Artık eyleyicili otonom hava-uzay araçlarının uçuş kontrolü

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TVRBM05UTXo.pdf

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2010

Author

Elmas, Çiğdem Tuba
Yavrucuk, İlkay
Demir, Batu
Korkut, Berk
Kahraman, Özgür
Ünlü, Tuğba
Çakır, Zeynep
Tekinalp, Ozan
Işık, Sinem

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Bu araştırmada artık eyleyicili, otonom, hava-uzay araçlarının kontrolü konusu işlenmiştir. Üç temel araç göz önüne alınmıştır: Model uçak temelli bir insansız hava aracı, yatar rotorlu insansız hava aracı, ve uydu. Uçak temelli insansız hava aracı için gerek klasik gerekse gürbüz kontrolcüler tanımlanmış ve kontrol dağıtım problemi incelenmiştir. Ayrıca oluşturulan kontrolcülerin denenebilmesi için bir platform tasarlanmış, bütünleştirilmiş, uçuş kontrol algoritmaları ile seyrüsefer algoritmaları geliştirilmiş ve uçuş testleri gerçekleştirilmiştir. Yatar rotorlu insansız uçak için ise yine kontrolcüler geliştirilmiş, özellikle dikine kalkıştan ileri uçuşa geçiş sırasındaki kontrol dağıtım problemi incelenmiştir. Bu çalışmada hal değişkeni bağımlı Ricatti denklemi temelli iki döngülü bir kontrolcü önerilmiştir. Kontrolcü iç döngüde hızları, dış döngüde ise açı konumları geri beslemektedir. Bu iki döngülü kontrol yöntemi ile sistemin her zaman kontrol edilebilirliği ve cebrik Ricatti denkleminin çözümünün bulunduğu gösterilmiştir. Uydu yönelim kontrol çalışmalarında ise artık eyleyiciler olarak tepki tekerlekleri, moment kontrol jiroskopları ve manyetik burucular göz önüne alınmıştır. Özgün olarak tepki tekerlekleri ve manyetik burucu yedekli sistemin sürülmesi, moment kontrol jiroskopu ile manyetik burucuların sürülmesi incelenmiştir. Ayrıca sınırlı dönme açılı moment kontrol jiroskoplarının gimbal ekseninde sınıra ulaşmadan ve tekilliğe düşmeden sürülmesi hususları incelenmiştir. Bu tip jiroskop kümelerinin momentum zarfları da çizilerek gösterilmiştir.

URI

https://app.trdizin.gov.tr/publication/project/detail/TVRBM05UTXo
https://hdl.handle.net/11511/49421

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Department of Aerospace Engineering, Project and Design

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Citation Formats

Ç. T. Elmas et al., “Artık eyleyicili otonom hava-uzay araçlarının uçuş kontrolü,” 2010. Accessed: 00, 2020. [Online]. Available: https://app.trdizin.gov.tr/publication/project/detail/TVRBM05UTXo.