کنفرانس مهندسی برق ایران

صفحه اصلی / سی و سومین کنفرانس بین المللی مهندسی برق

Development of a Tilt Bicopter: Experimental Results

نویسندگان :

Ali Moaveni¹ Alireza Bahmanyar² Arshia Rezaei³ Amin Talaeizadeh⁴ Aria Alasti⁵

1- Sharif university of technology 2- Sharif university of technology 3- Sharif university of technology 4- Sharif university of technology 5- Sharif university of technology

کلمات کلیدی :

Tilt bicopter،Unmanned Aerial Vehicles (UAV)،multi-rotor،aerial robotics،flight control

چکیده :

This study presents the design, implementation, and validation of a tilt bicopter system, encompassing dynamic modeling, precise fabrication, and comprehensive experimental evaluation. A robust 2-Degrees of Freedom (DoF) Proportional-Integral-Derivative (PID) controller is developed to address the challenges associated with the system’s dynamic coupling, ensuring precise control and stability. The design and fabrication processes are meticulously executed to achieve structural integrity, operational reliability, and lightweight characteristics essential for agile performance. Controller gains are optimized through a highly accurate dynamic model, resulting in superior performance across multiple control channels. Additionally, the system incorporates advanced sensor filtering and error filtering techniques to minimize noise and ensure reliable data processing, further enhancing control accuracy. Experimental results demonstrate the effectiveness of the proposed tilt bicopter system, highlighting significant improvements in stability, responsiveness, and efficiency, particularly during complex maneuvers. These findings underscore the potential of the tilt bicopter design for advanced aerial applications, paving the way for further research and practical implementations in dynamic and challenging environments.