Purpose

The purpose of this paper is to obtain values that stabilize the lateral and longitudinal flight of the quadrotor for which the morphing amount and the best Proportional-Integral-Derivative (PID) coefficients are determined by using the simultaneous perturbation stochastic approximation (SPSA) optimization algorithm.

Design/methodology/approach

Quadrotor consists of body and arms; there are propellers at the ends of the arms to take off and rotors that rotate them. By reducing the angle between mechanism 1 and the rotors with the horizontal plane, the angle between mechanism 2 and the arms, the rotors rise and different configurations are obtained. Conventional multi-rotor aircraft has a fixed fuselage and does not need a tail rotor to change course as helicopters do. The translational and rotational movements are provided by the rotation of the rotors of the aircraft at different speeds by creating moments about the geometric center in 6-degree-of-freedom (DOF) space. These commands sent from the ground are provided by the flight control board in the aircraft. The longitudinal and lateral flight stability and properties of different configurations evaluated by dynamic analysis and simulations in 6 DOF spaces are investigated. An algorithm and PID controller are being developed using SPSA to achieve in-flight position and attitude control of an active deformable aircraft. The results are compared with the results of the literature review and the results of the previous article.

Findings

With SPSA, the best PID coefficients were obtained in case of morphing.

Research limitations/implications

The effects of quadrotor arm height and hub angle changes affect flight stability. With the SPSA optimization method presented in this study, the attitude is quickly stabilized.

Practical implications

With the optimization method, the most suitable PID coefficients and angle values for the lateral and longitudinal flight stability of the quadrotor are obtained.

Social implications

The transition rate and PID coefficients are determined by using the optimization method, which is advantageous in terms of cost and practicality.

Originality/value

With the proposed method, the aircraft can change shape to adapt to different environments, and the parameters required for more stable flight for each situation will be calculated, and this will be obtained more quickly and safely with the SPSA optimization method.

中文翻译：

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同步手臂变形四轴飞行器及自主飞行系统设计

目的

本文的目的是通过同时扰动随机逼近（SPSA）优化算法确定变形量和最佳比例积分微分（PID）系数，获得稳定四旋翼飞行器横向和纵向飞行的值。 。

设计/方法论/途径

四旋翼飞行器由机身和手臂组成；手臂末端有用于起飞的螺旋桨和用于旋转它们的转子。通过减小机构1和转子与水平面之间的角度、机构2和臂之间的角度，转子上升并获得不同的配置。传统的多旋翼飞机具有固定机身，不需要像直升机那样通过尾桨来改变航向。飞机旋翼以不同速度旋转，在 6 自由度 (DOF) 空间中产生绕几何中心的力矩，从而提供平移和旋转运动。这些从地面发送的命令由飞机上的飞行控制板提供。研究了通过六自由度空间中的动态分析和仿真评估的不同构型的纵向和横向飞行稳定性和特性。正在使用 SPSA 开发算法和 PID 控制器，以实现主动变形飞机的飞行中位置和姿态控制。结果与文献综述的结果以及前一篇文章的结果进行了比较。

发现

利用SPSA，在变形的情况下获得了最佳的PID系数。

研究局限性/影响

四旋翼飞行器臂高和轮毂角度变化的影响会影响飞行稳定性。通过本研究提出的SPSA优化方法，姿态很快稳定下来。

实际影响

通过优化方法，得到最适合四旋翼飞行器横向和纵向飞行稳定性的PID系数和角度值。

社会影响

采用优化方法确定转变率和PID系数，在成本和实用性方面具有优势。

原创性/价值

通过所提出的方法，飞机可以改变形状以适应不同的环境，并且将计算出每种情况下更稳定飞行所需的参数，并且通过SPSA优化方法可以更快、更安全地获得这些参数。