Stochastical and Simultaneous Design of Mini Unmanned Helicopter Blade Taper and Its AFCS

In this article, it is aimed to minimize cost of automatic flight control system (i.e., AFCS) for a mini unmanned helicopter (MUH) by simultaneously and stochastically redesigning main rotor blades’ taper and PID gains of the AFCS. For minimization of autonomous flight cost index (AFCI) stochastical and simultaneous design approach is used over certain parameters (i.e., blade taper and gains of longitudinal and lateral PID controllers) while there are lower and upper constraints on these design parameters. A MUH is produced in Erciyes University Drone Laboratory (i.e., ERUDL) and called as Erciyes-Qtar-MUH. Its main rotor blades’ taper ratio can change before flight. AFCS parameters and main rotor redesign parameter previously mentioned are stochastically and simultaneously designed for minimization of AFCI that captures rise time, settling time and overshoot of relevant trajectory trackings by using a certain stochastical optimization tool (i.e., simultaneous perturbation stochastical approximation: SPSA). Eventual results are used for making simulations of MUH. Via using simultaneous and stochastical redesign of passively morphing main rotor blade taper having MUH (i.e., Erciyes-Qtar-MUH) over previously mentioned redesign variables, a best MUH autonomous flight performance and a minimum AFCI are found. Simultaneous and stochastical redesign of passively morphing main rotor taper having MUH and its AFCS notion is honestly valuable for minimizing AFCS and maximizing autonomous flight performance any MUH. Composing an original notion for recovering AFCI of a MUH and contributing a new procedure performing simultaneous and stochastical redesign of a MUH having passively morphing main rotor taper and its AFCS strategy meanwhile existence of upper and lower constraints on design variables are main novelties of this research paper. Substantial progress for MUH AFCI save almost %38 with regard to the original MUH is found in this research paper.