Maximization of Flight Performance of Eight-Rotor Multirotor with Differentiated Hub Angle

The aim of this article is to design a rotary wing aircraft autopilot system that improves flight performance by changing the body shape during flight. The method is to obtain values that stabilize the longitudinal and lateral flight of the aircraft, where the amount of metamorphosis and Proportional-Integral-Derivative (PID) coefficients are determined using the simultaneous perturbation stochastic approximation (SPSA) optimization algorithm. The rotary wing aircraft has a deformable structure with eight rotors. Shape-changing rotary-wing aircraft are aircraft that can fly with the lift generated by propellers. Aerial platform; It consists of arms and trunk. The angle between mechanism A and the arm to which the rotors are connected can be changed with the horizontal plane and different configurations are obtained. When the angle between the arms is 45°, the octo configuration turns into a stable structure, while when the angle between the arms is 0°, the X8 configuration provides high maneuverability and increased controllability. Metamorphosis, its effect on longitudinal and lateral flight stability and improvement studies were carried out in a simulation environment and the results are presented in this study. As a result of the shape change, longitudinal and lateral narrowing occurred by 26.8° percent. Simulation tests were modeled in a closed environment, free from atmospheric effects. The obtained flight performance values are presented in Tables.