Modelling of an articulated flying body and control system design

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2022-12-5

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Güzelcan, Burçin Tutku

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This study presents the conceptual design of an articulated coaxial rotor Unmanned Air Vehicle (UAV) with three-dimensional dynamical models and a control strategy. Conventional rotary-wing aircrafts operate maneuvers via swashplates which is a complex mechanism adding bulky elements to the aircrafts. While designing light weight UAVs, there appears a need for less complex and compact mechanisms for maneuverability rather than swashplates. There are different methods and mechanisms to acquire maneuvering without swashplates. Three DoF Stewart Mechanism as means of articulation forms a base platform for the coaxial rotor in this design. The Steward Mechanism is designed to tilt the coaxial rotor shaft connected to its upper platform to perform maneuvers. The coaxial rotor tilted by the Steward Mechanism provides a beneficial design with reduced complexity, enhanced maneuverability and agility.

Subject Keywords

Unmanned Air Vehicle, Coaxial UAV, Tilted coaxial rotor, Articulated body, Three DoF Stewart Mechanism

URI

https://hdl.handle.net/11511/101852

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Graduate School of Natural and Applied Sciences, Thesis

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Citation Formats

B. T. Güzelcan, “Modelling of an articulated flying body and control system design,” M.S. - Master of Science, Middle East Technical University, 2022.