Balance Control of Brushless Direct Current Motor Driven Two-Rotor UAV

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dc.authoridCukdar, ibrahim/0000-0002-7482-4024
dc.authoridYigit, Tevfik/0000-0002-9275-359X
dc.authoridCelik, Hakan/0000-0002-2861-3269
dc.contributor.authorCukdar, Ibrahim
dc.contributor.authorYigit, Tevfik
dc.contributor.authorCelik, Hakan
dc.date.accessioned2024-11-07T13:31:24Z
dc.date.available2024-11-07T13:31:24Z
dc.date.issued2024
dc.departmentNiğde Ömer Halisdemir Üniversitesi
dc.description.abstractIn this study, the balance control of a Brushless Direct Current Motor (BLDCM) driven Two-Rotor UAV (2R-UAV) was carried out. First, a MATLAB/Simulink model of the balance system of the 2R-UAV was built. Afterwards, classical and 2-DOF PID, and proposed Adaptive Fuzzy (AF) 2-DOF PID control structures were created on the STM32F4 microprocessor for both balance angle of the system and speed control of the BLDCMs. Classical and 2-DOF PID controller parameters were determined via Particle Swarm Optimization (PSO), a technique that is commonly used in control applications. For the balance control of the 2R-UAV, a Co-Simulation structure was created using the STM32F4 microprocessor and MATLAB/Simulink, and the performances of classical and 2-DOF PID, and AF 2-DOF PID controllers were examined comparatively. Upon examining the comparison results, it was found that the classical and 2-DOF PID, and AF 2-DOF PID stably controlled the balance of the 2R-UAV. The AF 2-DOF PID controller, proposed in this research, performed better than the classical and 2-DOF PID, especially under variable operating conditions.
dc.description.sponsorshipFirat University Scientific Research Projects Unit
dc.description.sponsorshipNo Statement Available
dc.identifier.doi10.3390/app14104059
dc.identifier.issn2076-3417
dc.identifier.issue10
dc.identifier.scopus2-s2.0-85194201292
dc.identifier.scopusqualityQ2
dc.identifier.urihttps://doi.org/10.3390/app14104059
dc.identifier.urihttps://hdl.handle.net/11480/14826
dc.identifier.volume14
dc.identifier.wosWOS:001232938300001
dc.identifier.wosqualityN/A
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherMdpi
dc.relation.ispartofApplied Sciences-Basel
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzKA_20241106
dc.subjectTwo-Rotor UAV
dc.subjectAdaptive Fuzzy 2-DOF PID
dc.subjectBLDC Motor
dc.subjectCo-Simulation
dc.titleBalance Control of Brushless Direct Current Motor Driven Two-Rotor UAV
dc.typeArticle

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