Sürdürülebilir Kalkınma Amaçları
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- MakaleYalnız künye2023Simultaneous design of morphing hexarotor and autopilot system by using deep neural network and SPSA
Kose, Oguz; Oktay, Tugrul
PurposeThe purpose of this paper is to optimize the simultaneous flight performance of a hexarotor unmanned aerial vehicle (UAV) by using simultaneous perturbation stochastic approximation (i.e. SPSA), deep neural network and proportional integral derivative (i.e. PID) according to varying arm length (i.e. morphing). Design/methodology/approachIn this paper, proper PID gain coefficients and morphing ratio were obtained using the stochastic optimization method, also known as SPSA to maximize flight efficiency. Because it is difficult to establish an analytical connection between the morphing ratio and hexarotor moments of inertia, the deep neural network was used to obtain the moments of inertia according to the morphing ratio. By using SPSA and deep neural network, the best performance indexes were obtained and both longitudinal and lateral flight simulations were performed with the obtained data. FindingsWith SPSA, the best PID coefficients and morphing ratio are obtained for both longitudinal and lateral flight. Because the hexarotor solid body model changes according to the morphing ratio, the moment of inertia values used in the simulations also change. According to the morphing ratio, the moment of inertia values was obtained with the deep neural network over a created data set. Research limitations/implicationsIt takes a long time to obtain the morphing ratio suitable for the hexarotor model and the PID gain coefficients suitable for this morphing ratio. However, this situation can be overcome with the proposed SPSA. In addition, it takes a long time to obtain the appropriate moments of inertia according to the morphing ratio. However, in this case, it was overcome using the deep neural network. Practical implicationsDetermining the morphing ratio and PID gain coefficients using the optimization method, as well as determining the moments of inertia using the deep neural network, is very useful as it can increase the efficiency of hexarotor flight and flight efficiently with different arm lengths. With the proposed method, the hexarotor design performance criteria (i.e. rise time, settling time and overshoot) values were significantly improved compared to similar studies. Social implicationsDetermining the hexarotor flight parameters using SPSA and deep neural network provides advantages in terms of time, cost and applicability. Originality/valueThe hexarotor flight efficiency is improved with the proposed SPSA and deep neural network approaches. In addition, the desired flight parameters can be obtained more quickly and reliably with the proposed approaches. The design performance criteria were also improved, enabling the hexarotor UAV to follow the given trajectory in the best way and providing convenience for end users. SPSA was preferred because it converged faster than other methods. While other methods perform 2n operations per iteration, SPSA only performs two operations. To obtain the moment of inertia, many physical parameter values of the UAV are required in the existing methods. In the proposed method, by creating a date set, only arm length and moment of inertia were estimated without the need to obtain physical parameters with the deep neural network structure.
- MakaleYalnız künye2022Simultaneous autonomous system and powerplant design for morphing quadrotors
Sahin, Huseyin; Kose, Oguz; Oktay, Tugrul
Purpose This study aims to optimize autonomous performance (i.e. both longitudinal and lateral) and endurance of the quadrotor type aerial vehicle simultaneously depending on the autopilot gain coefficients and battery weight. Design/methodology/approach Quadrotor design processes are critical to performance. Unmanned aerial vehicle durability is an important performance parameter. One of the factors affecting durability is the battery. Battery weight, energy capacity and discharge rate are important design parameters of the battery. In this study, proper autopilot gain coefficients and battery weight are obtained by using a stochastic optimization method named as simultaneous perturbation stochastic approximation (SPSA). Because there is no direct correlation between battery weight and battery energy density, artificial neural network (ANN) is benefited to obtain battery energy density corresponding to resulted battery weight found from SPSA algorithm. By using the SPSA algorithm optimum performance index is obtained, then obtained data is used for longitudinal and lateral autonomous flight simulations. Findings With SPSA, the best proportional integrator and derivative (PID) coefficients and battery weight, energy efficiency and endurance were obtained in case of morphing. Research limitations/implications It takes a long time to find the most suitable battery values depending on quadrotor endurance. However, this situation can be overcome with the proposed SPSA. Practical implications It is very useful to determine quadrotor endurance, PID coefficients and morphing rate using the optimization method. Social implications Determining quadrotor endurance, PID coefficients and morphing rate using the optimization method provides advantages in terms of time, cost and practicality. Originality/value The proposed method improves quadrotor endurance. In addition, with the SPSA optimization method and ANN, the parameters required for endurance will be obtained faster and more securely. In addition, the energy density according to the battery weight also contributes to the clean environment and energy efficiency.
