Non Simultaneous Morphing System Desing for Quadrotors

Quadrotor is a four-rotor unmanned aerial vehicle which is widely used in commercial, military and outdoor applications. Non simultaneous morphing system desings for quadrotors was discussed. The morphing process does not occur at the same time in longitudinal and lateral flight. The geometry change during the quadrotor flight or the geometry change that occurred on the ground before the flight is expressed as the morphing. There are various types of morphing in quadrotor unmanned aerial vehicles such as elongation and elongation of the arms and changing the angle of the arm. These types of morphing are included in the study. Although the quadrotor is structurally simple, it consists of a difficult and complex system as a control structure. The quadrotor mathematical model has a non-linear structure. Quadrotor control can be achieved by using this structure, but in this study, the nonlinear structure is linearized by various methods. Linear expressions were with the approach of the state space model using various inputs and outputs. Newton Euler method, which is widely used in quadrotor systems, was used to obtain dynamic model. Simulation of the system using state space model was performed in Matlab / SIMULINK environment. The necessary parameters for Matlab / SIMULINK and the graphical drawing of the system were performed in CAD program. From this program parameters such as mass, inertia were obtained. In the control of the system, commonly used PID algorithm was used. The coefficients such as Kp, Ki and Kd required for the control system were obtained experimentally. Von Karman Turbulence model quadrotor was used for hover, longitudinal, lateral and trajectory tracking under a certain noise. As a result of this study, longitudinal and lateral flight was performed by using PID control algorithm under a certain noise and the results were presented by graphs