LEE- Sistem Dinamiği ve Kontrol Lisansüstü Programı

Bu topluluk için Kalıcı Uri

http://hdl.handle.net/11527/19459

Gözat

Yazar "Altuğ, Erdinç" ile LEE- Sistem Dinamiği ve Kontrol Lisansüstü Programı'a göz atma
  • Öge
    Aerial package delivery via smart parachute-payload system
    (Graduate School, 2024-07-12) Alnıpak, Sinan ; Altuğ, Erdinç ; 503201610 ; System Dynamics and Control
    Aerial robots are being used in many areas, they are employed by civilian and military industries. One of the growing sectors is aerial package delivery. Commonly cargos are brought to customers with trucks or cars. Compared to aerial delivery this method is inefficient. The time customers get their cargos can be shortened by making use of drones and this process also requires less manpower due to automatization of these devices. This is also better for nature because unlike most land vehicles, drones do not use fossil fuel as an energy source. Currently, some large companies in the e-commerce business are producing their own unmanned aerial vehicles and developing methods for this type of delivery. A company is already delivering healthcare supply via drone delivery. However, most of them carry one parcel with a single drone at a time. In addition, drones, especially quadcopters, consume vast amounts of energy when travelling through the air. This process can further be improved by delivering multiple cargos at a time, and energy consumption can be reduced. In this thesis, a package delivery system which can distribute multiple parcels at a time is discussed. The system was designed on computer aided design software, and mechanical parts were manufactured via 3D printer. After manufacturing physical system constants were determined and system was mathematically modelled. Because of nonlinearities in the model, it was linearized using Taylor Series expansion. After the modeling process three different controller structures were developed for the system. Firstly, a PID controller was designed and by running simulations, its performance analyzed. Secondly, another controller structure which is widely used in unmanned aerial vehicles, cascade PID controller was designed. Moreover, a cascade LQR controller was designed to see whether performance of the system can be enhanced. Finally, the performance of these controllers is compared based on their time response characteristics. A real-life scenario is discussed how these structures would perform based on Türkiye's wind data.