Simultaneous quadrotor autopilot system and collective morphing system design

Abstract

Purpose

The purpose of this paper is to design a quadrotor with collective morphing using the simultaneous perturbation stochastic approximation (SPSA) optimization algorithm.

Design/methodology/approach

Quadrotor design is made by using Solidworks drawing program and some mathematical performance relations. Modelling and simulation are performed in Matlab/Simulink program by using the state space model approaches with the parameters mostly taken from Solidworks. Proportional integral derivative (PID) approach is used as control technique. Morphing amount and the best PID coefficients are determined by using SPSA algorithm.

Findings

By using SPSA algorithm, the amount of morphing and the best PID coefficients are determined, and the quadrotor longitudinal and lateral flights are made most stable via morphing.

Research limitations/implications

It takes quite a long time to model the quadrotor in Solidworks and Matlab/Simulink with the state space model and using the SPSA algorithm. However, this situation is overcome with the proposed model.

Practical implications

Optimization with SPSA is very useful in determining the amount of morphing and PID coefficients for quadrotors.

Social implications

SPSA optimization method is useful in terms of cost, time and practicality.

Originality/value

It is released to improve performance with morphing, to determine morphing rate with SPSA algorithm and to determine PID coefficients accordingly.

Citation

Kose, O. and Oktay, T. (2020), "Simultaneous quadrotor autopilot system and collective morphing system design", Aircraft Engineering and Aerospace Technology, Vol. 92 No. 7, pp. 1093-1100. https://doi.org/10.1108/AEAT-01-2020-0026