Farklı Malzemelerin Quadcopterde Yükseklik Performansına Etkisi

Abstract

Bu çalışmada quadcopter yüksekliğine çeşitli malzemelerin etkileri incelenmiştir. Yapılan quadcopter tasarımının gövdesi üzerine polisten, kabon elyaf takviyeli epoksi kompozit ve alüminyum 7075 alaşımı SolidWorks ortamında eklenmiştir. Kanatları ve motorları taşıyan kollar da ise gövde malzemesinden bağımsız olarak polistren kullanılmıştır. Eklenen malzemelere göre quadcopterde kütle hesaplamaları yapılmıştır. Bu hesaplamalar ışığında quadcopter yükseklik kontrolü için bulanık mantık tabanlı PD kontrolör kullanılmıştır. Bulanık mantık tabanlı PD’nin giriş-çıkış kazançları referans yükseklik değerlerine göre elle ayarlanıp Matlab-Simulink ortamında deneyler gerçekleştirilmiştir. Deneylerde referans yükseklikleri sırasıyla 1 m,1-0.5 m 2.5 m ve 5 m olmak üzere dört farklı değer kullanılmıştır. Yapılan deney sonuçları göstermiştir ki, gövdesinde polistren malzeme kullanılan dron modeli kullanılan referans değerlerinde diğer malzemelere göre başarılı sonuçlar vermiştir.

Keywords

• Quadcopter
• Fuzzy Logic
• Matlab
• Kompozit
• 7075 Alüminyum

Investigation of the Impact of Different Material Types on Quadcopter Ascension Performance

Abstract

This study investigates the impacts of various materials depending on the quadcopter’s determined flight altitude reference. On Solidworks, three different material groups are assigned to the body of the quadcopter design created for this study, these are polystyrene, carbon fiber reinforced epoxy composite, and 7075 aluminum alloy. Regardless of the body material, polystyrene material is used in the arms carrying the wings and engines. Mass calculations are made in the quadcopter according to the determined materials. In line with the calculations, a fuzzy logic-based PD controller is used for quadcopter altitude control. The input-output gains of the fuzzy logic-based PD are adjusted manually according to the reference height values and tests are carried out in the Matlab-Simulink environment. Four different values are determined for the test reference heights; these are 1 m, 1.5 m, 2.5 m, and 5 m, respectively. The test results show that the model with the polystyrene material in the body part is more successful than the other materials for the specified reference values.

Keywords

• Quadcopter
• Fuzzy Logic
• Matlab
• Kompozit
• 7075 Alüminyum

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