Non Simultaneous Morphing System Design for Yaw Motion in Quadrotors

Abstract

Quadrotors are unmanned aerial vehicles that are frequently used in military and civilian applications. In this study, the modeling, control and variable geometry of the quadrotor's yaw motion are discussed non simultaneous. Quadrotor has a non-linner structure but the system has been converted to linear structure by using various methods. Linear expressions are expressed by state space model. Simulation was performed in Matlab / Simulink environment using state space model. PID algorithm was used as control system. In the simulations, both without morphing results and morphing results were obtained and compared.

Keywords

• Quadrotor,Morphing,State Space Model,PID,Control

Quadrotorlarda Yaw Hareketi için Eşzamanlı Olmayan Başkalaşım Tasarımı

Abstract

Quadrotorlar askeri ve sivil uygulamalarda sıkça kullanılan insansız hava araçlarıdır. Bu çalışmada quadrotor yaw hareketinin modellenmesi, kontrolü ve değişken geometrisi ile eşzamanlı olmayan başkalaşımı ele alındı. Quadrotor lineer olmayan yapıya sahiptir fakat sistem çeşitli metodlar kullanılarak lineer yapıya dönüştürülmüştür. Lineer ifadeler ise durum uzay modeli yaklaşımı ile ifade edilmiştir. Simlasyonlar durum uzay modeli yaklaşımı kullanılarak Matlab/Simülink programında yapılmıştır. PID kontrolü isesistemi kontrol etmek için kullanılmıştır. Simülasyonda hem başkalaşım olmayan durum hemde başkalaşım durumları simüle edilerek karşılaştırmalar yapılmıştır. 

Keywords

• quadrotor,Başkalaşım,Durum Uzay Modeli,PID,Kontrol

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