Department of Mechatronics Engineering
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Browsing Department of Mechatronics Engineering by Author "Altınuç, Kemal Orçun"
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Item ENSURING STABILITY OF A QUADROTOR FOR PROPELLER FAILURE(2022-01-14) Altınuç, Kemal Orçun; KHAN, Muhammad UmerIn this thesis, a novel solution is presented for a fixed-wing quad-rotor to maintain its position in 3D space, despite losing one or two–opposite– propellers by sacrific ing the yaw motion. According to the proposed solution, quad-rotor spins about a primary axis, fixed with respect to the vehicle and changes this axis for translational movement. A multi-loop cascaded control law is used in order to stabilize the attitude and the position of the quad-rotor for propeller failures. First, equilibrium solutions for motor failure scenarios are calculated. Then, a reduced attitude controller and position controller is designed around the linearized system for a reference and a custom quadrotor. Simulations are performed on Matlab/Simulink and Matlab/Simscape and results are compared. Lastly, CAD drawings of a custom quadrotor is used to estimate the moment of inertia of the quadrotor and results are verified with the Bifilar Pendulum Experiment. The results show that quadrotor sta bility has been achieved for propeller failure.