Combined Quadrotor Autopilot System and Differential Morphing System Design

Yıl 2021, Cilt: 5 Sayı: 2, 64 - 71, 20.12.2021

Oguz Kose , Tugrul Oktay

https://doi.org/10.30518/jav.856436

Cited By: 7

Öz

The aim of this article is to design and model a quadrotor with autopilot system and differential morphing using the Simultaneous Perturbation Stochastic Approximation (SPSA) optimization algorithm. Along with differential morphing, quadrotor modelling and control was also done. Although it is simple in structure, it has a complex structure in terms of model and control. Newton-Euler method was used for the dynamic model. Non-linear motion equations have been converted to linear motion equations. The full quadrotor model was drawn in the Solidworks program. Mass and moment of inertia information was obtained from this model. Simulation model was created by using state space model approach in Matlab / Simulink environment. Proportional integral derivative (PID) algorithm was used as the control structure. Differential morphing and PID coefficients rates were determined with SPSA. With the optimization method, determining the differential morphing rate, PID coefficients and applying it to the quadrotor provides a very innovative method.

Anahtar Kelimeler

Quadrotor, SPSA, PID, Optimization, Morphing

Destekleyen Kurum

Erciyes Üniversitesi

Proje Numarası

FBA-2020-10102

Combined Quadrotor Autopilot System and Differential Morphing System Design

Öz

The aim of this article is to design and model a quadrotor with autopilot system and differential morphing using the Simultaneous Perturbation Stochastic Approximation (SPSA) optimization algorithm. Along with differential morphing, quadrotor modelling and control was also done. Although it is simple in structure, it has a complex structure in terms of model and control. Newton-Euler method was used for the dynamic model. Non-linear motion equations have been converted to linear motion equations. The full quadrotor model was drawn in the Solidworks program. Mass and moment of inertia information was obtained from this model. Simulation model was created by using state space model approach in Matlab / Simulink environment. Proportional integral derivative (PID) algorithm was used as the control structure. Differential morphing and PID coefficients rates were determined with SPSA. With the optimization method, determining the differential morphing rate, PID coefficients and applying it to the quadrotor provides a very innovative method. 

Anahtar Kelimeler

Quadrotor, SPSA, PID, Optimization, Morphing

Proje Numarası

FBA-2020-10102

Kaynakça

• T. Oktay and O. Kose, “Dynamic Modeling and Control Research Based Quadcopter,” in 2nd International Congress on Multidisciplinary Studies, 2018, pp. 1–17, [Online]. Available: https://kongre.akademikiletisim.com/files/multi2018/Muhendislik_ve_Fen_Bilimleri.pdf.
• O. Kose and T. Oktay, “Optimal Tunning of PID Controller For Forward Flight of Research Based Quadrotor,” 2. Uluslararası Multidisipliner Çalışmaları Kongresi. Adana, 2018.
• A. Mulyadi and B. Siswojo, “Modeling and Control Design of Quadcopter Motor,” vol. 2, no. 2, pp. 34–45, 2020.
• B. Milan, M. V. Toskić, M. Bodić, and V. Rajs, “Advantages of a combination of PD and PID controller over PID controller in the example of quadcopter control and stabilization,” vol. 4, no. 1, pp. 43–50, 2020, doi: 10.7251/IJEEC2001043B.
• D. A. Wallace, “Dynamics and control of a quadrotor with active geometric morphing,” 2016.
• N. Bucki and M. W. Mueller, “Design and Control of a Passively Morphing quadcopter,” in 2019 International Conference on Robotics and Automation (ICRA), 2019, pp. 9116–9122.
• G. Barbaraci, “Modeling and control of a quadrotor with variable geometry arms,” J. Unmanned Veh. Syst., vol. 3, no. 2, pp. 35–57, 2015.
• T. Oktay and O. Kose, “The Effect of Collective Morphing on the Lateral Flight in Quadcopter,” Umteb6. UluslararasiMesleki ve Teknik Bilimler Kongresi. Iğdır, 2019.
• O. Kose and T. Oktay, “The Effect of Collective Morphing on the Longitudinal Flight in Quadcopter,” in Mas International European Congress on Mathematics, Engineering, Natural and Medical Sciences-III, 2019, no. 18.02.2019, pp. 269–282.
• T. Oktay and O. Kose, “The Effect of Collective Morphing on the Vertical Flight in Quadcopter,” in MAS INTERNATIONAL EUROPEAN CONGRESSON MATHEMATICS, ENGINEERING, NATURAL ANDMEDICAL SCIENCES-III, 2019, pp. 1–10.
• T. Oktay and S. Coban, “Simultaneous longitudinal and lateral flight control systems design for both passive and active morphing TUAVs,” Elektron. ir Elektrotechnika, vol. 23, no. 5, pp. 15–20, 2017.
• S. Bouabdallah, “Design and Control of Quadrotors With Application To Autonomous Flying,” École Polytech. Fédérale Lausanne, À La Fac. Des Sci. Tech. L’Ingénieur, vol. 3727, no. 3727, p. 61, 2007, doi: 10.5075/epfl-thesis-3727.
• O. Kose and T. Oktay, “Investigation of the Effect of Differential Morphing on Lateral Flight by Using PID Algorithm in Quadrotors,” Eur. J. Sci. Technol., no. 18, pp. 636–644, 2020, doi: 10.31590/ejosat.702727.
• O. Kose and T. Oktay, “Simultaneous quadrotor autopilot system and collective morphing system design,” Aircr. Eng. Aerosp. Technol., 2020, doi: 10.1108/AEAT-01-2020-0026.
• O. Kose and T. Oktay, “Investigation of the Effect of Differential Morphing on Forward Flight by Using PID Algorithm in Quadrotors,” J. Aviat., vol. 4, no. 1, pp. 15–21, 2020.
• Yang WANG, “Modified Simultaneous Perturbation Stochastic Approximation Method for Power Capture Maximization of Wind Turbines,” Kansas State University, 2013.
• N. L. Kleinman, S. D. Hill, and V. A. Ilenda, “SPSA/SIMMOD optimization of air traffic delay cost,” in Proceedings of the 1997 American Control Conference (Cat. No. 97CH36041), 1997, vol. 2, pp. 1121–1125.
• P. Sadegh and J. C. Spall, “Optimal random perturbations for stochastic approximation using a simultaneous perturbation gradient approximation,” IEEE Trans. Automat. Contr., vol. 43, no. 10, pp. 1480–1484, 1998.
• J. C. Spall, “An Overview of the Simultaneous Perturbation Method,” Johns Hopkins Apl Tech. Dig., vol. 19, no. 4, pp. 482–492, 1998, [Online]. Available: http://www.jhuapl.edu/SPSA/PDF-SPSA/Spall_An_Overview.PDF.