QUADROTORLAR İÇİN OPTİMUM KARAKTERİSTİK DENKLEMLİ İKİNCİ DERECEDEN KAYAN KİPLİ DENETLEYİCİ TASARIMI

Son zamanlarda, düşük boyutlarda kullanılan dört motorlu mikro insansız hava araçları (İHA) askeri ve sivil uygulamalarda karşımıza çıkmaktadır. Kullanım alanlarının giderek genişlemesi ile birlikte, yörünge takibinde daha hassas uçuşların gerçekleştirilmesi problemleri adına geliştirilen kontrol yapıları araştırmacılara yeni alanlar açmaktadır. Bu amaçlar doğrultusunda, ilk olarak bu çalışmada dört motorlu İHA’nın doğrusal olmayan matematiksel modeli NewtonEuler denklemleri ile elde edilmiştir. Yörünge takibinde İHA’ya ikinci dereceden kayan kipli denetleyici (SOSMC) uygulanmıştır. SOSMC yapısı içerisinde pozisyon ve davranış kontrolünün sağlanması için tek durum değişkenli ve çift durum değişkenli alt sistemlere ayrı ayrı uygulanmıştır. Bir sonraki adımda denetleyici katsayıları optimum karakteristik denklem kullanılarak bulunmuştur. Referans çalışmaya bağlı kalınarak denklemin sınır değerleri elde edilmiş ve en optimum değerler bu sınır değerler içerisinden elde edilmiştir. Son bölümde ise denetleyiciye ait benzetim sonuçları elde edilmiş ve referans çalışma ile karşılaştırılması yapılmıştır. Sonuç olarak, elde edilen şekillere göre Optimum karakteristik denklem sonuçları daha az kalıcı durum hatası üretmiş ve daha yüksek hassasiyetle yörüngeyi takip etmiştir. Bu sayede elde edilen son kontrol yapısı gürbüzlüğünü kanıtlamıştır. Bu çalışmada elde edilen benzetim sonuçları Simulink/MATLAB ortamında gerçekleştirilmiştir

SECOND ORDER SLIDING MODE CONTROLLER DESIGN WITH OPTIMUM CHARACTERISTIC EQUATION FOR QUADROTORS

Nowadays, small structured micro unmanned aerial vehicles (UAV’s) with four-rotor appears in military and civilian applications. As the usage of these vehicles becomes widespread, the development of controller structures which allow the UAV’s to follow a specified trajectory precisely is a new area of interest for researchers. In this work, nonlinear mathematical model of a four-rotor UAV is obtained. In order to obtain the mathematical model of UAV Newton-Euler equations are used. In the trajectory tracking system of this vehicle, second order sliding mode controller (SOSMC) is designed. Inside of the controller, control process is divided into two subsystems in order to provide position and attitude control. SOSMC is applied to the fully actuated and under actuated subsystems individually. In the next step, coefficients of the SOSMC is determined with optimum characteristic equation. Based on the reference study, boundaries of the predefined characteristic equation is obtained. Later, appropriate values are observed. In final part, simulation results are obtained, and the results are compared with the reference study. As a result, Optimum Characteristic equation results proved its robustness according to the smaller steady state error and more precise flight performance in trajectory. In this study simulation results are obtained using Simulink/MATLAB environment.

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