Abstract
Serbestlik derecesinden (3 açısal hareket, 3 çizgisel hareket; toplamda 6) daha az kontrol girdisine (itki, yunuslama torku, yatış torku ve dönme torku; toplamda 4) sahip döner kanatlı İHA’ların (DKİHA) X-Y düzleminde hareket edebilmeleri; itkilerinin, bir diğer deyişle gövdelerinin açısal pozisyonlanmasına bağlıdır. Rüzgâr gibi dış bozucuların da platformu sürüklemesi, tersi yönde iş yapacak kuvvetin oluşturulmasıyla, açısal pozisyon (yatış - yunuslama) kazanılarak giderilmektedir. Bununla beraber, uçuş düzlemine dik yerleştirilmiş itki vektörlerinin uzayda kesişmemesi, gövdenin dış dönme merkezini sonsuza taşımakta, doğrusal etki eden bozucuların sistemi öteleyerek saptırdıkları yön ile döndürerek saptırdıkları yönün aynı olmasına sebep vermektedir. Bu eşleşme, geometrik merkezin net sapmasının artmasına yol açmaktadır. Pervane yerleşim açılarının küçülmesiyle geometrik merkezin sapmasının azaldığı, sade öteleme eğrisine yakınsandığı görülmüştür. Burada sunulan çalışma ile, küçük açılarla (20 dereceden az) içe eğilen pervanelerin dış bozuculara karşı sistemin askıda kalma direngenliğini nasıl artırdığı analitik olarak modellenmiş ve gösterilmiştir. İleri çalışma konusu olarak da içe eğimli pervanelerin dış dönme merkezi oluşturması sayesinde sistem manevra atikliğini artırabileceği fikri geliştirilmiştir.
Keywords
Döner Kanatlı İHA Uçuş Dinamiği Pervane Yerleşimi Dış Bozuculara Karşı Platform Direngenliği
References
- Albert, A., Katherine, V., (2020) “The Effects of UAV Quadcopter Propeller Tilt Angle on Flight Stability”, 18th LACCEI International Multi-Conference for Engineering, Puerto Rico
- Efraim, H., Shapiro, A. & Weiss, G. Quadrotor with a Dihedral Angle: on the Effects of Tilting the Rotors Inwards. J Intell Robot Syst 80, 313–324 (2015)
- Diogenes, B., Davi, S., (2016) “Modelling, Design, and Simulation of a Quadrotor with Tilting Rotors Actuated by a Memory Shape Wire”, National Congress of Mechanical Engineering, (CONEM), Fortaleza, Brazil
- Holda, C., Ghalamchi, B., Mueller, M., (2018) “Tilting Multicopter Rotors for Increased Power Efficiency and Yaw Authority”, International Conference on Unmanned Aircraft Systems (ICUAS), Dallas, TX, USA
- Xu, H., Yang, Z., Lu, K., Zhang, Q., (2020) “Control of a Tilting Hexacopter under Wind Disturbance”, Hindawi Mathematical Problems in Engineering Journal
- Martini, D., Gramazio, G., Bertini., A., Rottenbacher, C., (2017) “Design and Modeling of a Quadcopter with Double Axis Tilting Rotors”, World Scientific Publishing Company, Pavia, Italy
- Rached D., Ahmad H., (2013) “Dynamic Modelling of Differential-Drive Mobile Robots using Lagrange and Newton-Euler Methodologies”, American University of Sharjah
- Taner, M., Chingiz, H., (2014) “Flight Tests, Data Collection, System Identification, Performance Analysis of Multicopter Vehicle”, Proceedings of the 6th International Conference on Electronics, Computers and Artificial Intelligence, Romania
- Dongjie, S., Xunhua, D., Quan, Q., Xiaowei, Z., (2017) “A Practical Performance Evaluation Method for Electric Multicopters”, IEEE/ASME Transactions on Mechatronics, cilt. 22, no.3, 1337-1348
- Verbeke, J., Hulens, D., Ramon, H., Goedemé, T., De Schutter, J., (2014) “The Design and Construction of a High Endurance Hexacopter Suited for Narrow Corridors”, International Conference on Unmanned Aircraft Systems (ICUAS), Denver, CO, U.S.A.
- Franck, C., Kelly, C., Manish, K., (2020) “Multi-rotor Platform Based UAV Systems”, Elsevier
- Mostafa M., (2015) “Dynamic Modeling and Control of a HexaRotor using Linear and Nonlinear Methods”, International Journal of Applied Information Systems, 9(5):9-17
- Kim, J., Kang, MS. & Park, S., (2010) Accurate Modeling and Robust Hovering Control for a Quad-Rotor VTOL Aircraft. Journal of Intelligent and Robotic Systems, 57, 9.
