İki Serbestlik Dereceli Dört Rotor Sisteminin Tasarımı, Modellenmesi ve Kontrolü

In this study, the design, modeling and control of four rotor systems with two degrees of freedom (2DOF) developed to study the behavior of nonlinear aerodynamic systems have been carried out. System dynamics have been derived in accordance with the laws of Newton's dynamic equations. Moreover, computationally difficult parameters such as system friction and moments of inertia have been estimated in the Matlab environment using real system data and verification of the model has been provided. Pulse width modulation (PWM) - velocity and velocity-force curves of the nonlinear brushless direct current (BLDC) motors providing motion to the system have been obtained by the motor tests. The 2DOF four rotor system has been modeled in Matlab / Simulink environment using Newton equations and the motor equations obtained from test results. Type-2 fuzzy logic controllers have been used for the pitch and yaw control of the system.