Journal of Aerospace System Engineering (항공우주시스템공학회지)

The Society for Aerospace System Engineering (항공우주시스템공학회)
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Design and Control of a Quad-Rotor

쿼드로터 비행체의 설계 및 제어

  • 심상현 (한국항공대학교 대학원 항공우주 및 기계공학과) ;
  • 김지철 (한국항공대학교 대학원 항공우주 및 기계공학과) ;
  • 양성욱 (한국항공대학교 대학원 항공우주 및 기계공학과) ;
  • 전동익 (한국항공대학교 대학원 항공우주 및 기계공학과) ;
  • 이상철 (한국항공대학교 항공우주 및 기계공학부) ;
  • 오화석 (한국항공대학교 항공우주 및 기계공학부) ;
  • 강민영 ((주)인텔레인) ;
  • 금동교 ((주)업앤온)
  • Published : 2009.03.31
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Abstract

Quad-rotor is one kind of a rotorcraft in Unmanned Aerial Vehicle (UAV), which consists of four rotors in total and fixed-pitch blades located at the four corners. This vehicle is emerging as popular platform for UAV research due to the simplicity of its construction, the ability of hovering and the vertical take-off and landing (VTOL) capability, etc. Because of those specific capabilities, this vehicle can be applied to many fields: search and rescue, mobile sensor networks, fire observation, etc. However a quad-rotor is much affected by the disturbance due to the characteristics of structure. So this vehicle needs attitude control for stabilizing. In this paper, we design the control law for automatic stabilization. The PID controller is used to control a brushless DC motor. And an accelerometer is used to measure the roll and pitch angles of a quad-rotor.

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