• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2008년도 춘계학술대회논문집
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• pp.43-46
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• 2008

Quad-Rotor, which consists of four blades, performs a flight task by controling each rotation speed of the four blades. Quad-Rotor blade making no use of cyclic pitch or collective one is a type of fixed-wing as different from helicopter blade. Although, Quad-Rotor is simple and easy to control for those reasons, blade configuration of the fixed wing is one of the critical factors in determining the performance of Quad-Rotor. In the present study, coefficients for thrust and power of Quad-Rotor blade were derived from the data acquired by using 6-component balances. Firstly, Measurements for aerodynamic force were conducted at various pitch angles (i.e., from 0$^{\circ}$ to 90$^{\circ}$ with the interval of 10$^{\circ}$). The blade used in this experiment has aspect ratio of 6 and chord length of 35.5 mm. Secondly, assembled-blade, which was an integral blade but divided into many pieces, was used in order to test aerodynamic forces along twist angles. The curve of thrust coefficient along pitch angle indicates a parabola form. Stall which occurs during wind tunnel test to calculate lift coefficient of airfoil does not generate. When deciding the blade twist angle, structural stability of blade should be considered together with coefficients of thrust and power. Those aerodynamic force data based on experimental study will be provided as a firm basis for the design of brand-new Quad-Rotor blade.

• 공학교육연구
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• 제17권5호
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• pp.17-22
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• 2014

Unmanned aerial vehicles (UAVs) that have been recently commercialized can largely be divided into fixed-wing aircraft and rotor aircraft by their styles and flight characteristics. Although the fixed-wing aircraft represents higher power efficiency, higher speed, longer flight distance and larger loading weight than the rotor aircraft, they have a disadvantage of requiring a space for take-off and landing. On the other hand, the rotor aircraft can implement vertical take-off and landing (VTOL) and represents various flight modes (hovering, steep bank turns and low-speed flights). But they require both precision take-off control and attitude control. In this study, we used a quad-tilt rotor UAV to combine advantages in both the fixed-wing aircraft and the rotor aircraft. The quad-tilt rotor (QTR) system was designed and constructed by adding a tilt device with a servo motor to a general quad-rotor vehicle.

• International Journal of Aeronautical and Space Sciences
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• 제14권1호
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• pp.58-66
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• 2013

This paper addresses the performance of three different types of attitude control systems for the Quad-rotor UAV to perform the flip maneuver. For this purpose, Quad-rotor UAV's 6-DOF dynamic model is derived, and it was used for designing an attitude controller of the Quad-rotor UAV. Attitude controllers are designed by three different methods. One is the open-loop control system design, another is the PD control system design, and the last method is the sliding mode control system design. Performances of all controllers are tested by 6-DOF simulation. In case of the open-loop control system, control inputs are calculated by the quad-rotor dynamic model and thrust system model that are identified by the thrust test. The 6-DOF realtime simulation environment was constructed in order to verify the performances of attitude controllers.

• 제어로봇시스템학회논문지
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• 제21권7호
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• pp.641-647
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• 2015

This paper proposes a new strategy for a quad-rotor to track a moving object efficiently by using image processing and an extended Kalman filter. The goal of path planning for the quad-rotor is to design an optimal path from the start point to the destination point. To lengthen the freight time of the quad-rotor, an optimal path is required to reduce the energy consumption. To track a moving object, the mark signed on the moving object has been detected by a camera mounted first on the quad-rotor. The center coordinates of the mark and its area are calculated through the blob analysis which is one type of image processing. The mark coordinates are utilized to obtain information on the motion direction and the area of the mark is utilized to recognize whether the object moves backward or forward from the camera on the quad-rotor. In addition, an extended Kalman filter has been applied to predict the direction and speed of the dynamically moving object. Through these schemes, it is aimed that the quad-rotor can track the dynamic object efficiently in terms of flight distance and time. Through the two different route freights of the quad-rotor, the performance of the proposed system has been demonstrated.