- MakaleYalnız künye2022Hexarotor Yaw Flight Control with SPSA, PID Algorithm and Morphing
Kose, Oguz; Oktay, Tugrul
In recent years, the interest in unmanned aerial vehicles (UAV) has increased. They have penetrated into all areas of life. However, studies on UAV control have been a frequently discussed topic by researchers. In this study, a hexarotor in which yaw flight is tried to be controlled by changing the arm lengths during flight (morphing) is discussed. The hexarotor mathematical model is linearly derived using Newton's equations of motion. The equations of motion are modeled using the state space model approach. Hexarotor has been drawn in Solidworks program in accordance with the reality of all morphing states. Morphing estimation and accordingly proportional-integral-derivative (PID) coefficients were estimated using Simultaneous Perturbation Stochastic Approximation (SPSA). SPSA was preferred because it converged to the optimum result faster than similar algorithms. Hexarotor simulations were performed in Matlab/Simulink environment. Hexarotor yaw flight stability was achieved by minimizing the SPSA generated cost function based on design performance criteria. The cost function converged in 3-4 iterations and approached the optimum result. Accordingly, the design performance criteria have also improved and successfully followed the given trajectory.
- MakaleAçık Erişim2021Hexarotor Longitudinal Flight Control with Deep Neural Network, PID Algorithm and Morphing
Oktay, Tugrul; Kose, Oguz
Unmanned Aerial Vehicles (UAV) have become an integral part of life, from military operations to entertainment. With this popularity, the interest of researchers on these UAVs has gradually increased. The use of UAVs in many areas and the researches carried out by researchers have revealed the limitations of these devices. At the beginning of these restrictions is the passage through the narrow space. In this study, longitudinal flight control of a hexarotor UAV is discussed with morphing. The limitation of this study is that it is difficult to estimate the moment of inertia and proportional integral derivative (PID) coefficient values according to the arm length, since there is a change in the hexarotor arm lengths with the morphing and the rigid body model changes accordingly. In this study, it is aimed to obtain these parameters with the Deep Neural Network(Artificial Neural Network(ANN) with two or more hidden layers) to overcome this problem. 15 drawings of hexarotor morphing states were drawn in Solidworks program. A training set was created by obtaining the PID coefficients for the longitudinal flight of these drawings from the Matlab/Simulink program. The training set was taught to the Deep Neural Network and moments of inertia and PID coefficients were obtained according to the arbitrarily estimated arm extension or shortening rates. In addition, the hexarotor dynamic model was derived according to the Newton-Euler approach and modeled using the state space model. The longitudinal flight of the hexarotor is simulated with the state space model. The moment of inertia and PID coefficients were estimated by Deep Neural Network according to the values determined by the program randomly together with the initial state. Simulations were made with these parameters and the results were given in graphics.
- MakaleAçık Erişim2021Combined Quadrotor Autopilot System and Differential Morphing System Design
Oktay, Tugrul; Kose, Oguz
The aim of this article is to design and model a quadrotor with autopilot system and differential morphing using the Simultaneous Perturbation Stochastic Approximation (SPSA) optimization algorithm. Along with differential morphing, quadrotor modelling and control was also done. Although it is simple in structure, it has a complex structure in terms of model and control. Newton-Euler method was used for the dynamic model. Non-linear motion equations have been converted to linear motion equations. The full quadrotor model was drawn in the Solidworks program. Mass and moment of inertia information was obtained from this model. Simulation model was created by using state space model approach in Matlab / Simulink environment. Proportional integral derivative (PID) algorithm was used as the control structure. Differential morphing and PID coefficients rates were determined with SPSA. With the optimization method, determining the differential morphing rate, PID coefficients and applying it to the quadrotor provides a very innovative method.
- MakaleAçık Erişim2021Quadrotor Flight System Design using Collective and Differential Morphing with SPSA and ANN
Kose, Oguz; Oktay, Tugrul
Quadrotor modeling has been done with collective and differential morphing. Quadrotor initial state and morphing states are drawn in the Solidworks program. Newton-Euler approximation was used for quadrotor modeling. The mass and moment of inertia values required for modeling and simulation were obtained from the Solidworks program. Matlab / Simulink environment and state-space model approaches are used for simulations. A simultaneous perturbation stochastic approximation (SPSA) algorithm was used to determine the quadrotor morphing rates. If the morphing state obtained by SPSA is not included in the values obtained from the drawings, here it is provided to find the moments of inertia with the method based on learning by using the data obtained with the Artificial Neural Network(ANN). Proportional Integral Derivative (PID) is used as the quadrotor control algorithm. PID coefficients are also determined by SPSA.
