{ "article_id": 1504, "public_id": "f03b2aaa-c002-4d25-a214-75681e33a621", "internal_identifier": null, "source_identifier": "95:17", "status": "published", "type": "research_article", "title": "Dört Pervaneli İnsansız Hava Araçlarında PID Kazanç Optimizasyonu", "title_secondary": null, "abstract": "Bu makalede, dört pervaneli bir insansız hava aracı (DPİHA) için tasarlanan duruş ve yükseklik kontrolörlerinin parametrelerinin optimizasyonunu gerçekleştirilmiştir. PID kontrolörlerinin uygun parametrelerinin belirlemek için ZieglerNichols (ZN) Yöntemi, Parçacık Sürü Optimizasyonu (PSO) ve Gradyan (GD) Yöntemi uygulanmıştır. DPİHA kontrolörlerinin bu 3 yöntemle kazanç değerleri optimizasyon teknikleri ile hesaplanarak diğer PID kontrolcü tasarımlarına göre karşılaştırma yapılmıştır. Sunulan çalışmada ZN tasarımının simülasyon sonuçlarında yüksek aşma ve yerleşme süresi gözlemlenmiştir. Ayrıca GD ve PSO yöntemlerinde yerleşme süresinde %6, aşım değerlerinde %0,8 fark ile iki yöntemin birbirlerine yakın performansa ulaştığı gösterilmiştir. Bunun yanında GD, aşma değeri açısından en iyi sonuçlara ulaşmıştır. Sonuçlar değerlendirildiğinde optimize edilmiş PID denetleyici parametrelerinin standart PID denetleyiciye göre yerleşim süresinde %53.9, aşım değerlerinde %91.94 daha doğru kontrol ve stabilite sağlayarak DPİHA uçuş performansını iyileştirdiği söylenebilmektedir. Sunulan metotla birlikte optimize edilen kontrolcü katsayılarının uçuş deneyimini ve kontrolcü performanslarını geliştirebildiği kanıtlanmaktadır.", "language": "tr", "english_title": "PID Gain Optimization in Quadcopter Unmanned Aerial Vehicles", "english_abstract": "This article describes the optimization of the parameters of attitude and altitude controllers designed for quadcopters. Ziegler-Nichols (ZN) Method, Particle Swarm Optimization (PSO) and Gradient (GD) Method were applied to determine the appropriate parameters of PID controllers. The gain values of the quadcopter controllers with these 3 methods were calculated with optimization techniques and compared with other PID controller designs. In the presented study, high overshoot and settling times were observed in the simulation results of the ZN design. In addition, it has been shown that the GD and PSO methods achieve close performance to each other, with a difference of 6% in settling time and 0.8% in overshoot values. In addition, GD achieved the best results in terms of overshoot value. When the results are evaluated, it can be said that the optimized PID controller parameters improve the quadcopter flight performance by providing 53.9% more accurate control and stability in settling time and 91.94% in overshoot values compared to the standard PID controller. It is proven that the controller coefficients optimized with the presented method can improve the flight experience and controller performances.", "doi": "10.36287/setsci.18.1.00114", "doi_url": "https://doi.org/10.36287/setsci.18.1.00114", "resource_url": "https://www.set-science.com/a/f03b2aaa-c002-4d25-a214-75681e33a621", "pdf_url": "https://www.set-science.com/a/f03b2aaa-c002-4d25-a214-75681e33a621/pdf", "og_image": "https://www.set-science.com/assets/img/og-card-v2.png", "authors": [ { "public_id": "0a659146-6b0a-4d0f-beb2-b1bf13c58bbd", "given": "Hakan", "family": "Yılandil", "full": "Hakan Yılandil", "literal": null, "orcid": null, "orcid_url": null, "email": "hakan.yilandil@std.yildiz.edu.tr", "corresponding": true, "sequence": "first", "affiliations": [ { "name": "Yıldız Teknik Üniversitesi", "department": null, "country": null, "country_code": null, "ror": null, "ror_url": null } ] }, { "public_id": "d034c63d-880b-4786-86aa-1d2b1f958845", "given": "Mehmet", "family": "İşcan", "full": "Mehmet İşcan", "literal": null, "orcid": null, "orcid_url": null, "email": "miscan@yildiz.edu.tr", "corresponding": false, "sequence": "additional", "affiliations": [ { "name": "Yıldız Teknik Üniversitesi", "department": null, "country": null, "country_code": null, "ror": null, "ror_url": null } ] } ], "keywords": [ "dört pervaneli insansız hava aracı", "optimizasyon", "Ziegler-Nichols", "gradyan", "parçacık sürü optimizasyonu" ], "translations": [ { "language": "en", "title": "PID Gain Optimization in Quadcopter Unmanned Aerial Vehicles", "abstract": "This article describes the optimization of the parameters of attitude and altitude controllers designed for quadcopters. Ziegler-Nichols (ZN) Method, Particle Swarm Optimization (PSO) and Gradient (GD) Method were applied to determine the appropriate parameters of PID controllers. The gain values of the quadcopter controllers with these 3 methods were calculated with optimization techniques and compared with other PID controller designs. In the presented study, high overshoot and settling times were observed in the simulation results of the ZN design. In addition, it has been shown that the GD and PSO methods achieve close performance to each other, with a difference of 6% in settling time and 0.8% in overshoot values. In addition, GD achieved the best results in terms of overshoot value. When the results are evaluated, it can be said that the optimized PID controller parameters improve the quadcopter flight performance by providing 53.9% more accurate control and stability in settling time and 91.94% in overshoot values compared to the standard PID controller. It is proven that the controller coefficients optimized with the presented method can improve the flight experience and controller performances.", "keywords": [ "quadrotor unmanned aerial vehicle", "optimization", "Ziegler-Nichols", "gradient", "particle swarm optimization" ] } ], "subjects": [], "subject_names": [], "published_date": "2024-06-24", "published_year": "2024", "received_date": null, "accepted_date": null, "volume": "18", "issue": null, "page_first": "114", "page_last": "119", "article_number": null, "conference": { "short_name": "SISA2024", "full_title": "6th International Symposium on Innovations in Scientific Areas", "name": "6th International Symposium on Innovations in Scientific Areas", "acronym": "SISA2024", "location": "Ankara, Türkiye", "start_date": "2024-06-07", "end_date": null, "public_id": "89f32a73-8b6d-4d0d-b611-71ebcca6eff6" }, "proceedings": { "title": "6th International Symposium on Innovations in Scientific Areas", "series_title": "SETSCI Conference Proceedings", "publisher": "SET Technology", "isbn": "978-605-69925-9-9", "eisbn": null, "issn": null, "eissn": "2687-5527", "doi": null, "doi_prefix": "10.36287", "slug": "setsci-volume-18-2024-legacy-95", "public_id": "709477a2-2bd7-45bd-aa68-4c2599b116fb", "url": "https://www.set-science.com/p/setsci-volume-18-2024-legacy-95" }, "license": { "name": "CC BY 4.0", "url": "https://creativecommons.org/licenses/by/4.0/", "code": "CC-BY-4.0", "open_access": true }, "copyright": { "holder": "SET Technology", "year": "2024" }, "funding_statement": null, "funders": [], "references": [ { "order": 1, "raw": "Khuwaja, K., Tarca, I. 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