{"id":528,"date":"2011-07-18T22:34:23","date_gmt":"2011-07-18T20:34:23","guid":{"rendered":"http:\/\/mclightning.com\/?p=528"},"modified":"2011-07-18T22:34:23","modified_gmt":"2011-07-18T20:34:23","slug":"quadrotor-long-story-short","status":"publish","type":"post","link":"https:\/\/maximusabrams.com\/?p=528","title":{"rendered":"Quadrotor… Long story short…"},"content":{"rendered":"

Hi fellows<\/p>\n

Actually it is quite late to blog about this.. But i think at least i can share the materials rather than just keeping those in my archives.I’m not going to go much into details.We’ve started a project to build a Quadrotor at University.We’ve made presentations to some companies & foundations to get financial support.After 5-6 months of presentation we finally found some financial support.But the project start to evolve in a way that totally bother me.So i quit the project and the project ended a couple of days later… Anyway… as i already said im not going to blog about that part of the story because i think it would be ethically incorrect.<\/p>\n

So… what i wanted to share here is the material i create for the presentations etc…Maybe it helps some people who are interested in Quadrotors…
\n<\/p>\n

\"\"<\/a>\"\"<\/a>\"\"<\/a><\/p>\n

3D Model i made for presentation, animation and simulation.<\/p>\n

And here is an animation i made for a presentation for a locally big company.So i censored the company logo in the video , because they didnt volunteer to support the project :D.<\/p>\n

Click here to watch<\/a><\/p>\n

And here are some of the documents i wrote for presentations ( Rest of the Article is in Turkish) :<\/strong><\/span><\/p>\n

Quadrotor Temel Kontrol Tekni\u011fi<\/h1>\n

Quadrotor normal helikopterin aksine 4 pervaneye sahip olmas\u0131 nedeniyle motor ba\u015f\u0131na d\u00fc\u015fen i\u015fg\u00fcc\u00fc azal\u0131r bu sayede d\u00fc\u015f\u00fck motor h\u0131zlar\u0131nda dahi hareketini sa\u011flayabilir ve stabil olarak kalabilir.Bunun yan\u0131nda 4 motoru Quadrotor\u2019a y\u00fcksek manevra kabiliyeti ve h\u0131zl\u0131 hareket imkan\u0131 sa\u011flar.<\/p>\n

Normal helikopterlerde anapervaneden kaynaklanan a\u00e7\u0131sal momentum , helikopterin arkadas\u0131nda bulunan k\u00fc\u00e7\u00fck pervane sayesinde engellenir.Quadrotor\u2019da ise b\u00f6yle bir pervane ihtiya\u00e7 yoktur.Bunun aksine 4 pervane 2\u015ferli gruplara ayr\u0131larak z\u0131t y\u00f6nde d\u00f6nd\u00fcr\u00fcld\u00fc\u011f\u00fcnde a\u00e7\u0131sal momentum z\u0131t y\u00f6nlerde d\u00f6nen pervaneler taraf\u0131ndan s\u0131f\u0131rlanm\u0131\u015f olur ve arac\u0131n stabilitesi sa\u011flan\u0131r.
\nAyn\u0131 \u015fekilde ,\u00a0 2 gruba ayr\u0131lm\u0131\u015f bu 4 pervaneden , 2 gruptan birinin h\u0131z\u0131 art\u0131r\u0131larak veya azalt\u0131larak istenilen araca istenilen y\u00f6nelim (\u015eekil 1 : Eksen-Z )<\/em> verilebilir.
\nArac\u0131n e\u011filimi ( \u015eekil 1 : Eksen-X,Y )<\/em> ise ayn\u0131 y\u00f6nde d\u00f6nen motorlar aras\u0131nda h\u0131z fark\u0131 olu\u015fturarak , momentum olu\u015fturulmas\u0131yla sa\u011flan\u0131r.H\u0131z fark\u0131 ayn\u0131 y\u00f6nde d\u00f6nen motorlardan birinin h\u0131z\u0131 N de\u011ferinde art\u0131r\u0131ld\u0131\u011f\u0131nda , di\u011ferinin h\u0131z\u0131n\u0131n N de\u011ferinde azalt\u0131lmas\u0131yla sa\u011flan\u0131r , bu sayede Z eksenindeki stabilite bozulmadan sadece X veya Y ekseninde e\u011filim sa\u011flanm\u0131\u015f olur.<\/p>\n

