Öz
The aim of this study is to design an autopilot system for Unmanned Aerial Vehicle (UAV) in a small size and to compare the efficiency of the systems designed with different methods. For this purpose, linearized equations of motion for a small size UAV has beeen firstly obtained. Then the state space equations are used to check the stability characteristics of the UAV. Using the classical method, the longitudinal pitch angle, altitude and speed controller are designed for separate transfer functions according to the location curve of the roots and the desired response values. PID values were determined by considering the response of the system using classical methods. On the other hand, a feedback control system has been designed to improve the stability of different lines. And also an orientation controller has been designed. New approach proposed in the study is Adaptive Network Based Fuzzy Inference Systems (ANFIS) controller. In this study, a new controller approach based on fuzzy logic is proposed. Four data sets, PID control inputs and control sign have been obtained for the design of the proposed controller. These data sets have been used for training the fuzzy controller. As a result; It is presented with graphs that the proposed method is applicable and gives successful results.
Anahtar Kelimeler
UAV (Unmanned Aerial Vehicle) Dynamic Model State Space Model ANFIS
Kaynakça
- Coban, S , Oktay, T . (2017). A Review of Tactical Unmanned Aerial Vehicle Design Studies. The Eurasia Proceedings of Science, Technology, Engineering & Mathematics, 1 (), 30-35. Retrieved from http://dergipark.gov.tr/epstem/issue/31865/350970.
- Çoban, S , Oktay, T . (2018). Simultaneous Design of a Small UAV (Unmanned Aerial Vehicle) Flight Control System and Lateral State Space Model. Journal of Aviation, 2 (2), 70-76. DOI: 10.30518/jav.461365.
- DragonFly UAV using a single GPS receiver, AIAA Guidance,Navigation and ControlConference and Exibit, AIAA2003-5592, Texas.
- Etkin, B., & Reid, L. D. (1996). Dynamics of flight: stability and control (Vol. 3). New York: Wiley [19] U.S. Military Handbook MIL-HDBK-1797, 19 December 1997.
- Fahlstrom,G.P. and Gleason,T.J., 1998. Introduction to UAV systems, UAVSystems Inc., 2nd edition, Columbia, Greenwood, D. T. (2003). Advanced Dynamics, Cambridge University P ress. ISBN 0 521-82612-8.
- Kumon, M., Nagata, M. and Muzimoto, I., 2006. Flight path control ofunmanned air vehicle, Journal of Field Robotics ,23,223.
- Christiansen, R., 2004. Design of an autopilot for small unmanned air vehicles,Master’s Thesis, Brigham Young University, Utah.
- Kinoshita, T., Imado, F., 2005. A study on the optimal flight control for an autonomous UAV, Proceedings of the IEEE2006 Internationalconference on mechatronics and automation, Luyoang, China, 43,38.
- Lopez, J., Dormido, R., Gomez, J.P., Dormido, S. and Diaz, J.M., 2007.Comparison of Hinfinity with QFT applied to an Altitude Command Tracker for an UAV, Proceedings of the European ControlConference 2007, Kos, Greece, July 2-5.
- Mermoud, M.A.D. and Gonzalez, R., 2006. Control of longitudinal movement of a plane using combined model reference adaptive control, Aircraft Engineering andAerospace Technology, 77, 199-213.
- Nelson, R. C. (1998). Flight stability and automatic control (Vol. 2). WCB/ McGraw Hill.
- Prof. Dr. Mehmet Şerif Kavsaoğlu, Principles of Aircraft Design Course Notes, İTÜ.
- Vural, S. Y. and Hajiyev, C. (2008). Autopilot system design for a small unmanned aerial vehicle, MS Thesis, Istanbul Technical University, Istanbul, Turkey.
- Williams, W., 2003. UAV Handling Qualities…You Must Be Joking, Aerospace.
- Yechout, T.R., Morris, L.S., Bossert, D.E., Hallgren, W.F., 2003. Introduction to Aircraft Flight Mechanics, AIAA Education Series, Virginia.
- Yurt, S.N., 1995. İnsansız Hava Aracı için bir borda bilgisayar mimarisi vetasarımı, Yüksek Lisans Tezi, ITÜ, İstanbul.
- Zagi-The original R/C EPP foam wing homepage, 2007. http://www.zagi.com.10.10.2007.