Abstract
Rotary Wing UAVs (RWUAV) with control inputs (thrust, pitch torque, roll torque, yaw torque; 4 at total) less than the degree of freedom (3 angular motion, 3 linear motion; 6 at total) can move in the X-Y plane by rotating the thrust vectors, i.e their bodies. Deflections caused by external disturbances like winds are also eliminated by angular positioning which creates tractions against disruptive drag forces. However, the fact that the thrust vectors (propeller axis) placed perpendicular to the flight plane do not intersect in space carries the outer center of rotation of the platform to infinity, causing linear acting forces to deflect the system in the same direction in both translation and rotation. This coupling leads to an increase in the net deflection of the geometric center. It is observed that the deflection of the geometric center decreased and converged to the pure translation curve as the propeller placement angles decreased. With the study reported here, it has been analytically modeled and demonstrated how inward tilted propellers increase the hover stiffness of the platform against external disturbances. For future studies, the phenomenon suggesting inward tilted propellers may enhance the platform maneuverability by forming the outer rotation center (thrust vectors’ intersection point) is developed.
Keywords
Rotary Wing UAV Flight Dynamics Propeller Replacement Dihedral Angle Platform Stiffness Agains External Disturbances
References
- Albert, A., Katherine, V., (2020) “The Effects of UAV Quadcopter Propeller Tilt Angle on Flight Stability”, 18th LACCEI International Multi-Conference for Engineering, Puerto Rico
- Efraim, H., Shapiro, A. & Weiss, G. Quadrotor with a Dihedral Angle: on the Effects of Tilting the Rotors Inwards. J Intell Robot Syst 80, 313–324 (2015)
- Diogenes, B., Davi, S., (2016) “Modelling, Design, and Simulation of a Quadrotor with Tilting Rotors Actuated by a Memory Shape Wire”, National Congress of Mechanical Engineering, (CONEM), Fortaleza, Brazil
- Holda, C., Ghalamchi, B., Mueller, M., (2018) “Tilting Multicopter Rotors for Increased Power Efficiency and Yaw Authority”, International Conference on Unmanned Aircraft Systems (ICUAS), Dallas, TX, USA
- Xu, H., Yang, Z., Lu, K., Zhang, Q., (2020) “Control of a Tilting Hexacopter under Wind Disturbance”, Hindawi Mathematical Problems in Engineering Journal
- Martini, D., Gramazio, G., Bertini., A., Rottenbacher, C., (2017) “Design and Modeling of a Quadcopter with Double Axis Tilting Rotors”, World Scientific Publishing Company, Pavia, Italy
- Rached D., Ahmad H., (2013) “Dynamic Modelling of Differential-Drive Mobile Robots using Lagrange and Newton-Euler Methodologies”, American University of Sharjah
- Taner, M., Chingiz, H., (2014) “Flight Tests, Data Collection, System Identification, Performance Analysis of Multicopter Vehicle”, Proceedings of the 6th International Conference on Electronics, Computers and Artificial Intelligence, Romania
- Dongjie, S., Xunhua, D., Quan, Q., Xiaowei, Z., (2017) “A Practical Performance Evaluation Method for Electric Multicopters”, IEEE/ASME Transactions on Mechatronics, cilt. 22, no.3, 1337-1348
- Verbeke, J., Hulens, D., Ramon, H., Goedemé, T., De Schutter, J., (2014) “The Design and Construction of a High Endurance Hexacopter Suited for Narrow Corridors”, International Conference on Unmanned Aircraft Systems (ICUAS), Denver, CO, U.S.A.
- Franck, C., Kelly, C., Manish, K., (2020) “Multi-rotor Platform Based UAV Systems”, Elsevier
- Mostafa M., (2015) “Dynamic Modeling and Control of a HexaRotor using Linear and Nonlinear Methods”, International Journal of Applied Information Systems, 9(5):9-17
- Kim, J., Kang, MS. & Park, S., (2010) Accurate Modeling and Robust Hovering Control for a Quad-Rotor VTOL Aircraft. Journal of Intelligent and Robotic Systems, 57, 9.
Details
| Primary Language | Turkish |
|---|---|
| Subjects | Engineering |
| Journal Section | Articles |
| Authors | |
| Early Pub Date | July 26, 2022 |
| Publication Date | August 31, 2022 |
| Published in Issue | Year 2022 Issue: 38 |