• 제어로봇시스템학회논문지
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• 제20권11호
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• pp.1175-1180
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• 2014

This paper proposes a new technique that produces improved local information using a low-cost GPS/INS system combined with Extended Kalman Filter and Path Planning when a Quad-rotor flies. In the research, a low-cost GPS is combined with INS by Extended Kalman Filter to improve local information. However, this system has disadvantages in that estimation accuracy is getting worsens when the Quad-rotor flies through the air in a curve and precision of location information is influenced by performance of the used GPS. An algorithm based on Path Planning is adopted to deal with these weaknesses. When the Quad-rotor flies outdoors, a short moving path can be predicted because all short moving paths of quad-rotor can be assumed to be straight. Path planning is used to make the short moving path and determine the closest local information of data of the GPS/INS system to location determined by path planning. Through the foregoing process, improved local data is obtained when the quad-rotor flies, and the performance of the proposed system is verified from various outdoor experiments.

• International Journal of Aeronautical and Space Sciences
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• 제9권1호
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• pp.76-84
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• 2008

This paper is mainly concerned with the vision-based attitude stabilization of a quad-rotor UAV. The methods for attitude control rely on computing the roll and pitch angles of the vehicle from a two-camera vision system. One camera is attached to the body-fixed x-axis and the other to the body-fixed y-axis. The attitude computation for the quad-rotor UAV is performed by image processing consisting of Canny edge and Hough line detection. A proportional and integral controller is employed for the attitude hold autopilot. In this paper, the quad-rotor UAV is modeled by 6-DOF nonlinear equations of motion that includes rotor aerodynamics with blade element theory. The performance of the proposed method is evaluated through 3D environmental numerical simulations.

• 한국항공운항학회지
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• 제25권4호
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• pp.44-51
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• 2017

An ultra light quad-rotor is utilized in various areas for military and commercial purpose. Especially, the airframe shape is designed with various airframe size, weight and purpose. In this paper, the initial airframe shape of the quad-rotor was designed and manufactured. Flight test was conducted for the quad-rotor. The design modification of airframe shape was conducted to meet design requirement. By changing design, weight of airframe structure was reduced and payloads were placed to the best position. By reinforcing ribs and reducing vehicle's legs, the durability of airframe structure was enhanced.

• 한국항공운항학회지
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• 제26권3호
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• pp.48-54
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• 2018

This paper deals with a development of a quad-rotor for a hovering attitude control. First, a rotational dynamics are derived to design an attitude controller. The attitude controller is based on PI (Proportional-Integral) controller. For a stable attitude control, an anti-windup method applies to the PI attitude controller. Additionally, a complementary filter is used to obtain more reliable attitude. Gain values of the attitude controllers based on the anti-windup method are obtained through tests. Finally, the quad-rotor with the anti-windup based PI attitude controller is developed and a hovering attitude control flight tests are performed. As a result, the developed quad-rotor is capable of stable hovering.

• 제어로봇시스템학회논문지
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• 제20권7호
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• pp.695-700
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• 2014

In this paper, we utilize the CMG's momentum bias to control the roll/pitch attitude of the Quad-rotor. While the previous control approaches have used the thrust control approach, we design and add a new momentum controller (using CMG) in order to improve the transient response over the existing methods. The focal point of this paper is the design of a controller for a Quad-rotor's attitude using CMG. This leads to other tasks such as an identification of the model's parameters and mathematical nonlinear modeling. Then, the previous thrust controller is designed based on the linearized model. Finally, the overall system with our designed controller is implemented and tested in real time to show that the Quad-rotor is kept in a good balanced position faster than the traditional thrust-only control approach.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제13권4호
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• pp.324-335
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• 2013

This article presents the design, control, and implementation of a small quad-rotor system under the practical limitation of being cost effective for private use, such as in the cases of control education or hobbies involving radio-controlled systems. Several practical problems associated with implementing a small quad-rotor system had to be taken into account to satisfy this cost constraint. First, the size was reduced to attain better maneuverability. Second, the main control hardware was limited to an 8-bit processor such as an AVR to reduce cost. Third, the algorithms related to the control and sensing tasks were optimized to be within the computational capabilities of the available processor within one sampling time. A small quad-rotor system was ultimately implemented after satisfying all of the above practical limitations. Experimental studies were conducted to confirm the control performance and the operational abilities of the system.