VTOL Craft Controller Design and Simulation Using Digital Twin

Gökçe C., YILDIZ M., Kale-Halasz G.

3rd International Conference on Cognitive Mobility, CogMob 2024, Budapest, Macaristan, 7 - 08 Ekim 2024, cilt.1258 LNNS, ss.401-413, (Tam Metin Bildiri) identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Cilt numarası: 1258 LNNS
  • Doi Numarası: 10.1007/978-3-031-81799-1_37
  • Basıldığı Şehir: Budapest
  • Basıldığı Ülke: Macaristan
  • Sayfa Sayıları: ss.401-413
  • Anahtar Kelimeler: Controller Design, Digital Twin, VTOL Craft
  • Erciyes Üniversitesi Adresli: Evet

Özet

Controller design has an important place in studies with unmanned aerial vehicles. In this study, a VTOL craft with 4 rotors was designed. Block parameters have been determined for Pitch, Roll, Yaw and Thrust control movements. Digital simulation was carried out in a windless environment. In addition to the PID control method, which is a controller model, a controller design has been developed. The working principle of the system is to control the angular position of the load by changing the input voltage of the motor. The system allows you to reach the set position by receiving instant information with the actual position and creates an iteration by constantly checking the output position value. Additionally, there are limited parameters to prevent overshoot situations in the system. As a result of the numerical model, it was observed that the actual position reached the set position value without overshoot situations and the system showed stability.