PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV)
In this article, preliminary and conceptual design, dynamic modeling and flight dynamics modes of an unmanned aerial vehicle which have both helicopter flight mode and fixed-wing aircraft flight mode is researched. The air vehicle (ZANKA-IV) which will be produced in Erciyes University Faculty of Ae...
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Anadolu University
2017-09-01
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Online Access: | http://dergipark.gov.tr/aubtda/issue/30003/322137?publisher=anadolu |
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doaj-afae105b5c414e0baa6e74feeb2da13a2020-11-24T22:54:25ZengAnadolu UniversityAnadolu University Journal of Science and Technology. A : Applied Sciences and Engineering1302-31602146-02052017-09-0118355456210.18038/aubtda.32213726PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV)Tuğrul OKTAYMetin UZUNHarun ÇELİKMehmet KONARIn this article, preliminary and conceptual design, dynamic modeling and flight dynamics modes of an unmanned aerial vehicle which have both helicopter flight mode and fixed-wing aircraft flight mode is researched. The air vehicle (ZANKA-IV) which will be produced in Erciyes University Faculty of Aeronautics and Astronautics Drone Laboratory captures both passive and active morphing properties. Furthermore, this hybrid unmanned aerial vehicle (HUAV) will be controlled by PID based autopilot system. In this paper, as the first time, sizes of morphing apparatuses and autonomous system are determined simultaneously in order to maximize autonomous flight performance. A stochastic optimization method is applied for simultaneous design. As a result, optimum solution is obtained very fast and accurately. Moreover, as a result of this approach, autonomous control of HUAV becomes noticeably efficient. 10% improvement in autonomous performance index is achieved. Furthermore, the autopilot successfully tracks a reference trajectory with pitching angle of 30 degrees.http://dergipark.gov.tr/aubtda/issue/30003/322137?publisher=anadoluHybrid UAVsAutonomous FlightAutonomous PerformanceMaximization |
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DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Tuğrul OKTAY Metin UZUN Harun ÇELİK Mehmet KONAR |
spellingShingle |
Tuğrul OKTAY Metin UZUN Harun ÇELİK Mehmet KONAR PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV) Anadolu University Journal of Science and Technology. A : Applied Sciences and Engineering Hybrid UAVs Autonomous Flight Autonomous Performance Maximization |
author_facet |
Tuğrul OKTAY Metin UZUN Harun ÇELİK Mehmet KONAR |
author_sort |
Tuğrul OKTAY |
title |
PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV) |
title_short |
PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV) |
title_full |
PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV) |
title_fullStr |
PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV) |
title_full_unstemmed |
PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV) |
title_sort |
pid based hierarchical autonomous system performance maximization of a hybrid unmanned aerial vehicle (huav) |
publisher |
Anadolu University |
series |
Anadolu University Journal of Science and Technology. A : Applied Sciences and Engineering |
issn |
1302-3160 2146-0205 |
publishDate |
2017-09-01 |
description |
In this article, preliminary and conceptual design, dynamic modeling and flight dynamics modes of an unmanned aerial vehicle which have both helicopter flight mode and fixed-wing aircraft flight mode is researched. The air vehicle (ZANKA-IV) which will be produced in Erciyes University Faculty of Aeronautics and Astronautics Drone Laboratory captures both passive and active morphing properties. Furthermore, this hybrid unmanned aerial vehicle (HUAV) will be controlled by PID based autopilot system. In this paper, as the first time, sizes of morphing apparatuses and autonomous system are determined simultaneously in order to maximize autonomous flight performance. A stochastic optimization method is applied for simultaneous design. As a result, optimum solution is obtained very fast and accurately. Moreover, as a result of this approach, autonomous control of HUAV becomes noticeably efficient. 10% improvement in autonomous performance index is achieved. Furthermore, the autopilot successfully tracks a reference trajectory with pitching angle of 30 degrees. |
topic |
Hybrid UAVs Autonomous Flight Autonomous Performance Maximization |
url |
http://dergipark.gov.tr/aubtda/issue/30003/322137?publisher=anadolu |
work_keys_str_mv |
AT tugruloktay pidbasedhierarchicalautonomoussystemperformancemaximizationofahybridunmannedaerialvehiclehuav AT metinuzun pidbasedhierarchicalautonomoussystemperformancemaximizationofahybridunmannedaerialvehiclehuav AT haruncelik pidbasedhierarchicalautonomoussystemperformancemaximizationofahybridunmannedaerialvehiclehuav AT mehmetkonar pidbasedhierarchicalautonomoussystemperformancemaximizationofahybridunmannedaerialvehiclehuav |
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1725659988930592768 |