\"\"<\/a><\/p>\n

Kullan\u0131m Alanlar\u0131<\/h4>\n

Devlet \u0130\u015flerinde Kullan\u0131m Alanlar\u0131:<\/h1>\n

Quadrotor\u2019un \u00f6rnek kullan\u0131m alanlar\u0131 : \u00a0Yasalar\u0131 Uygulatma , Yang\u0131n , Acil Durum Tespiti , Do\u011fal Ya\u015fam\u0131 ve \u00c7evreyi Koruma ve Takip Programlar\u0131<\/p>\n

Havadan G\u00f6zlem ve \u0130stihbarat :<\/h1>\n

Quadrotor platformu havadan g\u00f6zlem ve istihbarat i\u00e7in en iyi ara\u00e7t\u0131r.Ta\u015f\u0131yabilece\u011fi \u00e7e\u015fitli kamera se\u00e7enekleri sayesinde havadan anl\u0131k video ve g\u00f6r\u00fcnt\u00fc aktar\u0131m\u0131na olanak sa\u011flar.Y\u00fcksek \u00e7\u00f6z\u00fcn\u00fcrl\u00fckte g\u00f6r\u00fcnt\u00fc aktar\u0131m olana\u011f\u0131 sayesinde ihtiya\u00e7 duyulan istihbarat bilgisine ilk elden ula\u015ft\u0131racakt\u0131r.<\/p>\n

Aktar\u0131lan g\u00f6r\u00fcnt\u00fc ister bir kalabal\u0131\u011f\u0131n yak\u0131ndan g\u00f6r\u00fcnt\u00fcs\u00fc olsun , ister konum \u00f6l\u00e7\u00fcm\u00fc yap\u0131lmak istenen ara\u00e7lar\u0131n pozisyon bilgisi olsun yada bir \u015f\u00fcphelinin belirli bir anda ne yapt\u0131\u011f\u0131 bilgisi olsun Quadrotor arac\u0131 bu kritik bilgileri sa\u011fl\u0131kl\u0131 bir \u015fekilde ve sessizce size ula\u015ft\u0131racakt\u0131r.
\n\"\"<\/a>\"\"<\/a><\/p>\n

Quadrotor olay yeri incelemede i\u015flemlerinde olay yerine herhangi bir zarar vermeksizin h\u0131zl\u0131ca ve sessizce kan\u0131t toplayabilir.Olay yeri inceleme i\u015fleminde en b\u00fcy\u00fck \u00f6ncelik i\u015flemin olabildi\u011fince erken ger\u00e7ekle\u015ftirilmesidir.\u00c7\u00fcnk\u00fc olay yerinde ya\u015fanan bozulmalar kan\u0131tlar\u0131 ortadan kald\u0131rabilir.Ger\u00e7ek bir helikopter veya u\u00e7ak ile g\u00f6r\u00fcnt\u00fc almak pahal\u0131 bir i\u015flemdir ve yak\u0131ndan g\u00f6r\u00fcnt\u00fc al\u0131m\u0131na olanak sa\u011flamaz.Quadrotor\u2019un avantaj\u0131 bununla kalmaz.Quadrotor\u2019da pervanelerin , Uzaktan kontroll\u00fc bir helikopterin pervanelerine oranla k\u00fc\u00e7\u00fck olmas\u0131 sayesinde kaza yapma riski daha azd\u0131r, bu da objelere daha yak\u0131ndan g\u00fcvenli u\u00e7u\u015f yapma imkan\u0131<\/span> sa\u011flar.
\nQuadrotor ile hem kapal\u0131 hemde a\u00e7\u0131k alanlarda istenilen konum ve a\u00e7\u0131dan g\u00f6r\u00fcnt\u00fc al\u0131nabilir.<\/p>\n

