Artık eyleyicili otonom hava-uzay araçlarının uçuş kontrolü

Download

TVRBM05UTXo.pdf

Date

2010

Author

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

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

22
views

130
downloads

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

Collections

Department of Aerospace Engineering, Project and Design

Suggestions

OpenMETU
Core

Flight control system design for an over actuated UAV against actuator failures Işık, Sinem; Tekinalp, Ozan; Department of Aerospace Engineering (2010) This thesis describes the automatic flight control systems designed for a conventional and an over actuated unmanned air vehicle (UAV). A nonlinear simulation model including the flight mechanics equations together with the interpolated nonlinear aerodynamics, environmental effects, mass-inertia properties, thrust calculations and actuator dynamics is created; trim and linearization codes are developed. Automatic flight control system of the conventional UAV is designed by using both classical and robust co...
Aerodynamic parameter estimation of a missile in closed loop control and validation with flight data Aydın, Güneş; Kutay, Ali Türker; Department of Aerospace Engineering (2012) Aerodynamic parameter estimation from closed loop data has been developed as another research area since control and stability augmentation systems have been mandatory for aircrafts. This thesis focuses on aerodynamic parameter estimation of an air to ground missile from closed loop data using separate surface excitations. A design procedure is proposed for designing separate surface excitations. The effect of excitations signals to the system is also analyzed by examining autopilot disturbance rejection pe...
Control allocation against actuator failures in overactuated small satellites Kahraman, Özgür; Tekinalp, Ozan; Department of Aerospace Engineering (2007) In this thesis, attitude control of small satellites with dissimilar actuator is studied and the effects of control allocation methods on maneuvering are examined in detail. Magnetorquers and reaction wheels are considered as the actuators of a modeled remote sensing -nadir pointing- small satellite. Matlab® Simulink simulation models are developed to model the satellite dynamics and the actuators on the satellite. The simulations are based on conceptual RASAT satellite, and, for verification, orbit data is...
Developing a four-bar mechanism synthesis program in cad environment Erener, Kaan; Söylemez, Eres; Department of Mechanical Engineering (2011) Flap, aileron, rudder, elevator, speed brake, stick, landing gear and similar movable systems used in aerospace industry have to operate according to the defined requirements and mechanisms used in those systems have to be synthesized in order to fulfill those requirements. Generally, without the use of synthesis tools, synthesis of mechanisms are done in CAD environment by trial-error and geometrical methods due to the complexity of analytical procedures. However, this approach is time consuming since it h...
Designing autopilot and guidance algorithms to control translational and rotational dynamics of a fixed wing VTOL UAV Güçlü, Anı; Kurtuluş, Dilek Funda; Department of Aerospace Engineering (2020) Guidance and autopilot algorithms are designed and applied to a fixed wing VTOL air vehicle. The algorithms are developed on a rotary wing and a fixed air vehicle. Each air vehicle is identified by experimentation to reduce the discrepancies among the system model and the actual air vehicles. Designed controllers for the air vehicles are deployed to Pixhawk Cube controller board. Indoor and outdoor flight tests are carried out. For the rotary wing air vehicle, active disturbance rejection control algorithms...

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.