Abstract
Aircraft are classified in two categories as manned and unmanned. Unmanned aerial vehicles are preferred for tasks such as search, rescue, research and observation. Conditions such as the payload it can carry and the flight time cause limits in the design of the aircraft. There was a need for aircraft with the same payload capacity that could penetrate areas where conventional aircraft could not navigate. This need and the applicability of systems that can change shape as a result of the studies of birds in nature have been the subject of research. In this study, the system design and control of a morphing quadrotor with the same payload capacity and the same flight time as the quadrotor unmanned aerial vehicle was carried out. It could be controlled with a PID controller, which is unstable. Thanks to the MEMS and obstacle detection sensors on the aircraft, it is aimed to energize the actuator, which will change the angle of intersection between the arms of the quadrotor, and to avoid obstacles in the closed environment and continue its course by reducing the angle. The effects of the configuration change, which occurred as a result of the shape change of the aircraft while cruising, on the flight characteristics were examined. These results are presented within the scope of this study.
References
- Desbines, A., Expert, F., Boyron, M., Diperi, J., Viollet,S., Ruffier, F. (2017). X-Morf: A crash-separable quadrotor that morfs its X-geometry in flight. 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS)
- Falanga, D., Kleber, K., Mintchev, S., Floreano, D., Scaramuzza, D. (2018) The Foldable Drone: A Morphing Quadrotor that can Squeeze and Fly. IEEE Robotics And Automation Letters. Preprint Version. Accepted November, 2018
- Bai, Y., Gururajan, S. (2019). Evaluation of a Baseline Controller for Autonomous “Figure-8” Flights of a Morphing Geometry Quadrotor: Flight Performance. Drones 2019, 3, 70
- Di Luca M, Mintchev S, Heitz G, Noca F, Floreano D. (2017). Bioinspired morphing wings for extended flight envelope and roll control of small drones. Interface Focus 7: 20160092.
- Prisacariu, V., Sandru, V., & Rău, C. (2011). Introduction morphing technology in unmanned aircraft vehicles (UAV). Paper presented at the International Conference of Scientific Paper, AFASES.
- Oktay, T., & Sal, F. (2016). Combined passive and active helicopter main rotor morphing for helicopter energy save. Journal of the Brazilian Society of Mechanical Sciences and Engineering, 38(6), 1511-1525
- T.Oktay and K. Oğuz, "Non Simultaneous Morphing System Design for Yaw Motion in Quadrotors," Journal of Aviation, vol. 3, no. 2, pp. 81-88, 2019.
- O. Kose and T. Oktay, "Dynamic Modeling and Simulation of Quadrotor for Different Flight Conditions," European Journal of Science and Technology, no. 15, pp. 132-142, 2019
- O. Köse and T. Oktay, "Non Simultaneous Morphing System Desing for Quadrotors," Avrupa Bilim ve Teknoloji Dergisi, no. 16, pp. 577-588,2019.
- Aydın, A., Özen E., Öztürk E. Analysis Of The Applicability Of Autonomous Systems For Urban Delivery And The Values To Be Created In The Economy. 4. Internatıonal 19 Mayınnovatıve Scıentıfıcapproaches Congress. pp. 266-275. December 21-22, 2020
- Pamadi B. (2004) Performance, stability, dynamics, and control of airplanes. Reston, VA: AIAA.
- B. L. Stevens, F. L. Lewis(2003). Aircraft control and simulation, Third Edition. J. Wiley, New Jersey, 2003
- K. Nonami, F. Kendoul, S. Suzuki, W. Wang, D. Nakazawa.(2010) Autonomous Flying Robots. Springer Tokyo Dordrecht Heidelberg London New York
- Köse,O., Oktay,T.(2021) İnovatif Yöntemlerle Kuadkopter Modellenmesi, Kontrolü Ve Gerçek Zamanlı Uygulamaları. Doktora Tezi, Erciyes Üniversitesi, Fen Bilimleri Enstitüsü, KAYSERİ, 2021
Abstract
Hava araçları insanlı ve insansız olarak iki kategoride sınıflandırılır. İnsansız hava araçları arama, kurtarma, araştırma, gözlemleme gibi görevler için tercih edilmektedir. Taşıyabileceği faydalı yük, uçuş süresi gibi durumlar hava aracının tasarımında limitler oluşmasına sebep olmaktadır. Geleneksel hava araçlarının seyir edemediği alanlara nüfuz edebilecek ve aynı faydalı yük kapasitesinde hava araçlarına ihtiyaç olmuştur. Bu ihtiyaç, doğadaki kuşların incelemeleri sonucunda şekil değiştirebilen sistemlerin uygulanabilirliği araştırmalara konu olmuştur. Bu çalışmada dört rotorlu insansız hava aracı ile aynı faydalı yük kapasitesi ve aynı uçuş süresine sahip şekil değiştirebilen dört rotorlunun sistem tasarımı ve kontrolü gerçekleştirildi. Kararsız yapıda olan dört rotorlu PID (oransal integral türev) kontrolör ile kontrol edilebildi. Hava aracı üzerinde bulundurduğu MEMS (Mikro Elektro-Mekanik Sensör)’ler ve engel algılama sensörleri sayesinde dört rotorlunun kolları arasındaki kesişim açısını değiştirecek aktüatörün enerjilendirilmesi ile açı azaltılarak kapalı ortamda engellerden sakınması ve seyrine devam edebilmesi amaçlandı. Hava aracının seyir halinde şekil değiştirmesi neticesinde meydana gelen konfigürasyon değişikliğinin uçuş karakteristiğine olan etkileri incelendi. Elde edilen bu sonuçlar, bu çalışma kapsamında sunuldu.
