• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2003년도 춘계학술대회 논문집
• /
• pp.996-1000
• /
• 2003

In this paper, Fly robot with electric power, a kind of Unmanned aerial vehicle (UAV), is considered as an autonomous hovering platform, capable of vertical lift-off, landing and stationary hovering. This aircraft has four rotor and DC motors of electrical Power, which is capable of omni-direction for indoor application. In the earlier days of vertical flight experimentation developers looked at the intuitively easy control functionality of 4 rotor designs. But we need to obtain design method of suitable structures and adequate components because the existing prototypes of 4 rotor-craft don't analyze the propeller, motor characteristic and propose a methodology to optimize this system. In this paper, we will show the new 4 rotor craft with blimp, analyze design and manufacturing method of 4 rotor craft system. Also we prove propriety of our design and manufacturing method by being based on thrust and motor experiment.

• 제어로봇시스템학회논문지
• /
• 제15권1호
• /
• pp.23-30
• /
• 2009

This paper addresses how to make a formation of multiple unmanned aerial vehicles (UAVs) using only the relative range information. Since the relative range can easily be measured by an on-board range sensor like the laser range finder, the proposed method does not require any expensive and heavy wireless communication system to share the navigation information of each vehicle. Based on the two-dimensional (2-D) nonlinear equations of motion, we propose a nonlinear formation controller using the typical input-output feedback linearization method. The performance of the proposed formation controller is verified by various numerical simulations.

• Journal of Electrical Engineering and Technology
• /
• 제7권1호
• /
• pp.132-140
• /
• 2012

A non-conservative robust Kalman filter (NCRKF) is applied to flight data to identify the aerodynamic derivatives of an unmanned autonomous vehicle (UAV). The NCRKF is formulated using UAV lateral motion data and then compared with results from the conventional Kalman filter (KF) and the recursive least square (RLS) method. A superior performance for the NCRKF is demonstrated by simulation and real flight data. The NCRKF is especially effective in large uncertainties in vehicle modeling and in measuring flight data. Thus, it is expected to be useful in missile and aircraft parameter identification.

• 공학교육연구
• /
• 제17권5호
• /
• pp.17-22
• /
• 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.

• 한국항공우주학회지
• /
• 제45권12호
• /
• pp.1039-1047
• /
• 2017

본 논문은 무선네트워크를 사용하는 비행제어시스템을 탑재한 고정익 무인항공기의 시험개발에 대해 소개한다. 무선네트워크를 기반으로 하는 항공기는 기존의 방식과 달리 센서와 구동기를 무선으로 연결하여 전선의 무게를 줄여 항공기를 경량화 할 수 있고, 이에 따라 기체 정비비용과 시간을 절약할 수 있다. 본 연구에서 사용된 무인항공기는 AHRS와 GPS, 엘리베이터와 에일러론을 구동하는 서보모터가 ZigBee 통신을 이용하여 FCC에 연결되었다. 또한 무선신호에 의한 지연이 비행안전성에 미치는 영향을 알아보고자 실내 및 비행시험을 수행하였으며, 유선비행제어시스템과의 결과 비교를 통해 이러한 영향은 매우 미미했음을 확인하였다.

• 한국항공운항학회:학술대회논문집
• /
• 한국항공운항학회 2005년도 추계학술발표대회 논문집
• /
• pp.120-123
• /
• 2005

• 정보과학회지
• /
• 제30권9호
• /
• pp.46-56
• /
• 2012

• 한국항공운항학회:학술대회논문집
• /
• 한국항공운항학회 2006년도 추계학술대회 논문집
• /
• pp.145-148
• /
• 2006

• 한국항공운항학회:학술대회논문집
• /
• 한국항공운항학회 2004년도 추계학술발표대회 논문집
• /
• pp.295-301
• /
• 2004

• International Journal of Aeronautical and Space Sciences
• /
• 제17권1호
• /
• pp.120-131
• /
• 2016

The full results of troubleshooting process related to the flight control system of a tilt-rotor type UAV in the flight tests are described. Flight tests were conducted in helicopter, conversion, and airplane modes. The vehicle was flown using automatic functions, which include speed-hold, altitude-hold, heading-hold, guidance modes, as well as automatic take-off and landing. Many unexpected problems occurred during the envelope expansion tests which were mostly under those automatic functions. The anomalies in helicopter mode include vortex ring state (VRS), long delay in the automatic take-off, and the initial overshoot in the automatic landing. In contrast, the anomalies in conversion mode are untrimmed AOS oscillation and the calibration errors of the air data sensors. The problems of low damping in rotor speed and roll rate responses are found in airplane mode. Once all of the known problems had been solved, the vehicle in airplane mode gradually reached the maximum design speed of 440km/h at the operation altitude of 3km. This paper also presents a comprehensive detailing of the control systems of the tilt-rotor unmanned air vehicle (UAV).