대한기계학회논문집A (Transactions of the Korean Society of Mechanical Engineers A)

  • 제38권2호
  • /
  • Pages.137-148
  • /
  • 2014
  • /
  • 1226-4873(pISSN)
  • /
  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
권호 표지
DOI QR코드

DOI QR Code

멀티로터 무인비행로봇 동역학적 모델링 및 제어기법 연구

Dynamic Modeling and Control Techniques for Multi-Rotor Flying Robots

  • 김현 (군산대학교 기계자동차공학부) ;
  • 정헌술 (군산대학교 기계자동차공학부) ;
  • 정길도 (전북대학교 전자공학부) ;
  • 이덕진 (군산대학교 기계자동차공학부)
  • Kim, Hyeon (School of Mechanical & Automotive Engineering, Kunsan Nat'l Univ.) ;
  • Jeong, Heon Sul (School of Mechanical & Automotive Engineering, Kunsan Nat'l Univ.) ;
  • Chong, Kil To (School of Electronics Engineering, Chonbuk Nat'l Univ.) ;
  • Lee, Deok Jin (School of Mechanical & Automotive Engineering, Kunsan Nat'l Univ.)
  • 투고 : 2013.09.04
  • 심사 : 2013.11.19
  • 발행 : 2014.02.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

멀티로터는 여러 개의 로터로 이루어진 무인 비행로봇으로써, 로터의 개수에 따라서 트라이로터, 쿼드로터, 헥사로터, 옥토로터 등으로 나누어 진다. 멀티로터는 수직이착륙(VTOL) 및 높은 기동성으로 인하여 다른 무인 비행로봇에 비하여 건물이 밀집되어 있는 도심과 같은 지역의 정찰 및 감시 등 여러 응용분야에 적합하게 활용될 수 있다. 본 논문에서는 멀티로터란 이름으로 연구되고 있는 트라이로터, 쿼드로터, 헥사로터 및 옥토로터 비행로봇에 대한 통합된 동역학적 모델링에 관한 수식을 도출 및 비교 분석을 수행하고, 획득된 수식을 이용하여 각각의 멀티로터 동작원리 및 제어기법에 대한 연구를 수행하였다. 유도된 멀티로터의 동역학 모델링을 이용하여 각각의 멀티로터 형태에 따른 구동원리와 그에 따라 작용하는 힘과 모멘트에 대한 관계식을 유도하였으며, 연속루프닫음기법 기반자세 및 고도제어기를 적용하여 각각의 멀티로터 비행로봇의 구동 및 제어 성능을 시뮬레이션을 통해 검증하였다.

A multi-rotor is an autonomous flying robot with multiple rotors. Depending on the number of the rotors, multi-rotors are categorized as tri-, quad-, hexa-, and octo-rotor. Given their rapid maneuverability and vertical take-off and landing capabilities, multi-rotors can be used in various applications such as surveillance and reconnaissance in hostile urban areas surrounded by high-rise buildings. In this paper, the unified dynamic model of each tri-, quad-, hexa-, and octo-rotor are presented. Then, based on derived mathematical equations, the operation and control techniques of each multi-rotor are derived and analyzed. For verifying and validating the proposed models, operation and control technique simulations are carried out.

키워드

참고문헌

  1. Schoenwald, D. A., 2000, "AUVs: in Space, Air, Water, and on the Ground," IEEE Control Systems Magazine, Vol. 20, No. 6, pp. 15-18.
  2. Lee, D. J., Kaminer, I., Dobrokhodov, V., and Jones, K., 2010, "Autonomous Feature Following for Visual Surveillance Using a Small Unmanned Aerial Vehicle with Gimbaled Camera System," International Journal of Control, Automation, and Systems, Vol. 8, No. 5, pp. 957-966. https://doi.org/10.1007/s12555-010-0504-1
  3. Lee, D. J. and Andersson, K., 2011, "Hybrid Control of Long-Endurance Aerial Robotic Vehicles for Wireless Sensor Networks," International Journal of Advanced Robotic Systems, Vol. 8, No. 2, pp. 1-13. https://doi.org/10.5772/10531
  4. Tomic, T., Schmid, K., Lutz, P., Domel, A., Kassecker, M., Mair, E., Grixa, I. L., Ruess, F., Suppa, M., and Burschka, D., 2012, "Toward a Fully Autonomous UAV: Research Platform for Indoor and Outdoor Urban Search and Rescue," IEEE Robotics & Automation Magazine, Vol. 19, No. 3, pp. 46-56. https://doi.org/10.1109/MRA.2012.2206473
  5. Bouabdalla, S., 2007, Design and Control of Quadrotors with Application to Autonomous Flying, EPFL, Ph.D. Dissertation.
  6. Naidoo, Y., Stopforth R., and Bright G., 2011, "Quad-Rotor Unmanned Aerial Vehicle Helicopter Modelling & Control," International Journal of Advanced Robotic Systems, Vol. 8, No. 4, pp. 139-149.
  7. Barsk, K. J., 2012, Model Predictive Control of a Tricopter, Linkoping University, MS thesis.
  8. Yoo, D. W., Oh, H. D., Won D. Y., and Tahk, M. J., 2010, "Dynamic Modeling and Stabilization Techniques for Tri-Rotor Unmanned Aerial Vehicles," Int'l. Journal of Aeronautical & Space Sci, Vol. 11, No. 3, pp. 167-174. https://doi.org/10.5139/IJASS.2010.11.3.167
  9. Baranek, R. and Solc, F., 2012, "Modeling and Control of a Hexa-Copter", IEEE Conference Publications, pp.19-23.
  10. Victor, G. A. and Adrian, M. S., 2012, "Integral LQR Control of a Star-Shaped Octorotor", INCAS BULLETIN, Vol. 14, pp. 3-18.
  11. Marks, A., Whidborne, J. F., and Yamamoto, I., September 2012, "Control Allocation for Fault Tolerant Control of a VTOL Octorotor," International Conference on Control, UK.
  12. Beard, R. W. and McLain, T. W., 2012, Small Unmanned Aircraft: Theory and Practice, Princeton University Press, New Jersey, USA.
  13. Baek, S. J., Lee, D. J., Park, S. H., and Chong, K. T. 2013, "Design of Lateral Fuzzy-PI Controller for Unmanned Quadrotor Robot," Journal of Institute of Control, Robotics and System, Vol. 19, No. 2, pp. 164-170. https://doi.org/10.5302/J.ICROS.2013.19.2.164
  14. Singh, A. M., Lee, D. J., Park, and Chong, K. T. 2012, "Attitude and Altitude Controllers for Quadrotor," Proc. of IEEK Summer Conference, pp. 2557-2558.
  15. Mahony, R., Kumar, V., and Corke, P., 2012, "Multirotor Aerial Vehicles Modeling, Estimation and Control of Quadrotor," IEEE Robotics & Automation Magazine, Vol. 19, No. 3, pp. 20-32.

피인용 문헌

  1. Dynamic Object Tracking of a Quad-rotor with Image Processing and an Extended Kalman Filter vol.21, pp.7, 2015, https://doi.org/10.5302/J.ICROS.2015.14.0138
  2. Attitude Control of Quad-rotor by Improving the Reliability of Multi-Sensor System vol.39, pp.5, 2015, https://doi.org/10.3795/KSME-A.2015.39.5.517
  3. Real-Time Flight Testing for Developing an Autonomous Indoor Navigation System for a Multi-Rotor Flying Vehicle vol.40, pp.4, 2016, https://doi.org/10.3795/KSME-A.2016.40.4.343