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## trenQuadrotorlarda PID Algoritması Kullanarak Diferansiyel Morphingin Yanlamasına Uçuş Üzerine Etkisinin İncelenmesiInvestigation of the Effect of Differential Morphing on Lateral Flight by Using PID Algorithm in Quadrotors

#### Oguz KOSE [1] , Tugrul OKTAY [2]

Quadrotor is unmanned aerial vehicles that are widely used in military and civil fields. Quadrotors differ from conventional helicopters, which use rotors that are able to vary the pitch of their blades dynamically as they move around the rotor hub. Quadrotors generally use two pairs of identical fixed pitch propellers; two clockwise (CW) and two counterclockwise (CCW). These use independent variation of the speed of each rotor to achieve control. In this study, the quadrotor lateral flight and the effect of morphing on this flight were investigated. Morphing is called the change of unmanned aerial vehicles in their geometry. Newton-Euler method is used to create the quadrotor model. However, since the quadrotor is a system with non-linear dynamics, motion equations are converted to linear equations. The quadrotor full model was drawn in the Solidworks program, including batteries, controllers and propellers, in accordance with its actual dimensions. State space model approach was used in simulations in Matlab / Simulink environment. The value of mass and inertia moments from the Solidworks program is used in the state space model. Proportional integral derivative (PID) was used as the control algorithm. PID is an algorithm widely used in industrial applications. PID is preferred because it is strong, fast and simple. The system to which PID will be applied must be linear. The PID coefficients Kp, Ki and Kd are important for the stable operation of the system. Appropriate values should be chosen. In this study, lateral flight performance was monitored using differential morphing and PID algorithm and the results were presented.
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• Desbiez, A., Expert, F., Boyron, M., Diperi, J., Viollet, S., & Ruffier, F. (2017). X-Morf: a crash-separable quadrotor that morfs its X-geometry in flight. Paper presented at the 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS).