Effect Analysis of Active Morphing on Control Effort of Combined Output and Input Variance Constrained Controller Guided Load-Carrying UAVs

Öz

In this research article effect analysis of active morphing on control effort of combined output and input variance constrained controller guided load-carrying UAVs are considered and analysed. For satisfying autonomous control, output and input variance constrained controller (i.e., O&I-VC) is benefitted. Wing and horizontal tailplane of the load-carrying UAV is able to extend and shorten in span wise direction. These extensions and shortenings have important effects on control effort of the O&I-VC applied applications. In this article these effects are considered and best morphing combination is tried to be determined. Flight at best combination both satisfy reduce fuel consumption and contribute a green ecosystem and also have positive contributions on flight performance specialties such as maximum endurance, maximum range and ceiling altitude.

Anahtar Kelimeler

• Load-carrying UAVs
• Constrained Control
• Autonomous Control
• Flight Control System
• Active Morphing

Yük Taşıyan İHA’larda Aktif Başkalaşımın Birleştirilmiş Çıkış ve Giriş Varyansı Kısıtlı Kontrolcünün Kontrol Çabasına Etkilerinin Analizi

Öz

Bu araştırma yayınında birleştirilmiş giriş ve çıkış varyansı kısıtlı kontrolcü ile otonom kontrolü sağlanan yük taşıyan bir İHA’nın maruz kalacağı aktif başkalaşımın kontrolcünün kontrol çabası üzerinde etkileri ele alınmaya ve analiz edilmeye çalışılmıştır. Otonom kontrolü sağlama adına bu çalışmada çıkış ve giriş varyansı kısıtlı kontrolcüden yani O&I-VC den faydalanılmıştır. Yük taşıyan İHA’nın kanadı ve yatay kuyruğu açıklık doğrultusunda uçuş sırasında uzayıp kısalabilmektedir. Bu uzama kısalmalar O&I-VC kontrolcüsünün başvurulduğu uygulamalarda kontrol çabası üzerinde önemli etkilere sahiptir. Bu çalışmada bu etkiler göz önünde bulundurulup en iyi başkalaşım kombinasyonunun tespiti sağlanmaya çalışılacaktır. En iyi kombinasyonda uçuşun sürdürülebilmesi hem enerji sarfiyatını azaltacak, hem de daha yeşil bir eko sisteme imkân tanıyacak hem de havada kalış süresi, maksimum menzil, tavan irtifası gibi uçuş performans özelliklere de pozitif katkılar sunacaktır.

Anahtar Kelimeler

• Yük taşıyan İHA'lar
• Kısıtlamalı Kontrol
• Otonom Kontrol
• Uçuş Kontrol Sistemi
• Aktif Başkalaşım

Kaynakça

1. Chao H., Cao Y., Chen YQ. Autopilots for small fixed-wing unmanned aerial vehicles: A Survey, Paper presented at IEEE International Conference on Mechatronics and Automation 2007, Harbin.
2. Etkin B., Reyd LD. Dynamics of flight: Stability and control. John Wiley & Sons, New York, 1996, bölümler 2-6.
3. Köse O. Stochastic optimal tuning for flight control system of morphing arm octorotor. Aircraft Engineering and Aerospace Technology 2024: 96(5): 669-678.
4. Köse O. Octorotor flight control system design with stochastic optimal tuning, deep learning and differential morphing. Journal of the Brazilian Society of Mechanical Sciences and Engineering 2024: 46(6).
5. Oktay T. Combined outputs variance constrained and input variance constrained design for flight control. Proceedings of the Institution of Mechanical Engineers: Part G-Journal of Aerospace Engineering 2015; 229(12): 2196-2204.
6. Oktay T., Konar M., Onay M., Aydin M., Abdallah Mohamed M. Simultaneous small UAV and autopilot system design. Aircraft Engineering and Aerospace Technology 2016; 88(6).
7. Oktay T., Sultan C. Simultaneous helicopter and control-system design. AIAA Journal of Aircraft 2013; 50(3): 911-926.
8. Oktay T., Sultan C. Flight control energy saving via helicopter rotor active morphing. AIAA Journal of Aircraft 2014; 51(6): 1784-1805.

9. Oktay T., Sal F. Helicopter control energy reduction using moving horizontal tail. The Scientific World Journal: Aerospace Engineering 2015. doi: 10.1155/2015/523914.
10. Oktay T., Sultan C. Comfortable helicopter flight via passive/active morphing. IEEE Transactions on Aerospace and Electronic Systems 2015; 51: 2876-2886.
11. Oktay T., Sal F. Helicopter control energy reduction using moving horizontal tail. The Scientific World Journal: Aerospace Engineering 2015. doi: 10.1155/2015/523914.
12. Oktay T., Sal F. Combined passive and active helicopter main rotor morphing for helicopter energy save. Journal of the Brazilian Society of Mechanical Sciences and Engineering 2016; 38: 1511-1525.
13. Oktay T., Sal F. Effect of the simultaneous variation in blade root chord length and blade taper on helicopter flight control effort. International Journal of Aerospace Engineering 2017; 1-9.
14. Nelson RC. Flight stability and automatic control, 2nd ed., McGraw-Hill, New York, 2007, bölümler 2-6.
15. Sahin H., Köse O., Oktay T. Simultaneous autonomous system and powerplant design for morphing quadrotors, Aircraft Engineering and Aerospace Technology 2022; 94(8): 1228-1241.
16. Sal F. Effects of the actively morphing root chord and taper on helicopter energy. Aircraft Engineering and Aerospace Technology 2020; 92(2): 264-270.
17. Sal F. Simultaneous swept anhedral helicopter blade tip shape and control-system design. Aircraft Engineering and Aerospace Technology 2022; 95(1): 101-112.
18. Sal F., Simultaneous actively morphing swept anhedral blade tip shape and helicopter flight control-system design, Aircraft Engineering and Aerospace Technology 2025, submitted.
19. Skelton RE., Lorenzo MD. Space structure control design by variance assignment, Journal of Guidance, Control, and Dynamics 198; 8(4): 454-462.
20. Skelton RE., Sultan C. Controllable tensegrity, A new class of smart structures,” SPIE Intl. Symposium on Smart Structures and Materials, San Diego, CA, 1997.
21. Uzun M. Flight control system design of UAV with wing incidence angle simultaneously and stochastically varied. Aircraft Engineering and Aerospace Technology 2024; 96(5): 715-725.