Başkalaşımın Octorotor Boylamasına Uçuşuna Etkisi

Abstract

İnsansız hava araçları(İHA) son yıllarda popülerliği artan hava araçları olarak endüstriyel ve bilimsel çevrede dikkatleri üzerine çekmektedir. İHA’lar üzerinde bulundurduğu rotor sayısına göre isimlendirilir. Bu çalışmada döner kanat kategorisinde ve sekiz rotora sahip bir octorotor incelenmiştir. Çalışma kapsamında octorotor kol uzunlukları değiştirilerek(uzatılarak ya da kısaltılarak) başkalaşım uygulanmıştır. Başkalaşım, İHA’larda son yıllarda uçuş üzerine olan etkisinin incelenmesi konusunda araştırmacılar tarafından tercih edilen yöntem olmuştur. Başkalaşım döner kanatlı İHA’larda en yaygın olarak kol uzunluklarının eşzamanlı ya da eş zamanlı olmayan bir şekilde değiştirilmesi ile gerçekleştirilmektedir. Başkalaşımın boylamasına uçuşa olan etkisi yükselme zamanı, yerleşme zamanı ve aşım gibi parametreler kontrol edilerek incelenmiştir. Octorotor tam modeli ve başkalaşım durumuna ait dört adet modeli Solidworks çizim programında gerçeğine uygun olarak çizilmiştir. Ardından buradan elde edilen kütle ve eylemsizlik momenti değerleri ile durum uzay modeli yaklaşımı kullanılarak Matlab/Simulink ortamında 1ᵒ’lik yörüngeyi izleyen boylamasına uçuş simülasyonları oransal-integral-türev (PID) kontrol algoritması ile gerçekleştirilmiştir. Octorotor matematiksel modeli için Newton Euler yöntemi kullanılmıştır. Bu yöntemde doğrusal olmayan yapıya sahip hareket denklemleri doğrusal denklemlere dönüştürülmüştür. Simülasyonlarda verilen yörünge başarılı bir şekilde izlenmiş ve tasarım performans kriterlerine göre değerlendirmeler yapılmıştır.

Keywords

• İHA
• Octocopter
• Kontrol
• PID
• Başkalaşım

Effect of Morphing on Octorotor Longitudinal Flight

Abstract

Unmanned aerial vehicles (UAVs) have attracted attention in industrial and scientific environment as air vehicles that have increased in popularity in recent years. UAVs are named according to the number of rotors on them. In this study, an octorotor in the rotary wing category with eight rotors is analysed. Within the scope of the study, morphing was applied by changing (lengthening or shortening) the octorotor arm lengths. In recent years, morphing has been the method preferred by researchers to examine the effect on flight in UAVs. Morphing is most commonly performed by changing the arm lengths collectively or differentially in rotary wing UAVs. Effect of morphing on longitudinal flight was analysed by controlling parameters such as rise time, settling time and overshoot. The full model of the octorotor and four models of the morphing state were drawn in Solidworks drawing program in accordance with the reality. Then, with the mass and inertia moments values obtained from here, longitudinal flight simulations following a 1ᵒ trajectory in Matlab/Simulink environment with the state space model approach were performed with the proportional-integral-derivative (PID) control algorithm. Newton Euler method was used for the mathematical model of the octorotor. In this method, equations of motion with nonlinear structure are transformed into linear equations. In the simulations, the given trajectory was successfully followed and evaluated according to the design performance criteria.

Keywords

• UAV
• Octocopter
• Control
• PID
• Morphing

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