 <\/p>\n

End\u00fcstriyel Kullan\u0131m Alanlar\u0131:<\/h1>\n

Quadrotor arac\u0131 End\u00fcstriyel \u00e7al\u0131\u015fmalarda : Proje Takibi , Ekipman Kontrol\u00fc , Boru Hatt\u0131 G\u00fcvenli\u011fi ve Kontrol\u00fc , Tar\u0131m \u00dcr\u00fcnleri Takibi alanlar\u0131nda kullan\u0131labilir.<\/span>
\nKontrol ve takip konusunda zorluk te\u015fkil eden sanayi ve yap\u0131la\u015fma projelerinde Quadrotor arac\u0131n\u0131n sa\u011flad\u0131\u011f\u0131 uzaktan g\u00f6rsel takip olana\u011f\u0131 sayesinde projeler anl\u0131k olarak istenilen yerden kontrol edilebilir.<\/span>
\nSadece yap\u0131m s\u00fcrecinde olan projelerde de\u011fil ayn\u0131 zamanda geni\u015f \u00e7aptaki sanayilerde ekipmanlar, istenilen konum ve a\u00e7\u0131ya ayarlanabilen Quadrotor\u2019un kameras\u0131 sayesinde her zaman uzaktan kontrol edilerek g\u00fcvenli\u011fi sa\u011flanabilir.<\/span><\/p>\n

\"\"<\/a><\/span><\/p>\n

<\/p>\n

E\u011fitimde Kullan\u0131m Alanlar\u0131 :<\/h1>\n

Uzaktan Kontroll\u00fc \u0130nsans\u0131z Hava Arac\u0131(UAV) Ara\u015ft\u0131rmalar\u0131:<\/span><\/h1>\n

\u0130nsans\u0131z hava ara\u00e7lar\u0131 \u00fczerinde \u00e7al\u0131\u015fan \u00fcniversiteler , teknik enstit\u00fcler i\u00e7in \u00f6rnek te\u015fkil edecek bu \u00e7al\u0131\u015fman\u0131n ara\u015ft\u0131rmalara temel olu\u015fturma niteli\u011fi ta\u015f\u0131mas\u0131n\u0131 ama\u00e7l\u0131yoruz.<\/span><\/p>\n

Arkeolojik Alan G\u00f6zlem:<\/span><\/h1>\n

Quadrotor sayesinde arkeoloji kaz\u0131 alanlar\u0131nda yap\u0131lan \u00e7al\u0131\u015fmalar d\u00fczenli yap\u0131lan \u00e7ekimlerle kontrol edilecek ve a\u015fama a\u015fama izlenebilecek.Arkeoloji ara\u015ft\u0131rmac\u0131lar\u0131 g\u00fcn\u00fcm\u00fczde kaz\u0131m alanlar\u0131n\u0131n tespiti i\u00e7in Google Earth gibi ara\u00e7lar\u0131 kullan\u0131yorlar.Fakat Quadrotor sayesinde Google Earth aksine anl\u0131k ve canl\u0131 g\u00f6r\u00fcnt\u00fcler almak m\u00fcmk\u00fcn k\u0131l\u0131nacak.Ayr\u0131ca farkl\u0131 ihtiya\u00e7lara uygun olarak Ara\u00e7 \u00fczerinde bulunan kamera HD , hafif , stabil , FLIR(K\u0131z\u0131l\u00f6tesi) kamera se\u00e7enekleri ile de\u011fi\u015ftirilebilecek.<\/span><\/p>\n

\u0130leti\u015fim Menzili:<\/span><\/h1>\n

\"\"<\/a><\/span><\/p>\n

<\/p>\n

S\u0131n\u0131rs\u0131z* : 3G eri\u015fimi olan her yerde ge\u00e7erli olacak.<\/span>
\nYukar\u0131daki grafikte de g\u00f6r\u00fcld\u00fc\u011f\u00fc \u00fczere Kullan\u0131c\u0131 \u0130stanbul\u2019da iken Ankara\u2019da kurulu olan 3G destekli sa\u011flay\u0131c\u0131 \u00fczerinde Quadrotor kameras\u0131n\u0131 izleyerek kontrol\u00fcn\u00fc yapabilecek.<\/span><\/p>\n

And here is a thesis translation i’ve done. :<\/strong><\/span><\/p>\n

Quadrotor Modeli , Tan\u0131m\u0131 ve Kontrol\u00fc<\/h1>\n

Tommaso Bresciani<\/h2>\n

Department of Automatic Control<\/h2>\n

Lund University<\/h2>\n

Eyl\u00fcl 2008<\/h2>\n

Quadrotor Modeli , Tan\u0131m\u0131 ve Kontrol\u00fc
\nAbstract :
\nBu tez \u00e7al\u0131\u015fmas\u0131 quadrotor helikopteri \u00fczerine yap\u0131lm\u0131\u015ft\u0131r.Dinamik sistemi , modellemesi ve kontrol algoritmalar\u0131na de\u011finilmi\u015ftir.Sonu\u00e7lar\u0131 test etmek i\u00e7in bir sim\u00fclat\u00f6r ve ayr\u0131ca ger\u00e7ek bir platform geli\u015ftirilmi\u015ftir.<\/p>\n