- MakaleAçık Erişim2020Investigation of the Effect of Differential Morphing on Lateral Flight by Using PID Algorithm in Quadrotors
Oktay, Tugrul; Kose, Oguz
Quadrotor is unmanned aerial vehicles that are widely used in military and civil fields. Quadrotors differ from conventionalhelicopters, which use rotors that are able to vary the pitch of their blades dynamically as they move around the rotor hub. Quadrotorsgenerally use two pairs of identical fixed pitch propellers; two clockwise (CW) and two counterclockwise (CCW). These useindependent variation of the speed of each rotor to achieve control. In this study, the quadrotor lateral flight and the effect ofmorphing on this flight were investigated. Morphing is called the change of unmanned aerial vehicles in their geometry. NewtonEuler method is used to create the quadrotor model. However, since the quadrotor is a system with non-linear dynamics, motionequations are converted to linear equations. The quadrotor full model was drawn in the Solidworks program, including batteries,controllers and propellers, in accordance with its actual dimensions. State space model approach was used in simulations in Matlab /Simulink environment. The value of mass and inertia moments from the Solidworks program is used in the state space model.Proportional integral derivative (PID) was used as the control algorithm. PID is an algorithm widely used in industrial applications.PID is preferred because it is strong, fast and simple. The system to which PID will be applied must be linear. The PID coefficientsKp, Ki and Kd are important for the stable operation of the system. Appropriate values should be chosen. In this study, lateral flightperformance was monitored using differential morphing and PID algorithm and the results were presented.
- MakaleAçık Erişim2020Investigation of the Effect of Differential Morphing on Forward Flight by Using PID Algorithm in Quadrotors
Oktay, Tugrul; Kose, Oguz
In this study, modeling, control and differential morphing of a four-rotor unmanned aerial vehicle known as a quadrotor isdiscussed. With differential morphing, the forward flight performance and model of an autonomous quadrotor is presented.Due to the complex structure of the quadrotor, it is difficult to build the model. To get model parameters, a complete quadrotormodel is drawn in the Solidworks program. In addition, Newton-Euler equations are used in the mathematical model.Simulation is done in Matlab / Simulink environment by using the parameters obtained from the model and the state-spacemodel approach. PID (proportional, integral, derivative) is used as the quadrotor control algorithm. As a result of the study,the quadrotor forward flight is carried out using PID algorithm and differential morphing. The system characteristics of thesituations with and without differential morphing are compared and the results are presented with graphs.
- MakaleAçık Erişim2020Lateral Control with Differential and Collective Morphing in Quadrotors
Oktay, Tugrul; Kose, Oguz
Quadrotor are four-rotor unmanned aerial vehicles(UAV). These vehicles are widely used in military and civilian areas. They are preferred because they eliminate the risk of life of pilots. In this study, the effect of morphing, which is a new and developmental phenomenon in unmanned aerial vehicles, on lateral flight is discussed. Quadrotor modeling is achieved by Newton Euler approach. Models with quadrotor full and morphing states were drawn in Solidworks program. Simulations were made using the state space model approach in Matlab environment with the moment of inertia and mass values obtained in these models. Proportional integral derivative(PID) is used as the quadrotor control algorithm. Simulations are performed separately for each morphing situation. The results are presented with graphic and design performance criteria.
- MakaleYalnız künye2020Simultaneous quadrotor autopilot system and collective morphing system design
Kose, Oguz; Oktay, Tugrul
Purpose: The purpose of this paper is to design a quadrotor with collective morphing using the simultaneous perturbation stochastic approximation (SPSA) optimization algorithm. Design/methodology/approach: Quadrotor design is made by using Solidworks drawing program and some mathematical performance relations. Modelling and simulation are performed in Matlab/Simulink program by using the state space model approaches with the parameters mostly taken from Solidworks. Proportional integral derivative (PID) approach is used as control technique. Morphing amount and the best PID coefficients are determined by using SPSA algorithm. Findings: By using SPSA algorithm, the amount of morphing and the best PID coefficients are determined, and the quadrotor longitudinal and lateral flights are made most stable via morphing. Research limitations/implications: It takes quite a long time to model the quadrotor in Solidworks and Matlab/Simulink with the state space model and using the SPSA algorithm. However, this situation is overcome with the proposed model. Practical implications: Optimization with SPSA is very useful in determining the amount of morphing and PID coefficients for quadrotors. Social implications: SPSA optimization method is useful in terms of cost, time and practicality. Originality/value: It is released to improve performance with morphing, to determine morphing rate with SPSA algorithm and to determine PID coefficients accordingly.
