Implementation and modelling of unmanned air vehicle

In this thesis study, the four-engine propeller-driven aircraft regarded as unmanned aerial vehicle system is modeled using fundamental dynamic equations. Also, mechanical, electronics and control system of the air vehicle are designed and implemented. The brushless motor is used to rotate the propeller at high level revs. Brushless motor speeds are changed via electronic speed controllers. The vehicle's fundemental state angles (i.e., roll angle, pitch angle, and yaw angle) are taken from AHRS sensor. These angles are provided as an input to the control algorithm that run on soft the processor on the electronic card. The vehicle control algorithm is carried out on the electronic card. Electronic card includes one FPGA and one SRAM to run software on soft processor that is inside of FPGA. At the same time, one GPS is used to obtain position information and one RF module is used to communicate wirelessly with the computer at the ground station. Carrier structure of the air vehicle is made of carbon fiber which provides that the vehicle is more lightweight and more robust. Many test setups are constructed for analyzing the control algoritms of an unmanned air vehicle. Controller is designed for each roll,pitch and yaw axes respectively in the system. Control algorithm consists of two cascade loops. The inner loop is called angular velocity loop and the outer loop is called angle or position loop. Quadrotor has been flown in the free-flight testing successfully.