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

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.

Anahtar Kelimeler:

İHA, Quadrotor, PID Kontrol, Uçuş Dinamiği

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

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,

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