Dinamik sistem Newton-Euler format\u0131 kullan\u0131larak modellendi.Sonu\u00e7lar\u0131n do\u011frulu\u011fu a\u00e7\u0131s\u0131ndan gerekli olacak h\u0131z ve tork\u2019a ula\u015f\u0131labilmesi i\u00e7in ilgi motorlar , di\u015fli kutusu ve pervanelerde yo\u011funla\u015ft\u0131r\u0131ld\u0131.<\/p>\n

PID kontrol algoritmalar\u0131 kar\u015f\u0131la\u015ft\u0131r\u0131ld\u0131.\u0130lk a\u015fama testleri matematiksel yakla\u015fma ve \u00e7al\u0131\u015fmaya daha \u00e7ok imkan sa\u011flayan sim\u00fclasyon ortam\u0131nda ger\u00e7ekle\u015ftirildi.\u0130kinci a\u015famada ise quadrotor davran\u0131\u015flar\u0131n\u0131 incelemek i\u00e7in ger\u00e7ek platform \u00fczerinde denemeler yap\u0131ld\u0131.<\/p>\n

Matlab simulink ile bir sim\u00fclat\u00f6r olu\u015fturuldu.Bu program sayesinde modelin do\u011frulu\u011fu ve kontrol algoritmalar\u0131n\u0131n sa\u011fl\u0131kl\u0131 \u00e7al\u0131\u015fmas\u0131 kontrol edildi.<\/p>\n

Ayr\u0131ca 3boyutlu sim\u00fclasyon ve Joystick yard\u0131m\u0131yla sistemin test edilebilirli\u011fi ve g\u00f6zlemlenebilirli\u011fi kolayla\u015ft\u0131r\u0131ld\u0131.<\/p>\n

Elektronik tarafta ise:<\/p>\n

\u00b7 Mikro \u0130\u015flemci \u00dcnitesi(MCU)<\/p>\n

\u00b7 \u0130\u00e7 \u00d6l\u00e7\u00fcm \u00dcnitesi(IMU),<\/p>\n

\u00b7 Enerji Kayna\u011f\u0131<\/p>\n

\u00b7 Al\u0131c\u0131 \u00dcnitesi<\/p>\n

\u00b7 Motor G\u00fc\u00e7 Kontrol Kartlar\u0131(ESC)<\/p>\n

\u00b7 SONAR & IR mod\u00fclleri<\/p>\n

bulunuyor.<\/p>\n

Bu cihazlar sayesinde hem kullan\u0131c\u0131 kontroll\u00fc hemde otomatik-pilot\u2019da u\u00e7u\u015f m\u00fcmk\u00fcn oldu.<\/p>\n

\u00d6NY\u00dcZ<\/h1>\n

\u00c7al\u0131\u015fmalar 4 ana kategoriye ayr\u0131larak yap\u0131lm\u0131\u015ft\u0131r.<\/p>\n

Dinamik Sistemin modellenmesi: Olaya dahil olan kuvvetlerin te\u015fhisi ve incelenmesi
\nKontrol Algoritmas\u0131 : \u00c7e\u015fitli kontrol kurallar\u0131n\u0131n stabilite ve \u00e7al\u0131\u015fmalar\u0131ndaki sa\u011fl\u0131kl\u0131l\u0131\u011fa de\u011finildi.
\nMatlab: Model ve Kontrol algoritmalar\u0131n\u0131n do\u011frulu\u011fu ve testleri bu ara\u00e7 sayesinde test edildi.
\nGer\u00e7ek Platform: Son olarak ger\u00e7ek Quadrotor ile hesaplamalar , sim\u00fclasyon ve mekanik yap\u0131n\u0131n do\u011frulu\u011fu kontrol edildi.<\/p>\n

Bu \u00e7al\u0131\u015fmalar Eyl\u00fcl 2007-Eyl\u00fcl 2008 aras\u0131nda tamamlanm\u0131\u015ft\u0131r.<\/p>\n

