대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

최적 LQR 제어기를 이용한 모형 헬리콥터의 자세 제어

Attitude Control of Model Helicopter using the LQR Controller

  • 한학식 (부경대학교 제어계측공학과) ;
  • 정상철 (부경대학교 제어계측공학과) ;
  • 김관형 (동명정보대학교 컴퓨터공학과) ;
  • 안영주 (부경대학교 제어계측공학과) ;
  • 이형기 (부경대학교 제어계측공학과)
  • Han, Hak-Sic (Department of Control and Instrumentation Engineering, Pukyong National University) ;
  • Jeong, Sang-Chul (Department of Control and Instrumentation Engineering, Pukyong National University) ;
  • Kim, Gwan-Hyung (Department of Computer Engineering, Tongmyong University of Information Technology) ;
  • An, Young-Joo (Department of Control and Instrumentation Engineering, Pukyong National University) ;
  • Lee, Hyung-Ki (Department of Control and Instrumentation Engineering, Pukyong National University)
  • 발행 : 2002.07.10
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초록

Helicopter dynamics are plenty of nonlinearity. A complete mathematical model including propeller dynamics and fortes generated by the propellers is very difficult to obtain. So the method used to design to design a controller is a parameter estimation. Design controller based on variable structure system. This paper deals with LQR control technique to control efficiently, its elevation angle and azimuth one. The purpose of the experiment is to design a controller allows to use a desired elevation angle and azimuth ones. The system model has a helicopter model with 2-degree-of freedom. The simulation results were verified usefulness of controller.

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