بررسی تأثیر مکانیسم گام متغیر در توسعه عملکرد ربات پرنده چهارپره با استفاده از واپایشگر خطی‌سازی بازخورد

This paper concerned with the performance improvement of quad rotor using by variable pitch control system. The methodology was laid out based on dynamic modeling of six degree of freedom motion, trim calculations, linearization, and robust control system design for a candidate variable pitch quad-rotor at hover. Therefore, a comprehensive mathematical model of rotors was derived based on the blade element-momentum theory (BEMT) at low Reynolds number, and then, the engine and propulsion models were appended to form the real quad-rotor as a whole. Two control loops including of an inner loop for attitude control system and the outer loop for motion control applied with the robust control system, is the main structure of control system design. Linear controller and feedback linearization controller was also implemented to cover the stability of the quad rotor and compensation of fixed and variable pitch control mechanisms.. Variable pitch quad rotor helped the user to made bigger quad rotor with the less problem in control system which prepared from gyroscopic effect in fixed pitch quad rotor.