제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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- Pages.344-348
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- 1992
Design of hovering flight controller for a model helicopter
- Shim, Hyeoncheol (Dept. of Mechanical Design and Production Eng., Seoul National Univ.) ;
- Lee, Ho-Eun (ERC-ACI, Seoul Natl. Univ) ;
- Park, Hyunsik (Dept. of Mechanical Design and Production Eng., Seoul National Univ.) ;
- Lee, Kyo-Il (Dept. of Mechanical Design and Production Eng., Seoul National Univ.)
- 발행 : 1992.10.01
초록
This paper describes a procedure to design a hovering flight controller for a model helicopter using LQG theory. Parameters of the model helicopter in hover are obtained using direct measurements and calculations proposed by other research. A feedback co is by using digital LQG theory. First, a full state feedback controller is designed to the discretized system taking desirable transient response and other assumptions into account. Then a full-state estimator is designed and revised until desirable response is obtained while global stability is maintained. Performance of the controller is tested by computer simulations. Experiments have been performed using a 3-degree-of-freedom gimbal that holds the model helicopter, and the controller exhibited stable hover capability.
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