Simulink ile model insansız hava aracı geliştirilmesi: Modellemesi ve kontrolü

The nonlinear simulation model of an unmanned aerial vehicle (UAV) for Piper J3-Cub in MATLAB/Simulink® environment is developed by taking into consideration all the possible major system components such as actuators, gravity, engine, atmosphere, wind-turbulence models, as well as the aerodynamics components in the 6 DOF equations of motion. Trim which is determined at the specific value and linearization is derived from the nonliner model at trim point are accomplished and various related analyses are carried out. The model is validated by comparing with a similar UAV data in terms of open loop dynamic stability characteristics. Using two main approaches; namely, fuzzy based on PID which is the obtained value using genetic algorithm and adaptive neural fuzzy inference system , linear controllers are designed. The controllers are designed for control of roll, heading with coordinated turn, flight path, attitude command in pitch, altitude in achieving desired, i.e., for the achievement of control functions. These linear controllers are integrated into the nonlinear model, by gain scheduling with respect to altitude, controller input in terms of longitudinal and lateral linearization regarding the perturbed states and control. The responses of the nonlinear model controlled with the two controllers by various aspect are compared based on flight control requirements. The fuzzy logic control based on PID system is applied to control three angular angles of nonlinear model.The body axis roll, pitch, yaw are determined parameter tuning process of PID due to obtaining satisfactory using genetic algorithm to elevator, aileron and rudder actuators. The ANFIS architecture is formulized a systematic approach to generate the fuzzy rule and membership functions.The training data and the checkhing data is obtained from systems which have nonlinear and controlled system model for UAV.The ANFIS controller system architecture and design are applied in the related section in terms of longitudinal and lateral motions respectively.