Department of Mechatronics Engineering
Permanent URI for this collection
Browse
Browsing Department of Mechatronics Engineering by Author "ARIKAN, Kutluk Bilge"
Now showing 1 - 6 of 6
Results Per Page
Sort Options
Item ATTITUDE AND ALTITUDE CONTROL OF A TRIPLE TILT-ROTOR UNMANNED AERIAL VEHICLE(2013-08-13) KAÇAR, Alp; ARIKAN, Kutluk Bilge; İRFANOĞLU, BülentIn this thesis, design of triple tilt-rotor unmanned aerial vehicle (UAV) and controller design for attitude and altitude dynamics has been studied. After UAV designed, carbon-fiber bars, plastic parts, tilt mechanisms and landing gears are manufactured. During the manufacturing process; mathematical model is obtained. The model has been linearized to design linear quadratic regulator (LQR) based controllers to stabilize the system and track reference inputs. In physical system, inertial measurement unit, ultrasonic proximity sensor, and optical flow sensor have been used to measure state variables, Brushless DC motors and high-speed servo motors are used as actuators. After completion of the simulations, real-time system tests have been started. The control algorithm designed in MATLAB, Simulink. Real Time Windows Target has been used to implement real-time control via data acquisition board. In both simulations and real-time tests attitude and altitude have been successfully controlled.Item ATTITUDE AND ALTITUDE CONTROL OF TWO WHEEL TRIROTOR HYBRID ROBOT(2013-05-21) ALWAFI, Husein; İRFANOĞLU, Bülent; ARIKAN, Kutluk BilgeTwo Wheel Tri-Rotor (2W3R) hybrid robot that can move on ground, hover and navigate in air, is a novel system studied in this thesis. Physical structure of the system had been built in Flying Robotics Laboratory by undergraduate students as a course project in Mechatronics Department at Atılım University. Core of this thesis is to design controllers to stabilize and control the system on its hovering conditions. Stabilization and control of roll, yaw, pitch, and the altitude dynamics using the propulsion units are studied. Nonlinear equations of motion of the physical system are first derived, and then state feedback linearization technique and Linear Quadratic Regulator (LQR) are used, and control systems are developed in Matlab Simulink.Item DESIGN OF TWO WHEELED TWIN ROTORED HYBRID ROBOTIC PLATFORM(2010-07-27) KÜÇÜK, Doğanç; ARIKAN, Kutluk Bilge; İRFANOĞLU, BülentThe design of the two wheeled twin rotored hybrid robot (TWTR) structure is explained in the thesis. This study is the initial phase of the project to reach a hybrid platform that can navigate on ground and hover and navigate in air whenever necessary. This initial phase includes the design of the initial version of the physical system and design of basic controllers depending on the mathematical models and simulations. The system is designed and physically constructed based on the mechatronics design principles. Selection of actuators, sensor set, and the control hardware and the physical structure design are all considered simultaneously with the mathematical model and controller design phases. Nonlinear equations of motion of the physical system are derived and linearized in state space form for both ground and flying modes of motion. Linear Quadratic Regulator (LQR) and Error Space Approach type of controllers are designed employing the mathematical model and simulations. For ground motion, LQR and Error Space Approach controllers are designed and implemented on the real system; whereas PID and LQR type control systems are designed and implemented for the flying motion of the real robotic platform. Stabilization of the attitude dynamics is considered for the flying motion in this study. Designed control systems are implemented on the physical system and the control parameters are tuned experimentally. The control system is developed in Matlab/Simulink and real time implementation is achieved by using Simulink Real Time Windows Target utility. Embedded controllers are not utilized in this first stage. Control systems are designed for the stabilization of the system and error space approach is applied for tracking a reference for the motion of the robot on ground. LQR’s are designed to stabilize the attitude dynamics of the robot for flying motion. Switching between the control systems on ground and in air modes are achieved using a proximity sensor that can sense the distance of the platform body to the ground. Experiments show that system can be stabilized on ground and the attitude dynamics can be stabilized in air. The system will be developed to fully guide on ground and in air.Item DEVELOPMENT OF A WALKING MACHINE WITH TWO LEGS(2013-08-14) GOL MOHAMMAD ZADEH, Mohammad Hassan; ARIKAN, Kutluk Bilge; İRFANOĞLU, BülentThis dissertation reports on the developments of the bipedal walking robot BIROL. Special about it is that BIROL has 12 degrees of freedom and is actuated with the servomotors which are controlled in real time mode by RTWT through Matlab/Simulink. Before designing the controller, mathematical model has been obtained using Denavit-Hartenberg convention and Newton-Euler method. We generated a dynamically consistent motion pattern off-line by using central pattern generators (CPG) first for a Test Bench Walking Robot then for BIROL Robot. In order to keep the balance of robot the motion pattern consists the desired trajectories of all joints and the desired zero moment point (ZMP) trajectory. Force sensory feedbacks give the ground contact forces to compare real system with simulation.Item EFFECTS OF ACTIVE LANDING GEAR ON THE ATTITUDE DYNAMICS OF A QUADROTOR(2015-10-11) YILDIZ, Mehmet; ARIKAN, Kutluk Bilge; İRFANOĞLU, BülentIn this thesis, effects of the active landing gears which are used in most of the commercial multirotor systems, on attitude dynamics are investigated. Utilization for the purpose of stability assistance, steering and the agility enhancement is discussed. A Quadrotor test system is constructed by using a commercial quadrotor frame, actuators, drivers and an open source embedded flight controller. The Quadrotor system with active landing gears is modelled on Matlab/Simulink environment. PID controller which is used in the embedded flight controller is designed to control attitude dynamics. PID controller is tuned on the test bench and tuned parameters are applied to the identified model of the Quadrotor. This model is used to optimize the controller parameters. For the active landing gear system, a simple servo motor actuated mechanism is used and this mechanism is applied on the Quadrotor roll axis. The positions of the gears are controlled by embedded flight controller as well. Experiments show that active landing gears can be used to improve the stability, to steer platform in horizontal plane and to improve the agility by applying an additional moment about the roll axis.Item IMPROVEMENT OF A RC QUADROTOR PLATFORM TO A FLYING ROBOT FOR TARGET TRACKING(2013-07-19) TANSU, Fırat; ARIKAN, Kutluk Bilge; İRFANOĞLU, BülentIn this study, transformation of Draganfly Vi Ti Pro, a remote controlled (RC) Quadrotor platform, into a target tracking flying robot is aimed. This thesis examines controller design for the attitude and altitude dynamics and target tracking. The major aim of this work is to design a normalized linear quadratic regulator (LQR) for attitude and altitude dynamics and achieve target tracking by PID controllers on a moving object. Before designing the controller, a mathematical model has been developed using the Euler-Lagrange method. Simulations and real-time applications have been performed on MATLAB/Simulink environment. For target detection algorithm, ArUco, which is a C++ code for basic augmented reality applications, has been used. Designed controllers are implemented on the physical system and satisfactory results are achieved. Comparison of simulation with the real system has been done and discussed.