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

Abstract

In this study, modeling, control and differential morphing of a four-rotor unmanned aerial vehicle known as a quadrotor is discussed. With differential morphing, the forward flight performance and model of an autonomous quadrotor is presented. Due to the complex structure of the quadrotor, it is difficult to build the model. To get model parameters, a complete quadrotor model is drawn in the Solidworks program. In addition, Newton-Euler equations are used in the mathematical model. Simulation is done in Matlab / Simulink environment by using the parameters obtained from the model and the state-space model approach. PID (proportional, integral, derivative) is used as the quadrotor control algorithm. As a result of the study, the quadrotor forward flight is carried out using PID algorithm and differential morphing. The system characteristics of the situations with and without differential morphing are compared and the results are presented with graphs.

Keywords

• Quadrotor,Morphing,PID,State Space Model

Quadrotorlarda Diferansiyel Morphingin İleri Uçuşa Etkisinin PID Algoritması Kullanılarak İncelenmesi

Abstract

Bu çalışmada dört rotorlu insansız hava aracı olarak bilinen quadrotor'un modellenmesi, kontrolü ve diferansiyel morphingi ele alınmıştır. Diferansiyel morphing ile ileri uçuş performansı ve otonom quadrotor'un modeli sunulmuştur. Quadrotor komplex bir yapıya sahip olduğu için modeli oluşturmak zor bir iştir. Model parametrelerini elde edebilmek için, tam bir modeli Solidworks programında çizilmiştir. Ayrıca Newton-Euler yaklaşımı matematiksel modeli için kullanılır. Simülasyonlar modelden elde edilen parametreler ile Matlab/Simulink ortamında ve durum uzay modeli yaklaşımı kullanılarak yapılır. PID (oransal-integral-türev) quadrotor kontrol algoritması olarak kullanılır. Çalışmanın sonucu olarak quadrotor ileri uçuşu diferansiyel morphing ve PID algoritması kullanılarak yapılmıştır. Morphing olmayan ve morphing olan durumların sistem karakteristikleri karşılaştırmış ve grafikler ile sunulmuştur.

Keywords

• Quadrotor,Morphing,PID,State Space Model

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