Bir dört rotorlu hava aracının gerçek zamanlı uçuş verisi ile modellemesi, tanılaması ve simülasyonu

Quadrotor is the name given to a special kind of aircraft of which thrust is generated by four independent propellers. Although some manned quadrotors exist, most of the quadrotors are unmanned aerial vehicles (UAV). This work is about mini unmanned quadrotors so called quadrotor mAV. Today, quadrotors are very popular for researcher for their great ability to hover and vertical takeoff and landing (VTOL). Especially for defense industry applications, rescue and exploration purposes they become a matter the choice. In this work, operation principles of are given in details from an engineering point of view. A detailed inertial frame based nonlinear dynamical model for plus-type quadrotor is obtained using Euler Lagrange method. It contains gyroscopic torques as well as Coriolis effects. After that, a body frame based nonlinear dynamical model is obtained using Newton Euler method. The rotational part of the Newton Euler based model is linearized to obtain a simpler model to use for the rest of this work. A motor (driving a propeller) is also modeled as a nonlinear dynamical system. For experimental parts of this work, Crazyflie quadrotor platform is used. Crazyflie is a mini sized quadrotor that can be flown by a human operator via Crazyradio wireless communication. To be able to collect real-time flight data, a telemetry system is implemented as an add-on for Crazyflie quadrotor. Both the software and the hardware are explained in details. Real-time motor speed versus motor armature voltage data is collected. A grey box model is defined and the parameters of the model are identified using prediction error method (PEM). Real-time flight data including attitude angles of the quadrotor versus motor armature voltages is collected and the voltages are converted to motor speeds using identified motor model. Grey-box models are defined for three Euler angles and their parameters are found using PEM. Then as a black-box approach, auto regressive exogenous (ARX) technique is used to identify linear models. Finally, a simulation scheme using the identified model is designed and model verification is done. A proportional, integral, derivative (PID) based controllers are designed and the quadrotor simulation model is controlled with success.