Öz
The aim of this study is to design an autopilot system for Unmanned Aerial Vehicle (UAV) in a small size and to compare the efficiency of the systems designed with different methods. For this purpose, linearized equations of motion for a small size UAV has beeen firstly obtained. Then the state space equations are used to check the stability characteristics of the UAV. Using the classical method, the longitudinal pitch angle, altitude and speed controller are designed for separate transfer functions according to the location curve of the roots and the desired response values. PID values were determined by considering the response of the system using classical methods. On the other hand, a feedback control system has been designed to improve the stability of different lines. And also an orientation controller has been designed. New approach proposed in the study is Adaptive Network Based Fuzzy Inference Systems (ANFIS) controller. In this study, a new controller approach based on fuzzy logic is proposed. Four data sets, PID control inputs and control sign have been obtained for the design of the proposed controller. These data sets have been used for training the fuzzy controller. As a result; It is presented with graphs that the proposed method is applicable and gives successful results.
Anahtar Kelimeler
UAV (Unmanned Aerial Vehicle) Dynamic Model State Space Model ANFIS
Kaynakça
- Coban, S , Oktay, T . (2017). A Review of Tactical Unmanned Aerial Vehicle Design Studies. The Eurasia Proceedings of Science, Technology, Engineering & Mathematics, 1 (), 30-35. Retrieved from http://dergipark.gov.tr/epstem/issue/31865/350970.
- Çoban, S , Oktay, T . (2018). Simultaneous Design of a Small UAV (Unmanned Aerial Vehicle) Flight Control System and Lateral State Space Model. Journal of Aviation, 2 (2), 70-76. DOI: 10.30518/jav.461365.
- DragonFly UAV using a single GPS receiver, AIAA Guidance,Navigation and ControlConference and Exibit, AIAA2003-5592, Texas.
- Etkin, B., & Reid, L. D. (1996). Dynamics of flight: stability and control (Vol. 3). New York: Wiley [19] U.S. Military Handbook MIL-HDBK-1797, 19 December 1997.
- Fahlstrom,G.P. and Gleason,T.J., 1998. Introduction to UAV systems, UAVSystems Inc., 2nd edition, Columbia, Greenwood, D. T. (2003). Advanced Dynamics, Cambridge University P ress. ISBN 0 521-82612-8.
- Kumon, M., Nagata, M. and Muzimoto, I., 2006. Flight path control ofunmanned air vehicle, Journal of Field Robotics ,23,223.
- Christiansen, R., 2004. Design of an autopilot for small unmanned air vehicles,Master’s Thesis, Brigham Young University, Utah.
- Kinoshita, T., Imado, F., 2005. A study on the optimal flight control for an autonomous UAV, Proceedings of the IEEE2006 Internationalconference on mechatronics and automation, Luyoang, China, 43,38.
- Lopez, J., Dormido, R., Gomez, J.P., Dormido, S. and Diaz, J.M., 2007.Comparison of Hinfinity with QFT applied to an Altitude Command Tracker for an UAV, Proceedings of the European ControlConference 2007, Kos, Greece, July 2-5.
- Mermoud, M.A.D. and Gonzalez, R., 2006. Control of longitudinal movement of a plane using combined model reference adaptive control, Aircraft Engineering andAerospace Technology, 77, 199-213.
- Nelson, R. C. (1998). Flight stability and automatic control (Vol. 2). WCB/ McGraw Hill.
- Prof. Dr. Mehmet Şerif Kavsaoğlu, Principles of Aircraft Design Course Notes, İTÜ.
- Vural, S. Y. and Hajiyev, C. (2008). Autopilot system design for a small unmanned aerial vehicle, MS Thesis, Istanbul Technical University, Istanbul, Turkey.
- Williams, W., 2003. UAV Handling Qualities…You Must Be Joking, Aerospace.
- Yechout, T.R., Morris, L.S., Bossert, D.E., Hallgren, W.F., 2003. Introduction to Aircraft Flight Mechanics, AIAA Education Series, Virginia.
- Yurt, S.N., 1995. İnsansız Hava Aracı için bir borda bilgisayar mimarisi vetasarımı, Yüksek Lisans Tezi, ITÜ, İstanbul.
- Zagi-The original R/C EPP foam wing homepage, 2007. http://www.zagi.com.10.10.2007.
Ayrıntılar
| Birincil Dil | İngilizce |
|---|---|
| Konular | Mühendislik |
| Bölüm | Makaleler |
| Yazarlar | |
| Yayımlanma Tarihi | 31 Aralık 2019 |
| Yayımlandığı Sayı | Yıl 2019 Sayı: 17 |