Keywords
Şekil Değiştirebilen Dört Rotorlu Hava Aracı MEMS Sistem Tasarımı ve Optimizasyon Sistem Kontrolü
References
- Desbines, A., Expert, F., Boyron, M., Diperi, J., Viollet,S., Ruffier, F. (2017). X-Morf: A crash-separable quadrotor that morfs its X-geometry in flight. 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS)
- Falanga, D., Kleber, K., Mintchev, S., Floreano, D., Scaramuzza, D. (2018) The Foldable Drone: A Morphing Quadrotor that can Squeeze and Fly. IEEE Robotics And Automation Letters. Preprint Version. Accepted November, 2018
- Bai, Y., Gururajan, S. (2019). Evaluation of a Baseline Controller for Autonomous “Figure-8” Flights of a Morphing Geometry Quadrotor: Flight Performance. Drones 2019, 3, 70
- Di Luca M, Mintchev S, Heitz G, Noca F, Floreano D. (2017). Bioinspired morphing wings for extended flight envelope and roll control of small drones. Interface Focus 7: 20160092.
- Prisacariu, V., Sandru, V., & Rău, C. (2011). Introduction morphing technology in unmanned aircraft vehicles (UAV). Paper presented at the International Conference of Scientific Paper, AFASES.
- Oktay, T., & Sal, F. (2016). Combined passive and active helicopter main rotor morphing for helicopter energy save. Journal of the Brazilian Society of Mechanical Sciences and Engineering, 38(6), 1511-1525
- T.Oktay and K. Oğuz, "Non Simultaneous Morphing System Design for Yaw Motion in Quadrotors," Journal of Aviation, vol. 3, no. 2, pp. 81-88, 2019.
- O. Kose and T. Oktay, "Dynamic Modeling and Simulation of Quadrotor for Different Flight Conditions," European Journal of Science and Technology, no. 15, pp. 132-142, 2019
- O. Köse and T. Oktay, "Non Simultaneous Morphing System Desing for Quadrotors," Avrupa Bilim ve Teknoloji Dergisi, no. 16, pp. 577-588,2019.
- Aydın, A., Özen E., Öztürk E. Analysis Of The Applicability Of Autonomous Systems For Urban Delivery And The Values To Be Created In The Economy. 4. Internatıonal 19 Mayınnovatıve Scıentıfıcapproaches Congress. pp. 266-275. December 21-22, 2020
- Pamadi B. (2004) Performance, stability, dynamics, and control of airplanes. Reston, VA: AIAA.
- B. L. Stevens, F. L. Lewis(2003). Aircraft control and simulation, Third Edition. J. Wiley, New Jersey, 2003
- K. Nonami, F. Kendoul, S. Suzuki, W. Wang, D. Nakazawa.(2010) Autonomous Flying Robots. Springer Tokyo Dordrecht Heidelberg London New York
- Köse,O., Oktay,T.(2021) İnovatif Yöntemlerle Kuadkopter Modellenmesi, Kontrolü Ve Gerçek Zamanlı Uygulamaları. Doktora Tezi, Erciyes Üniversitesi, Fen Bilimleri Enstitüsü, KAYSERİ, 2021
Details
| Primary Language | Turkish |
|---|---|
| Subjects | Engineering |
| Journal Section | Articles |
| Authors | |
| Early Pub Date | July 29, 2021 |
| Publication Date | November 30, 2021 |
| Published in Issue | Year 2021 Issue: 27 |
