그림 1. 시스템 블록도 Fig. 1 Block diagram of system
그림 2. PWM신호를 PPM신호로 변조 Fig. 2 Modulation of a PWM signal to a PPM signal
그림 3. PID 제어 시스템의 블록선도 Fig. 3 Block diagram of the PID control system
그림 4. PID를 적용에 따른 목표값 도달 시간 Fig. 4 Target value arrival time according to PID control
그림 5. PPM 인코더 통과 전과 후의 출력 파형 Fig. 5 output waveform before and after PPM encoder pass
표 1. 수평상태에서의 myAHRS+의 오일러 각 Table 1. Euler angles of the myAHRS+ in the horizontal position
표 2. 드론을 오른쪽 40˚ 기울였을 때 myAHRS+의 오일러 각 Table 2. Euler angles of the myAHRS+ when tilted 40 degrees to the right
표 3. Throttle 스틱이 50%로 수평 상태의 모터 회전에 대한 파라미터 Table 3. Parameters for motor rotation in horizontal state with the Throttle Stick at 50 %
표 4. 앞으로 30˚ 기울였을 때 모터의 회전에 파라미터의 변화 Table 4. Variation of parameters for motor rotation with a forward 30 ° angle
참고문헌
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