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Investigation of the Effect of Differential Morphing on Lateral Flight by Using PID Algorithm in Quadrotors

Year 2020, Issue: 18, 636 - 644, 15.04.2020
https://doi.org/10.31590/ejosat.702727

Abstract

Quadrotor is unmanned aerial vehicles that are widely used in military and civil fields. Quadrotors differ from conventional helicopters, which use rotors that are able to vary the pitch of their blades dynamically as they move around the rotor hub. Quadrotors generally use two pairs of identical fixed pitch propellers; two clockwise (CW) and two counterclockwise (CCW). These use independent variation of the speed of each rotor to achieve control. In this study, the quadrotor lateral flight and the effect of morphing on this flight were investigated. Morphing is called the change of unmanned aerial vehicles in their geometry. Newton-Euler method is used to create the quadrotor model. However, since the quadrotor is a system with non-linear dynamics, motion equations are converted to linear equations. The quadrotor full model was drawn in the Solidworks program, including batteries, controllers and propellers, in accordance with its actual dimensions. State space model approach was used in simulations in Matlab / Simulink environment. The value of mass and inertia moments from the Solidworks program is used in the state space model. Proportional integral derivative (PID) was used as the control algorithm. PID is an algorithm widely used in industrial applications. PID is preferred because it is strong, fast and simple. The system to which PID will be applied must be linear. The PID coefficients Kp, Ki and Kd are important for the stable operation of the system. Appropriate values should be chosen. In this study, lateral flight performance was monitored using differential morphing and PID algorithm and the results were presented.

References

  • Çoban, S., & Oktay, T. (2018). Legal and Ethical Issues of Unmanned Aerial Vehicles. Journal of Aviation, 2(1), 31-35.
  • Desbiez, A., Expert, F., Boyron, M., Diperi, J., Viollet, S., & Ruffier, F. (2017). X-Morf: a crash-separable quadrotor that morfs its X-geometry in flight. Paper presented at the 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS).
  • Domingue, J. M. (2009). Quadrotor Prototype. Uneversidade Tecnica deLisboa. Dissertacio,
  • Oktay, T., & Coban, S. (2017). Simultaneous longitudinal and lateral flight control systems design for both passive and active morphing TUAVs. Elektronika ir Elektrotechnika, 23(5), 15-20.
  • Oktay, T., Konar, M., Mohamed, M. A., Aydin, M., Sal, F., Onay, M., & Soylak, M. (2016). Autonomous flight performance improvement of load-carrying unmanned aerial vehicles by active morphing. International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering, 10(1), 123-132.
  • Oktay, T., & Kose, O. (2019a). The Effect of Collective Morphing on the Lateral Flight in Quadcopter. Paper presented at the Umteb 6. Uluslararasi Mesleki ve Teknik Bilimler Kongresi, Iğdır.
  • Oktay, T., & Kose, O. (2019b). The Effect of Collective Morphing on the Longitudinal Flight in Quadcopter. Paper presented at the MAS INTERNATIONAL EUROPEAN CONGRESSON MATHEMATICS, ENGINEERING, NATURAL ANDMEDICAL SCIENCES-III, Şanlıurfa.
  • Oktay, T., & Kose, O. (2019c). The Effect of Collective Morphing on the Vertical Flight in Quadcopter. Paper presented at the MAS INTERNATIONAL EUROPEAN CONGRESSON MATHEMATICS, ENGINEERING, NATURAL ANDMEDICAL SCIENCES-III, Şanlıurfa.
  • Oktay, T., & Sal, F. (2016). Combined passive and active helicopter main rotor morphing for helicopter energy save. Journal of the Brazilian Society of Mechanical Sciences and Engineering, 38(6), 1511-1525.