B\u00d6L\u00dcM 1:<\/h1>\n

G\u0130R\u0130\u015e<\/h1>\n

Bu tez \u00e7al\u0131\u015fmas\u0131 dikey kalk\u0131\u015f-ini\u015f yapan(VTOL) insans\u0131z bir hava arac\u0131 \u00fczerinedir.
\n\u00dczerinde \u00e7al\u0131\u015f\u0131lan tasar\u0131m ise Quadrotor olarak adland\u0131r\u0131lan 4 pervaneli bir helikopterdir.Son bir ka\u00e7 y\u0131lda robotik alan\u0131na ilgide b\u00fcy\u00fck art\u0131\u015f g\u00f6r\u00fcld\u00fc.Aslen, tehlikeli ,zor ve s\u0131k\u0131c\u0131 i\u015flerin bulundu\u011fu end\u00fcstriyel alanlarda(otomotiv, t\u0131p , \u00fcretim , uzay, …) insan yerine robot kullanmak i\u00e7in ara\u015ft\u0131rmalar artt\u0131.<\/p>\n

Bu ara\u015ft\u0131rmalar\u0131n b\u00fcy\u00fck bir b\u00f6l\u00fcm\u00fc hava ara\u00e7lar\u0131 \u00fczerineydi.Havada 3boyutlu hareket kabiliyetlerini art\u0131rabilmek i\u00e7in \u00e7e\u015fitli projeler geli\u015ftirildi.\u00d6rne\u011fin; Zeplinler , Sabitlenmi\u015f kanatl\u0131 u\u00e7aklar(fixed-wing planes) , tek motorlu helikopterler , ku\u015flar\u0131n kanat \u00e7\u0131rpmas\u0131n\u0131 taklit eden tasar\u0131mlar ve quadrotorlar…
\nBunlar\u0131n herbirinin getirdi\u011fi avantajlar\u0131n yan\u0131s\u0131ra olumsuz y\u00f6nleri oldu.Bu projedeki dikey kalk\u0131\u015f-ini\u015f yapan bir tasar\u0131m kullan\u0131lmas\u0131 hava arac\u0131nda kanat gibi baz\u0131 ara\u00e7lar\u0131n ihtiyac\u0131n\u0131 yok etti.Buna ra\u011fmen ara\u00e7 dikey, sabit ve d\u00fc\u015f\u00fck h\u0131zlarda u\u00e7u\u015flar\u0131nda ender kabiliyetleri g\u00f6sterdi.
\nQuadrotor tasar\u0131m\u0131n\u0131n bu projede kullan\u0131lmas\u0131n\u0131n sebepleri ; k\u00fc\u00e7\u00fck boyutlar\u0131 , manevra kabiliyeti , sade mekani\u011fi ve y\u00fck ta\u015f\u0131ma kapasitesidir.
\nOlumsuz y\u00f6n\u00fc olarak ise y\u00fcksek enerji t\u00fcketiminden s\u00f6z edilebilir.Fakat b\u00fct\u00fcne bakt\u0131\u011f\u0131m\u0131zda sonu\u00e7lar gayet iyiydi.<\/p>\n

Sayfa 1<\/p>\n","protected":false},"excerpt":{"rendered":"

Hi fellows Actually it is quite late to blog about this.. But i think at least i can share the materials rather than just keeping those in my archives.I’m not going to go much into details.We’ve started a project to build a Quadrotor at University.We’ve made presentations to some companies & foundations to get financial […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[2,3,5,7],"tags":[15,137,235,253,254,317],"class_list":["post-528","post","type-post","status-publish","format-standard","hentry","category-diy","category-electronics-2","category-hobby-rc","category-personal","tag-3dsmax","tag-helicopter","tag-pid","tag-quadrocopter","tag-quadrotor","tag-uav"],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/maximusabrams.com\/index.php?rest_route=\/wp\/v2\/posts\/528","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/maximusabrams.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/maximusabrams.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/maximusabrams.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/maximusabrams.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=528"}],"version-history":[{"count":0,"href":"https:\/\/maximusabrams.com\/index.php?rest_route=\/wp\/v2\/posts\/528\/revisions"}],"wp:attachment":[{"href":"https:\/\/maximusabrams.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=528"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/maximusabrams.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=528"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/maximusabrams.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=528"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}