Design and remote control of a Flapping Wing Unmanned Aerial Vehicle

In the field of defense technologies, unmanned aerial vehicles are widely used in areas such as reconnaissance, surveillance, and attack. However, since the known unmanned aerial vehicles used have some disadvantages such as efficiency, mobility, and concealment, in this thesis, the Flapping Wing Unmanned Aerial Vehicle Design, which is known to be more efficient and mobility than the known unmanned aerial vehicles, has been made. As a result of the data obtained after many scientific spelling studies, many airfoil designs have been made in the Solidworks environment. In order to study the aerodynamic forces on the resulting profile designs, analyzes were performed with the Computational Fluid Dynamics algorithm, which is an algorithm of the Ansys program. The desired wing structure was obtained by making the appropriate profile three-dimensional in a solidwork environment. After that, the tail limb and fuselage were designed, which would ensure the stable flight and orientation of the aircraft, and the second stage was moved on. At this stage, the four-rod mechanism is considered, which will ensure the movement of the whisk. Using the kinematic equations obtained to give the desired maximum and minimum flapping angles and the Particle Swarm Optimization (PSO) algorithm, the limb dimensions of the mechanism and the required angle value were found. Next, a Central Pattern Generator with a Hopf oscillator was designed in a Matlab-Simulink environment for synchronous flapping and bending movements, which are the basic wing movements. Bending movements are provided by servo motors connected to the wing tip. However, the motor that will provide the flapping motion is a three-phase brushless direct current motor. To ensure the control of this engine, the engine was first simulated in the Matlab-Simulink environment. Then, an appropriate controller design was made using PSO with this model. As a result of the final designs obtained, a prototype was made for the purpose of observing the wing movements and testing the remote control system. As a result of the prototype, it was observed that the wing movements moved in the desired way. In addition, as a result of theoretical calculations, the aircraft can carry 1.315 kg as a useful load. it is capable of turning at a radius of 4.52 m at an angle of 76.88° without losing altitude. As a result of the data obtained from this study, it was aimed to create a robotic bird as a basis for future studies.