Sabit Kanatlı İHA'ların Boylamasına Kararlılığının Artırılması: Türbülanslı Koşullarda PID Kontrol ve SPSA Optimizasyonunu Kullanan Hibrit Bir Yaklaşım

Öz

Bu çalışma, sabit kanatlı insansız hava araçlarının (İHA) boylamasına kararlılığını iyileştirmek amacıyla yenilikçi bir yöntem ortaya koymaktadır. Kullanılan yaklaşımda, durum uzay modeli, PID kontrolcüsü ve SPSA (Simultaneous Perturbation Stochastic Approximation) algoritması bir araya getirilmiştir. Sistemin performansı, gerçek dünya koşullarını simüle eden Von Karman türbülans modeli altında test edilmiş ve dikkat çekici sonuçlar elde edilmiştir. Simülasyonlar, önerilen kontrol yönteminin referans açı takibini başarıyla gerçekleştirdiğini ve aynı zamanda aşım ile kararlılık süresini minimize ederek türbülanslı hava koşullarında dahi etkili bir denge sağladığını göstermektedir. Özellikle SPSA algoritması, maliyet fonksiyonunu hızlı bir şekilde optimize ederek kontrol parametrelerini uyarlamış ve sistemin genel performansını önemli ölçüde artırmıştır. Çalışma, değişken çevresel faktörler altında sabit kanatlı İhaların kararlılığını artırmak için pratik ve güçlü bir çözüm sunmaktadır.

Anahtar Kelimeler

• İHA
• PİD
• SPSA
• Von Karman

Enhancing Longitudinal Stability of Fixed-Wing UAVs A Hybrid Approach Using PID Control and SPSA Optimization under Turbulent Conditions

Öz

This study presents an innovative method to enhance the longitudinal stability of fixed-wing unmanned aerial vehicles (UAVs). The proposed approach combines a state-space model, a PID controller, and the Simultaneous Perturbation Stochastic Approximation (SPSA) algorithm to achieve robust and reliable performance. The system's effectiveness was evaluated under realistic conditions using the Von Karman turbulence model, which simulates the challenges posed by varying environmental factors. The results demonstrate that the proposed control method successfully tracks reference angles while minimizing overshoot and settling time, even in turbulent conditions. The SPSA algorithm plays a crucial role in this process by efficiently optimizing the control parameters through cost function minimization, significantly enhancing overall system performance. This method provides a practical and robust solution for improving the longitudinal stability of fixed-wing UAVs, even in dynamic and unpredictable environments.

Anahtar Kelimeler

• UAV
• PID
• SPSA
• Von Karman

Kaynakça

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