Dynamic Modeling and Simulation of Quadcopter for Several Flight Conditions

Abstract

In this paper, a four-rotor unmanned aerial vehicle was modeled, a control system was designed and performance evaluations were made. For the control system, a separate mathematical model of the unmanned aerial vehicle longitudinal, lateral and vertical take-off and landing operations is omitted and is expressed as a state space model. The mathematical model of the wind disturbances that will affect the unmanned aerial vehicle during the flight was created and the situation was added to the space model. Proportional Integral Derivative (PID) control algorithm was used as the control. Unmanned aerial vehicle modeling was done in Solidworks and simulations were done in Matlab / Simulink program. This paper is one of rare studies that source on quadcopter modeling and control. In the next part of this study, Zankacopter name will be used instead of quadcopter or quadrotor. 

Keywords

• quadcopter,quadrotor,uav,zankacopter,PID,state space model,control

Farkli Uçuş Durumlari Için Quadcopter Dinamik Modeli ve Simulasyonu

Öz

Bu çalışmada dört rotorlu bir insansız hava aracının modellenmesi yapılmış, kontrol sistemi tasarlanmış ve performans değerlendirmeleri yapılmıştır. Kontrol sistemi için hava aracının boylamasına, yanlamasına ve dikey kalkış, iniş harekelerinin ayrı ayrı matematiksel modeli çıkarılmış ve durum uzay modeli şeklinde ifade edilmiştir. Hava aracına uçuş esnasında etki edecek rüzgâr bozulmalarının da matematiksel modeli oluşturulmuş ve durum uzay modeline eklenmiştir. Kontrolcü olarak ise Proportional Integral Derivative (PID) kontrol algoritması kullanılmıştır. İnsansız hava aracının modellenmesi Solidworks programında, simülasyonlar ise Matlab/Simulink programında yapılmıştır. Bu çalışma quadcopter modellenmesi ve kontrolü üzerine nadir kaynaklardan biridir. Bu çalışmanın bundan sonraki kısmında quadcopter yada quadrotor terimi yerine kendi tasarımımız olan Zankacopter ismi kullanılacaktır.

Anahtar Kelimeler

• quadcopter,quadrotor,uav,zankacopter,PID,durum uzay modeli,kontrol

Kaynakça

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