- MakaleAçık Erişim2019Dynamic Modeling and Simulation of Quadrotor for Different Flight Conditions
Oktay, Tugrul; Kose, Oguz
In this paper, a four-rotor unmanned aerial vehicle was modeled, a control system was designed and performance evaluations weremade. For the control system, a separate mathematical model of the unmanned aerial vehicle longitudinal, lateral and vertical take-offand landing operations is omitted and is expressed as a state space model. The mathematical model of the wind disturbances that willaffect the unmanned aerial vehicle during the flight was created and the situation was added to the space model. Proportional IntegralDerivative (PID) control algorithm was used as the control. Unmanned aerial vehicle modeling was done in Solidworks andsimulations were done in Matlab / Simulink program.
- MakaleYalnız künye2019Quadrotorlar için Eş Zamanlı Olmayan Başkalaşım Tasarımı
Oktay, Tugrul; Kose, Oguz
Quadrotor ticari, askeri ve dış mekân uygulamalarında yaygın olarak kullanılan dört rotorlu insansız hava aracı türüdür. Bu çalışmadaquadrotor’un boylamasına ve yanlamasına olan uçuşunun modellemesi, kontrolü ve uçuş sırasındaki geometri değişimi ile başkalaşımdurumu ele alındı. Başkalaşım işlemi boylamasına ve yanlamasına uçuşta aynı anda gerçekleşmemektir. Quadrotor uçuş sırasındakigeometri değişimi ya da uçuştan önce yerde iken meydana gelen geometri değişimi başkalaşım olarak ifade edilir. Quadrotor türüinsansız hava araçlarında kolların uzayıp kısalması ve kol kesişim açılarının değiştirilmesi gibi çeşitli başkalaşım türleri vardır bubaşkalaşım türlerine çalışmada yer verildi. Quadrotor yapısal olarak basit olmasına rağmen kontrol yapısı olarak zor ve karmaşık birsistemden oluşur. Quadrotor matematiksel modeli non-lineer bir yapıya sahiptir. Bu yapı kullanılarak quadrotor kontrolü sağlanabilirfakat bu çalışma kapsamında lineer olmayan yapı çeşitli yöntemler kullanılarak lineer duruma getirildi. Lineer ifadeler çeşitli giriş veçıkışlar kullanılarak durum uzay modeli yaklaşımı ile ifade edildi. Dinamik modelin elde edilmesinde quadrotor sistemlerinde yaygınolarak kullanılan Newton Euler metodu kullanıldı. Durum uzay modeli kullanılarak sistemin simülasyonu Matlab / SIMULINKortamında gerçekleştirildi. Matlab / SIMULINK için gerekli olan parametreler ve sistemin grafiksel çizimi ise CAD programındayapıldı. Bu programdan kütle, atalet gibi parametreler elde edildi. Sistemin kontrolünde ise yaygın olarak kullanılan PID algoritmasıkullanıldı. Kontrol sistemi için gerekli olan Kp, Ki ve Kd gibi katsayılar ise deneysel olarak elde edildi. Von Karmana Türbülansmodeli quadrotor belirli bir gürültü altında yükselme, boylamasına, yanlamasına ve yörünge izleme işlemleri için kullanıldı. Buçalışmanın sonucu olarak eş zamanlı olmayan morphing ile boylamasına ve yanlamasına uçuş belirli bir gürültü altında PID kontrolalgoritması kullanılarak gerçekleştirilmiş ve sonuçlar grafikler ile ortaya konulmuştur.
- MakaleAçık Erişim2017Effect of the Simultaneous Variation in Blade Root Chord Length and Blade Taper on Helicopter Flight Control Effort
Oktay, Tugrul; Sal, Firat
In this study, the effect of simultaneous variation in blade root chord length and blade taper on the control effort of helicopter flight control system (i.e., FCS) of a helicopter is investigated. Therefore, helicopter models (i.e., complex, control-oriented, and physics-based models) including the main physics and essential dynamics are used. The effect of simultaneous variation in the blade root chord length and blade taper (i.e., in both chordwise and lengthwise directions dependently) on the control effort of an FCS of a helicopter and also on the closed-loop responses is studied. Comparisons in terms of the control effort and peak values with and without variations in the blade root chord and blade taper changes are carried out. For helicopter FCS variance-constrained controllers, specific output variance-constrained controllers are beneficial.