Optimization of Quadrotor’s Thrust and Torque Coefficients and Simulation with Matlab/Simulink

Year 2020, Volume: 23 Issue: 4, 1197 - 1204, 01.12.2020

Ömer Bayraktar , Abdulmecit Güldaş

https://doi.org/10.2339/politeknik.636950

Cited By: 5

Abstract

In this study, the thrust forces and torque values
were experimentally measured which determine the quadrotor dynamics majorly and
and optimization was performed on the the quadrotor simulation model. The
electronic speed controller, which regulates the speed of the rotors, is
controlled in the frequencies range from 1100 to 2000 by pulse width modulation
(PWM) method. Thrust force, torque value and rotor speed measurements were
experimentally performed on motor and propeller pair. The regression analyzes
of these parameters were performed according to the rotor speed. Regression
analyzes were performed with linear, quadratic, cubic and constant coefficient
methods. The obtained regression equations were applied to Matlab/Simulink
quadrotor model and the errors in the quadrotor trajectory tracking were
compared. It has been observed that the thrust and torque values obtained from
momentum theorem have high deviation in 2-meter trajectory tracking. It has
been observed that using the quadratic regression method to determine thrust
force and using the cubic regression method to determine torque value minimize
the amount of error in trajectory tracking.

Keywords

UAV, quadrotor, PID control, flight dynamics

Quadrotor İtme ve Tork Katsayılarının Optimizasyonu ve Matlab/Simulink ile Simülasyonu

Abstract

Bu çalışmada,  quadrotorların dinamiğini büyük ölçüde
belirleyen itme ve tork kuvvetleri deneysel olarak ölçülmüş ve quadrotorun
simülasyon modeli üzerinden optimizasyonu gerçekleştirilmiştir. Motor devrinin
kontrolünde elektronik hız kontrol kartı kullanılmış ve darbe genişlik
modülasyon (DGM) metodu ile 1100-2000 frekans aralığında kontrol edilmiştir.
Motor ve pervane çiftinin itme kuvveti, tork değeri ve devir sayısı ölçümleri
deneysel olarak gerçekleştirilmiştir. Bu deneysel verilerin regresyon analizleri
motor devrine bağlı olarak gerçekleştirilmiştir. Regresyon analizleri doğrusal,
karesel, kübik ve sabit katsayılı metodlar ile gerçekleştirilmiştir. Regresyon
ile elde edilen denklemler Matlab/Simulink’te oluşturulan quadrotor modeline
uygulanmış ve quadrotorun dairesel yörünge takibindeki hatalar kıyaslanmıştır.
Momentum teoreminden elde edilen itme kuvveti ve tork değerlerinin 2 metrelik
yörünge takibinde yüksek hata miktarına sahip olduğu gözlenmiştir. İtme
kuvvetinin belirlenmesinde karesel regresyon yönteminin kullanılması ve tork
değerinin belirlenmesinde kübik regresyon yönteminin kullanılması, yörünge
takibindeki hata miktarını en aza indirdiği gözlenmiştir.  

Keywords

İHA, Quadrotor, PID Kontrol, Uçuş Dinamiği

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