Investigation of the Effect of Differential Morphing on Forward Flight by Using PID Algorithm in Quadrotors

Abstract

In this study, modeling, control and differential morphing of a four-rotor unmanned aerial vehicle known as a quadrotor isdiscussed. With differential morphing, the forward flight performance and model of an autonomous quadrotor is presented.Due to the complex structure of the quadrotor, it is difficult to build the model. To get model parameters, a complete quadrotormodel is drawn in the Solidworks program. In addition, Newton-Euler equations are used in the mathematical model.Simulation is done in Matlab / Simulink environment by using the parameters obtained from the model and the state-spacemodel approach. PID (proportional, integral, derivative) is used as the quadrotor control algorithm. As a result of the study,the quadrotor forward flight is carried out using PID algorithm and differential morphing. The system characteristics of thesituations with and without differential morphing are compared and the results are presented with graphs.