Quadrotorlarda PID Algoritması Kullanarak Diferansiyel Morphingin Yanlamasına Uçuş Üzerine Etkisinin İncelenmesi

Year 2020, Issue: 18, 636 - 644, 15.04.2020
https://doi.org/10.31590/ejosat.702727

Abstract

Quadrotor sivil ve askeri alanda yaygın kullanılan insansız hava aracıdır. Quadrotorlar bir rotor hub etrafında dönen değişken açılı bıçaklı geleneksel helikopterlerden farklıdır. Quadrotorlar sabit açılı saat yönü ve saat yönü tersinde dönen iki çift pervane kullanır. Kontrolü sağlamak için her rotor hızları bağımsız olarak değiştirilir. Bu çalışmada quadrotor yanlamasına uçuşu ve morphingin bu uçuş üzerine etkisi araştırıldı. Morphing insansız hava araçlarının geometrisindeki değişim olarak adlandırılır. Newton-Euler metodu quadrotor modelini oluşturmak için kullanılır. Fakat quadrotor lineer olmayan bir sistem olduğu için hareket denklemleri lineer denklemlere dönüştürülür. Quadrotor modeli orjinal ölçülerine göre batarya, pervane ve kontrolcü dahil olmak üzere Solidworks programında çizildi. Durum uzay modeli yaklaşımı Matlab/Simulink'de simülasyonlar için kullanıldı. Solidworks programından alınan alınan kütle ve atalet momenti değerleri durum uzay modeli için kullanılır. Oransal integral türev(PID) algoritması ise kontrol için kullanıldı. PID algoritması endüstride yaygın olarak kullanılan algoritmadır. PID güçlü, hızlı ve basit olduğu için tercih edilir. PID lineer sistemlere uygulanabilen bir algoritmadır. PID katsayıları olan Kp, Ki ve Kd değerleri sistemin performansı için önemli katsayılardır. Bu yüzden uygun değerler seçilmesi önemlidir. Bu çalışmada quadrotor yanlamasına uçuş performasnsı PID algoritması kullanılarak izlendi ve sonuçlar grafikler ile ortaya konuldu.

References

  • Çoban, S., & Oktay, T. (2018). Legal and Ethical Issues of Unmanned Aerial Vehicles. Journal of Aviation, 2(1), 31-35.
  • Desbiez, A., Expert, F., Boyron, M., Diperi, J., Viollet, S., & Ruffier, F. (2017). X-Morf: a crash-separable quadrotor that morfs its X-geometry in flight. Paper presented at the 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS).
  • Domingue, J. M. (2009). Quadrotor Prototype. Uneversidade Tecnica deLisboa. Dissertacio,
  • Oktay, T., & Coban, S. (2017). Simultaneous longitudinal and lateral flight control systems design for both passive and active morphing TUAVs. Elektronika ir Elektrotechnika, 23(5), 15-20.
  • Oktay, T., Konar, M., Mohamed, M. A., Aydin, M., Sal, F., Onay, M., & Soylak, M. (2016). Autonomous flight performance improvement of load-carrying unmanned aerial vehicles by active morphing. International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering, 10(1), 123-132.
  • Oktay, T., & Kose, O. (2019a). The Effect of Collective Morphing on the Lateral Flight in Quadcopter. Paper presented at the Umteb 6. Uluslararasi Mesleki ve Teknik Bilimler Kongresi, Iğdır.
  • Oktay, T., & Kose, O. (2019b). The Effect of Collective Morphing on the Longitudinal Flight in Quadcopter. Paper presented at the MAS INTERNATIONAL EUROPEAN CONGRESSON MATHEMATICS, ENGINEERING, NATURAL ANDMEDICAL SCIENCES-III, Şanlıurfa.
  • Oktay, T., & Kose, O. (2019c). The Effect of Collective Morphing on the Vertical Flight in Quadcopter. Paper presented at the MAS INTERNATIONAL EUROPEAN CONGRESSON MATHEMATICS, ENGINEERING, NATURAL ANDMEDICAL SCIENCES-III, Şanlıurfa.
  • Oktay, T., & Sal, F. (2016). Combined passive and active helicopter main rotor morphing for helicopter energy save. Journal of the Brazilian Society of Mechanical Sciences and Engineering, 38(6), 1511-1525.
There are 9 citations in total.

Details

Primary Language English
Subjects Engineering
Journal Section Articles
Authors

Oguz Kose 0000-0002-8069-8749

Tugrul Oktay 0000-0003-4860-2230

Publication Date April 15, 2020
Published in Issue Year 2020 Issue: 18

Cite

APA Kose, O., & Oktay, T. (2020). Investigation of the Effect of Differential Morphing on Lateral Flight by Using PID Algorithm in Quadrotors. Avrupa Bilim Ve Teknoloji Dergisi(18), 636-644. https://doi.org/10.31590/ejosat.702727