Purpose

The purpose of this paper is to design a quadrotor with collective morphing using the simultaneous perturbation stochastic approximation (SPSA) optimization algorithm.

Design/methodology/approach

Quadrotor design is made by using Solidworks drawing program and some mathematical performance relations. Modelling and simulation are performed in Matlab/Simulink program by using the state space model approaches with the parameters mostly taken from Solidworks. Proportional integral derivative (PID) approach is used as control technique. Morphing amount and the best PID coefficients are determined by using SPSA algorithm.

Findings

By using SPSA algorithm, the amount of morphing and the best PID coefficients are determined, and the quadrotor longitudinal and lateral flights are made most stable via morphing.

Research limitations/implications

It takes quite a long time to model the quadrotor in Solidworks and Matlab/Simulink with the state space model and using the SPSA algorithm. However, this situation is overcome with the proposed model.

Practical implications

Optimization with SPSA is very useful in determining the amount of morphing and PID coefficients for quadrotors.

Social implications

SPSA optimization method is useful in terms of cost, time and practicality.

Originality/value

It is released to improve performance with morphing, to determine morphing rate with SPSA algorithm and to determine PID coefficients accordingly.

中文翻译：

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同时四旋翼自动驾驶仪系统和集中变形系统设计

目的

本文的目的是使用同时扰动随机逼近（SPSA）优化算法设计具有集体变形的四旋翼。

设计/方法/方法

通过使用Solidworks绘图程序和一些数学性能关系来进行四旋翼设计。通过使用状态空间模型方法（主要是从Solidworks提取参数），在Matlab / Simulink程序中进行建模和仿真。比例积分微分（PID）方法用作控制技术。使用SPSA算法确定变形量和最佳PID系数。

发现

通过使用SPSA算法，确定变形量和最佳PID系数，并通过变形使四旋翼的纵向和横向飞行最稳定。

研究局限/意义

使用状态空间模型并使用SPSA算法在Solidworks和Matlab / Simulink中为四旋翼建模需要花费很长时间。但是，这种情况可以通过建议的模型来克服。

实际影响

使用SPSA进行优化对于确定四旋翼的变形量和PID系数非常有用。

社会影响

SPSA优化方法在成本，时间和实用性方面很有用。

创意/价值

它被发布以提高变形的性能，使用SPSA算法确定变形率并相应地确定PID系数。