Çok rotorlu İHA'ların bozucu giriş dışlama tabanlı denetlenmesi
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Date
2016
Authors
İrfanoğlu, Bülent
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Abstract
Bu çalışmanın başlıca odağı, iki serbestlik dereceli robot kol bulunduran döner kanatlı uçan platformların denetlenmesidir. Tasarlanan denetleyici hem parametre değişimleri hem de robot kolun haraketi sırasında oluşan bozucu girişleri dışlamaktadır. Bu amaçla etkin bozucu giriş dışlama denetimi (ing. ADRC) yöntemi uyarlanmış ve bozucu giriş dışlama yetenekleri incelenmiştir. Çok rotorlu sistemin iki serbestlik dereceli kol ile beraber haraket denklemleri Newton-Euler yaklaşımı kullanılarak türetilmiştir. ADRC yönteminin başarımı, uçuş testleri yoluyla ticari çok rotorlu sistemlerde sıklıkla kullanılan iki döngülü Oransal-İntegral-Türevsel denetleyici ile karşılaştırılmıştır. Çok rotorlu sistemin regülasyon ve bozucu dışlama performansları değişik başarım ölçütleri kullanılarak kıyaslanmıştır. Robot kolun hem yalpa hem de yunuslama eksenlerini aynı anda etkileyen bozucu yarattığında ADRC'nin daha iyi başarım sergilediği görülmüştür.
This study mainly focuses on the control of a rotary wing flying platform that has a two–degree-of-freedom robot arm. The designed control system rejects the disturbances caused by parametric changes as well as the motion of the robot arm. For this purpose, Active Disturbance Rejection Control (ADRC) is implemented and its disturbance rejection capabilities are investigated. The equations of motion of the hexarotor with a two–degree-of-freedom robot arm are derived by using the Newton-Euler approach. Performance of the ADRC method is compared through flight tests with a cascaded PID controller which is the type of controller most commonly used in commercial multirotor systems. Regulatory and disturbance rejection characteristics of the hexarotor are compared using different performance criterions. It is shown that ADRC has superior performance in the case of the motion of robot arm causing a disturbance in both the roll and pitch axes.
This study mainly focuses on the control of a rotary wing flying platform that has a two–degree-of-freedom robot arm. The designed control system rejects the disturbances caused by parametric changes as well as the motion of the robot arm. For this purpose, Active Disturbance Rejection Control (ADRC) is implemented and its disturbance rejection capabilities are investigated. The equations of motion of the hexarotor with a two–degree-of-freedom robot arm are derived by using the Newton-Euler approach. Performance of the ADRC method is compared through flight tests with a cascaded PID controller which is the type of controller most commonly used in commercial multirotor systems. Regulatory and disturbance rejection characteristics of the hexarotor are compared using different performance criterions. It is shown that ADRC has superior performance in the case of the motion of robot arm causing a disturbance in both the roll and pitch axes.
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Mekatronik Mühendisliği, Mechatronics Engineering
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106