한국산학기술학회논문지 (Journal of the Korea Academia-Industrial cooperation Society)

  • 제15권4호
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  • Pages.2335-2342
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  • 2014
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  • 1975-4701(pISSN)
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  • 2288-4688(eISSN)
한국산학기술학회 (The Korea Academia-Industrial cooperation Society)
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긴급 상황에 대비한 무인 쿼드로터의 안전 착륙 제어

Safe landing control of unmanned Quad-rotor Emergency Procedures

  • Baek, Seung-Jun (Agency for Defense Development) ;
  • Park, Jong-Ho (Department of Electrical & Electronic Engineering, Seonam University) ;
  • Ryu, Ji-Hyoung (ETRI Local Industry Tech. Development Section Honam Research Center) ;
  • Lim, Shin-Teak (Department of Electronic Engineering, Chonbuk National University) ;
  • Chong, Kil-To (Department of Electronic Engineering, Chonbuk National University)
  • 투고 : 2013.12.02
  • 심사 : 2014.04.10
  • 발행 : 2014.04.30
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초록

미래 유통 혁신 및 도심에서의 긴급 차량 운행에 도움을 주고자 차량 이동 정보 등이 포함된 실시간 교통 상황 정보 및 긴급 정보 제공 등을 위하여 무인 쿼드로터의 사용하고자 할 경우 무인 쿼드로터의 사용 안전성을 충분히 고려해야 한다. 따라서 본 연구에서는 4개의 모터를 가지고 있고 시스템적으로 구조적 균형이 잘 잡혀있는 무인 쿼드로터 시스템의 안전성 증대를 위하여 도심에서의 안전 착륙 제어에 대한 연구를 무인 쿼드로터 시스템의 비선형 특성을 고려한 운동학 및 동역학적 모델 기반 및 외란이나 시스템 비선형성에 강인한 Fuzzy 제어기를 통하여 진행하고자 하며, 이를 컴퓨터 시뮬레이션을 통하여 분석 하였다.

If you want to use the unmanned quad rotor for emergency information provision and information about the traffic situation of real-time and moving information is included in the car to help in emergency vehicle operation of the city and in the distribution future innovation the need to consider to have enough safety of the use of silent quad rotor. Therefore, in this study, the unmanned quad rotor system research of safe landing control from the center for the improvement of safety of unmanned quad rotor system you have a motor of four, has taken a good structural balance system based on the dynamic model and motion considering the nonlinear characteristics, and attempts to proceed via non-linearity and system disturbances, tough Fuzzy controller, and analyzed through a computer simulation result.

키워드

참고문헌

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