Şahin YILDIRIM, Veli BAKIRCIOĞLU, Nihat ÇABUK

ALTI ROTORLU VE SEKİZ ROTORLU İNSANSIZ HAVA ARAÇLARININ FARKLI BOZUCU ETKİ ALTINDA UÇUŞ PERFORMANSLARININ KARŞILAŞTIRILMASI

Bu çalışmada, altı rotorlu ve sekiz rotorlu iki tip insansız hava aracın (İHA) bozucu etki altındaperformanslarının karşılaştırılması için benzetim gerçekleştirilmiştir. Rotor sayısının farklılığının uçuşperformansına etkisinin belirlenmesi esasına dayanan bu çalışmada her iki tip araç için aynı kontrolcükullanılmıştır. Geleneksel kontrol yöntemlerinden olan Oransal-İntegral-Türevsel (PID) kontrol yöntemikullanılan bu çalışmada kontrol parametreleri gözleme dayalı çalışmayla belirlenmiştir. Takip edilmesibeklenen bir yörünge için oluşan hatalar dikkate alınarak bu iki hava aracının performanslarınınkarşılaştırması gerçekleştirilmiştir. Karşılaştırma sonuçları sayısal olarak sunulmuştur. Elde edilensonuçlara göre, sekiz rotorlu hava aracının altı rotorlu olana göre bozucu etki arttıkça daha kararlı bir uçuşsergilediği gözlemlenmiştir.

Comparison of Flight Performances of Unmanned Air Vehicle with Six Rotors and Eight Rotors Under Different Disturbance Effects

In this study, six-rotors and eight-rotors unmanned aerial vehicles have been compared under disruptive effect. To determine the effect of the difference of rotor number on the flight performance, the same controller was used in both types of vehicles. Proportional-Integral-Derivative control method, which is one of the traditional control methods, was used and control parameters were determined by observational study. A comparison of these two air vehicles was made by taking into account the errors trajectory tracking for three axes. The comparison results are presented numerically. According to the results, it was observed that the UAV with eight rotors allowed a more stable flight as the disturbance effect increased compared to the UAV with six rotors.

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