Designing and modelling of single motor multicopter control system

Multi-copter technology, which today dominates an area almost large enough to surround us and has popularity, has been developed and modified by following each other technologically from past to present. Compared to other aircraft suspended in the air, it has been very preferred due to its mechanical simplicity and multi-functional flight configuration. However, this simplicity restricts maneuverability and efficiency. For this reason, in this thesis, Heli-Quad, a single-engine and variable pitch quadcopter, which is a new design with high maneuverability and advanced electronic technology simplicity, has been developed. Unlike conventional quadcopters, a single motor connected to the quadcopter frame and torque tube gear mechanism is used to rotate the propellers. Propellers are moved in a negative and positive position thanks to the collective mechanism connected to the torque tube. In this study, contrary to similar studies using a belt drive system, the shaft drive system was used and the electronic design and modeling of the control system of Heli-Quad, which is generally a single-engine quadcopter were studied as the main motivation. By taking advantage of scanned literature and books, was studied and researched from the basis of the PID control system to the main operating principles of flight controllers. A small-scale controls experiment was carried out with the basic logic of PID control. In this study, were used PIXHAWK flight controller and MISSION Planner interface system. The electronic temple was configurated and the system is programmed through the mission planner interface. Key Words: Heli-Quad, PIXHAWK, MISSION Planner, PID, Collective Mechanism