İnsansız Helikopterin Model Öngörülü Kontrolü
İnsansız Helikopterin Model Öngörülü Kontrolü
Dosyalar
Tarih
2010-06-11
Yazarlar
Franko, Semuel
Süreli Yayın başlığı
Süreli Yayın ISSN
Cilt Başlığı
Yayınevi
Fen Bilimleri Enstitüsü
Institute of Science and Technology
Institute of Science and Technology
Özet
Bu çalışmanın konusu insansız helikopterin doğrusal hız ve açısal konum kontrolüdür. Tez kapsamında öncelikle 6 serbestlik dereceli helikopterin doğrusal olmayan dinamik modeli oluşturulmuştur. Bu model katı cisim denklemleri, kuvvet ve tork denklemleri ve çırpma ve itki denklemleri adlı 3 bloktan oluşmaktadır. Her blok ilgili kısmın denklem setlerini içermektedir. Oluşturulan model daha sonra MATLAB programına aktarılmıştır. Açık çevrim kararsız ve eksenleri arasındaki birleşikliği yüksek olan helikopter için iki farklı kontrolcü tasarlanmıştır. Öncelikle LQR (Linear Quadratic Regulator) tipinde bir kontrolcü geliştirilmiştir. Helikopterin ileri uçuş, yana doğru uçuş, yunuslama açılı uçuş ve dikey uçuş gibi temel hareketleri göz önüne alınarak 8 farklı senaryo oluşturulmuştur. Bu senaryolara göre benzetim sonuçları elde edilmiştir. Aynı senaryolar için MPC (Model Predictive Controller) tipinde kontrolcü de tasarlanmış ve benzetimi yapılmıştır. Kontrolcünün dayanıklılığını değerlendirebilmek için, parametre belirsizliği, sistem dinamiğinin değişimini ve bozucu etkileri içeren üç farklı senaryo daha oluşturulmuş ve benzetim sonuçları elde edilmiştir. İki farklı kontrolcü ile elde edilen sonuçlar tartışılmış ve gelecek çalışmalarla ilgili önerilerde bulunulmuştur.
The subject of this study is the translatory speed and angular position control. Within the scope of this thesis first 6 degrees of freedom nonlinear helicopter model is developed. This model consists of 3 blocks which are called, rigid body equations, force and moment equations and flapping and thrust equations. Each block consists the equation set of relevant part. Model that was developed transferred to MATLAB software. For the helicopter which is open loop unstable and having high coupling between the axes two different controller was designed. First an LQR (Linear Quadratic Regulator) type controller was developed. By considering the basic movements of helicopter like forward flying, sideway flying, flying with pitch angle and vertical flying 8 different scenarios was formed. Due to these scenarios simulation results were obtained. For the same scenarios MPC (Model Predictive Controller) type controller was designed and simulations were made. For evaluating robustness of controller 3 different scenarios, having parameter uncertainity, alteration of system dynamics and disturbances, was formed and simulation results were achieved. Results that are obtained from two different controllers were discussed and suggestions made for future works.
The subject of this study is the translatory speed and angular position control. Within the scope of this thesis first 6 degrees of freedom nonlinear helicopter model is developed. This model consists of 3 blocks which are called, rigid body equations, force and moment equations and flapping and thrust equations. Each block consists the equation set of relevant part. Model that was developed transferred to MATLAB software. For the helicopter which is open loop unstable and having high coupling between the axes two different controller was designed. First an LQR (Linear Quadratic Regulator) type controller was developed. By considering the basic movements of helicopter like forward flying, sideway flying, flying with pitch angle and vertical flying 8 different scenarios was formed. Due to these scenarios simulation results were obtained. For the same scenarios MPC (Model Predictive Controller) type controller was designed and simulations were made. For evaluating robustness of controller 3 different scenarios, having parameter uncertainity, alteration of system dynamics and disturbances, was formed and simulation results were achieved. Results that are obtained from two different controllers were discussed and suggestions made for future works.
Açıklama
Tez (Yüksek Lisans) -- İstanbul Teknik Üniversitesi, Fen Bilimleri Enstitüsü, 2010
Thesis (M.Sc.) -- İstanbul Technical University, Institute of Science and Technology, 2010
Thesis (M.Sc.) -- İstanbul Technical University, Institute of Science and Technology, 2010
Anahtar kelimeler
İnsansız hava aracı,
Model öngörümlü denetim,
Benzetim,
Helikopter,
Unmanned Aerial Vehicle,
Model Predictive Control,
Simulation,
Helicopter