Dynamic Modeling and Simulation of Quadcopter for Several Flight Conditions

Yıl 2019, Sayı: 15, 132 - 142, 31.03.2019

Tuğrul Oktay , Oğuz Köse

https://doi.org/10.31590/ejosat.507222

Cited By: 9

Öz

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. 

Anahtar Kelimeler

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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