Quadrotorün Dikey Hareketi için Tasarlanan Oransal-İntegral-Türevsel Kontrolörünün Katsayılarının Genetik Algoritma ile Optimizasyonu

İnsansız hava araçları (İHA) sivil ve askeri alanlarda oldukça geniş uygulama alanları bulmuşlardır. Düşük maliyetli fiziksel yapıları ve emsallerine göre daha az karmaşık kontrol yapıları, bu cihazları birçok araştırmacının hedefi yapmıştır. Bu çalışmada dört motorlu İHA’nın dikey yönde hareketini kontrol eden oransal-integral-türevsel (PID) kontrolörün katsayıları Genetik Algoritma (GA) ile optimize edilmiştir. GA, Matlab/Script dilinde kodlanmıştır. Quadratörün matematiksel modeli Matlab ortamında geliştirilmiştir. Simülasyon sonuçları GA’nın PID kontrolörün katsayılarını başarıyla optimize ettiğini göstermektedir.

Anahtar Kelimeler:

quadratör, pid, genetik algoritma

Optimization of the Coefficients of the Proportional-Integral-Derivative Controller Designed for Vertical Motion of the Quadrotor with Genetic Algorithm

Unmanned aerial vehicles (UAVs) have found wide application areas in civil and military. Their low-cost physical structure and less complex control structures compared to their counterparts have made these devices the target of many researchers. In this study, the coefficients of the proportional-integral-derivative (PID) controller that controls the vertical movement of four-motor UAVs have been optimized with the genetic algorithm (GA). GA is coded in Matlab / Script language. Mathematical model of Quadrotor was developed in Matlab environment. The simulation results show that the GA has successfully optimized the coefficients of the PID controller.

Keywords:

quadrotor pid, genetic algorithm, control,

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