Hekzakopter insansız hava aracı için eşdeğer bozucu etki tahmini kullanılarak bozucu etki önleyici denetleyici tasarımı

İnsansız Hava Araçları (İHA’lar) video kamera, fotoğraf makinesi, lazer tarama cihazı, vb. araçlar ile donatılmış ve görevlerini uzaktan kumandalı veya otonom olarak icra edebilmektedirler. Hızla gelişmekte olan bilgisayarın veri işleme kapasitesi, sensör ve yarı iletken teknolojileri küçük boyutlu döner kanatlı İHA’ların tasarlanmasına imkân sağlamaktadır. Küçük boyutlu döner kanatlı İHA sistemleri, mevcut otonom denetim yöntemlerinin henüz yeterli seviyeye gelememesinden dolayı, ani rüzgâr durumu gibi rastgele çevresel etkenler ve dışarıdan gelen değişik karakteristik özelliklere sahip bozucu etkilere karşı yeterli düzeyde dayanıklı değildirler. Bu çalışmada hekzakopter İHA sistemlerinin bozucu etkililere rağmen kararlılığını koruyup görevini etkin bir şekilde yerine getirmesi amacıyla bozucu etki önleyici denetleyici tasarlanmıştır. İHA sisteminin yönelim kararlılığı için lineer kuadratik regülatör yöntemi kullanılarak dayanıklı geri besleme kazancı hesaplanmıştır. Ayrıca gözlemci kazancı ve alçak geçiren filtreden oluşan bozucu etki eşdeğerini tahmin mekanizması da tasarlanmıştır. Bu yapı sistemdeki bilinmeyen bozucu etkilerin zamanında tahmin edilmesine olanak sağlamaktadır. Tasarlanan bozucu etki önleyici denetleyicisi kapalı çevrim İHA sisteminin gürbüz kararlılığını garanti eder. Benzetim sonuçları hekzakopter İHA için tasarlanan bozucu önleyici denetleyicinin etkinliğini göstermiştir.

Anahtar Kelimeler:

Hekzakopter İHA, Bozucu etki önleyici denetleyici, Lineer kuadratik regülatör, Eşdeğer Bozucu etki tahmini

Anti-disturbance controller design for a hexacopter unmanned aerial vehicle using equivalent disturbance estimation

Unmanned Aerial Vehicles (UAVs) equipped with video camera, camera, laser scanning device, etc. and perform their duties remotely or automatically. Recently, rapid progress in development of computers' data processing capacities, sensors, and semiconductor technologies have resulted in the emergence of small-sized rotary-wing UAVs. Small size rotary-wing UAV systems are more sensitive to environmental conditions such as gust and external disturbances because existing autonomous control systems are not sufficient to cope with these disturbances. In this study, an anti-disturbance controller has been designed for that a hexacopter UAV maintains its stability and are able to perform their duties in the despite of the external disturbances. Optimal gain has been calculated by linear quadratic regulator method for the attitude stability of the UAV system. In addition, a mechanism of equivalent disturbance estimation, which is consisting of an observer gain and a low pass filter, is designed. This structure estimated the unknown disturbing effects in the UAV system in time. The designed anti-disturbance controller guarantees the robust stability of the closed-loop UAV system. The simulation results demonstrated the effectiveness of the designed anti-disturbance controller for the hexacopter UAV.

Keywords:

Hexacopter UAV, Anti-disturbance control, Linear quadratic regulator, Equivalent disturbance estimation,

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