Quadrotorlarda Diferansiyel ve Kollektif Morphing ile Yanal Kontrol

Abstract

Quadrotor dört rotorlu insansız hava aracıdır(UAV). Bu araçlar askeri ve sivil alanlarda geniş bir şekilde kullanılır. Pilotların yaşam risklerini ortadan kaldırdıkları için tercih edilirler. Bu çalışmada, insansız hava araçlarında yeni ve gelişimsel bir olgu olan morphing'in etkisi yanal uçuş üzerine ele alınmıştır. Quadrotor modeli Newton Euler yaklaşımı kullanılarak elde edilmiştir. Quadrotor tam modeli ve morphing durumları Solidworks programında çizilmiştir. Simülasyonlar modellerden elde edilen atalet momenti ve kütle değerleri ile MAtlab ortamında durum uzay modeli yaklaşımı kullanılarak yapılmıştır. Oransal integral türev(PID) quadrotor kontrol algoritması olarak kullanılmıştır. Simülasyonlar her morphing durumu için ayrı ayrı yapılmıştır. Sonuçlar grafikler ve tasarım performans kriterleri ile sunulmuştur.

Keywords

• quadrotor
• morphing
• kontrol
• pid
• uav

Lateral Control with Differential and Collective Morphing in Quadrotors

Abstract

Quadrotor are four-rotor unmanned aerial vehicles(UAV). These vehicles are widely used in military and civilian areas. They are preferred because they eliminate the risk of life of pilots. In this study, the effect of morphing, which is a new and developmental phenomenon in unmanned aerial vehicles, on lateral flight is discussed. Quadrotor modeling is achieved by Newton Euler approach. Models with quadrotor full and morphing states were drawn in Solidworks program. Simulations were made using the state space model approach in Matlab environment with the moment of inertia and mass values obtained in these models. Proportional integral derivative(PID) is used as the quadrotor control algorithm. Simulations are performed separately for each morphing situation. The results are presented with graphic and design performance criteria.

Keywords

• quadrotor
• morphing
• control
• PID
• UAV

References

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