alındığı durumlarda, gövde takibi güdüm kuralının uygulandığı senaryolara
nazaran daha tatminkâr sonuçların elde edildiği gözlenmiştir.

Anahtar Kelimeler

Güdüm ve denetim, dört döner kanatlı sistem, doğrusal hedef takibi güdüm kuralı, iki kademeli denetim sistemi

Guidance and Control of a Quadrotor towards a Moving Land Platform

Öz

Quadrotors
are utilized in several military and civil applications. To improve the
performance characteristics, their weight is desired to be kept at minimum. However,
the battery which constitutes one of the major components of a quadrotor weighs
more if its range is extended. When a moving destination point is considered as
well, the power requirement becomes larger. Thus, a proper motion planning
comes into the picture as a necessity for the quadrotor to reduce the total
operation time and hence to lower the power consumption. In this study, a novel
guidance-based motion planning scheme is proposed regarding two different
guidance laws towards a moving land platform. Moreover, an effective two-stage
control system is designed in a way compatible with the suggested guidance
laws. The success of the constructed guidance and control algorithm is
demonstrated by means of suitable computer simulations. Eventually, it is
concluded that the linear homing guidance law leads to more satisfactory
results than the other guidance approach utilized in this study, i.e. body
pursuit guidance law.

Anahtar Kelimeler

Guidance and control, quadrotor, linear homing guidance law, two-stage control system

Kaynakça

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