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

Abstract

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.

Keywords

• 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

Abstract

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.

Keywords

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

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