한국항공우주학회지 (Journal of the Korean Society for Aeronautical & Space Sciences)

  • 제49권10호
  • /
  • Pages.821-828
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  • 2021
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  • 1225-1348(pISSN)
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  • 2287-6871(eISSN)
한국항공우주학회 (The Korean Society for Aeronautical and Space Sciences)
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CMG를 활용한 드론의 비선형 자세 제어 기법

Nonlinear Attitude Control of Drones Using Control Moment Gyros

  • Jang, Seok-ho (Department of Aerospace Engineering Chosun University) ;
  • Leeghim, Henzeh (Department of Aerospace Engineering Chosun University)
  • 투고 : 2021.05.17
  • 심사 : 2021.09.01
  • 발행 : 2021.10.01
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⟨ 이전 논문 다음 논문 ⟩

초록

쿼드로터는 다른 비행체에 비해 작고 가벼워서 바람과 같은 외란에 민감하다는 단점이 있다. 이 단점을 해결하기 위해 외란에 강인한 제어기법을 이용하는 연구가 많이 이루어져 왔다. 본 논문에서는 외란을 해결하기 위해 적은 힘으로 큰 토크를 발생시킬 수 있는 CMGs (Control Moment Gyros)를 활용하였다. 쿼드로터의 자세 제어를 위해 2개의 CMGs를 활용하였고, 4개의 로터와 2개의 CMGs를 구동하기 위한 시스템을 구성하였다. 구성한 시스템의 제어 성능을 확인하기 위해 외란이 있는 환경에서 자세 제어에 대한 시뮬레이션을 진행하였다.

Quadrotors relatively smaller and lighter than other aircraft have a disadvantage of being sensitive to the external disturbances. In order to solve this disadvantage, many studies have been conducted by various control techniques robust to disturbances. In this paper, CMGs (Control Moment Gyros) introducing relatively large control torque with an identical amount of electric powers are applied to cancel the external disturbances. Two CMGs are considered to control the attitude of quadrotors so that a multi-copter installed with two CMGs and four rotors are introduced for this work. Finally, to verify the control performance of the proposed system by the CMGs, a numerical simulation conducted in the given harsh environment.

키워드

과제정보

본 연구는 중소벤처기업부에서 지원하는 2020년도 산학연Collabo R&D 사업(No.S2905461)의 지원금으로 수행하였습니다.

참고문헌

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