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Öz

In this paper, design process of an VTOL (Vertical Take Off – Landing) type unmanned aerial vehicle with three tilting rotors is presented. In this framework, modeling environment, energy consumption analysis, material and component selection, vibration analysis, static load analysis, and physical system test studies are discussed. Initial prototype is reached and flight tests are initiated

Anahtar Kelimeler

• Tri-rotor, Tilt-rotor, Unmanned Aerial Vehicle (UAV)

Üç Dönerkanatlı ve Döner-Rotorlu İnsansız Hava Aracının Tasarımı - Design of the Triple Tilt-Rotor Unmanned Aerial Vehicle

Öz

Bu makalede, tüm dönerkanat rotorları dönebilen (tilt mekanizmasına sahip), üç dönerkanatlı, dikey kalkış iniş yapabilen insansız hava aracının tasarım süreci sunulmuştur. Bu kapsamda üç rotorlu insansız hava aracı için literatür araştırması, malzeme ve bileşen seçimi, modelleme alt yapısının kurulması, enerji tüketim analizi, titreşim analizi, statik yük analizi ve fiziksel sistem testleri gibi çalışmalar yürütülmüştür.

 

In this paper, design process of a VTOL (Vertical Take Off – Landing) type unmanned aerial vehicle with three tilting rotors is presented. In this framework, literature survey, material and component selection, modeling environment, energy consumption analysis, vibration analysis,  statical load analysis, and physical system test studies are carried out for the tri-rotor unmanned aerial vehicle.

Anahtar Kelimeler

• Döner-Rotor, İnsansız Hava Aracı (İHA), Üçrotor

Kaynakça

1. Yıldız, M., Kaçar A., Arıkan, K. B., (2010), “Döner-rotor Mekanizmasına Sahip, İki Rotorlu Sıradışı Uçan Robot Tasarımı, Modellenmesi ve Yönelim Denetimi”, 1. Mekatronik Mühendisliği Öğrenci Kongresi (MeMÖK), 16 Haziran - Atılım Üniversitesi.
2. RyÅ› A., Czyba R., SzafraÅ„ski, (2011), “Practical Aspects of Trirotor MAV Development”, Proceedings of the International Micro Air Vehicles Conference Summer Edition.
3. Arıkan, K. B., İrfanoğlu, B., Kaçar A., Yıldız, M., (2011), “Attitude Stabilization of a Novel Flying Robot by Dynamic Compensation”, 6. Ankara International Aerospace Conference, 14-16 September - METU, Turkey.
4. Çetinsoy E., Sırımoğlu E., Önder T. Ö., Hançer C., Ünel M., Akşit M. F., Kandemir İ., Gülez K., (2011), “Design and Development of a Tilt-wing UAV”, Turk J Elec Eng & Comp Sci, Vol.19, No.5.
5. EscarÄ•no J., Sanchez A., Garcia O., Lozano R., (2008), “Triple Tilting Rotor mini-UAV: Modeling and Embedded Control of the Attitude”, American Control Conference, 11-13 June, Seattle, Washington.
6. Nice B. E., (2004) “Design of a Four Rotor Hovering Vehicle”, Y. Lisans Tezi, Cornell University.
7. Fantoni, I., Lozano R., (2002), “Nonlinear control for underactuated mechanical systems” Springer, Communications and Control Engineering Series.
8. Salazar-Cruz S., Escareño, J., Lara,D., Lozano, R., (2007) “Embedded control system for a four-rotor UAV” International Journal of Adaptive Control and Signal Processing, 21(2–3), 189–204.

9. Salazar-Cruz S., Escareño, J., Lozano, R., (2009) “Stabilization and nonlinear control for a novel trirotor mini-aircraft”, Control Engineering Practice, vol. 17 num. : 8 pp. 886-894.
10. Bouabdallah S., (2006) “Design and control of quadrotors with application to autonomous flying”, Ph.D. dissertation, EPFL, Switzerland.