Design and control of X5 unmanned aerial robot

Tezin Türü: Yüksek Lisans

Tezin Yürütüldüğü Kurum: Orta Doğu Teknik Üniversitesi, Mühendislik Fakültesi, Elektrik ve Elektronik Mühendisliği Bölümü, Türkiye

Tezin Onay Tarihi: 2015

Öğrenci: MEHRAN EBADOLLAHİ NOUDEH

Danışman: MEHMET KEMAL LEBLEBİCİOĞLU

Özet:

This thesis presents a mathematical model and an autopilot of a new type Unmanned AerialRobot(UAR)namedX5withafocusonVerticalTake-offandLanding(VTOL) systems. Physically,itconsistsofalargepropellertocarrythemainpayload,andfour small propellers for controlling the attitude. It presents a nonlinear 6 degrees of freedom (DOF) model of X5 based on Newton-Euler method for simulation and control. The mathematical model introduced in this work includes the rotor dynamics and detailed aerodynamic effects. TheautopilotofX5requiresspecialattentionbecauseofunsymmetricalactionofthe big propeller in the yaw plane. Three different autopilots have been developed and simulated based on the simpliﬁed mathematical model of X5. Proportional Derivative (PD) controller is the ﬁrst technique developed for altitude, attitude and position control. The second controller designed is based on Proportional Integral Derivative (PID) controller. The third one is based on Lyapunov control theory. The performances of controllers have been evaluated and compared with simulation based experiments. Furthermore, all the relevant hardware components have been modeled which enable us to perform hardware-in-the-loop experiments. In the ﬁnal part of this study, the suggested aerial robot, i.e., X5, has been designed physically and it is being constructed to perform real life experiments.