Journal of the Korean Society for Aeronautical & Space Sciences (한국항공우주학회지)

The Korean Society for Aeronautical and Space Sciences (한국항공우주학회)
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Application and Validation of Delay Dependent Parallel Distributed Compensation Controller for Rotary Wing System

회전익 시스템의 시간지연 종속 병렬분산보상제어기 적용과 검증

  • You, Young-Jin (Department of Aerospace Engineering, Pusan National University) ;
  • Choi, Yun-Sung (Department of Aerospace Engineering, Pusan National University) ;
  • Jeong, Jin-Seok (Department of Aerospace Engineering, Pusan National University) ;
  • Song, Woo-Jin (Graduate School of Convergence Science, Pusan National University) ;
  • Kang, Beom-Soo (Department of Aerospace Engineering, Pusan National University)
  • Received : 2016.07.04
  • Accepted : 2016.11.30
  • Published : 2016.12.01
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Abstract

In this paper, the application of Parallel Distributed Compensation (PDC) controller for fixed pitch rotary wing system was studied. For nonlinear modeling, T-S fuzzy model was utilized to advance system control including the tilt type UAV. PDC controller was designed through the Linear Matrix Inequality (LMI). Experiments for determining the applicability and feasibility of PDC were performed using the 1 axis attitude control equipment and simulation. To verify the performance and characteristics of the controller, Mathworks Co. Simulink was used. After then, the PDC controller performance was verified and the results with developed controller using a 1 axis attitude control equipment were compared. Verification of the feasibility of PDC controller for the fixed pitch rotary wing system and identification of the overall performance and improvement analysis was conducted based on the experimental results.

본 논문에서는 비선형성을 가지는 고정피치 프로펠러를 사용하는 회전익 시스템의 병렬분산보상제어기 적용에 대한 연구 내용을 다루고 있다. 틸트 형 무인기 등 발전된 시스템의 제어기 설계 시 요구되는 비선형 모델링을 위해 T-S 퍼지모델을 사용하였다. 병렬분산보상 제어기는 선형행렬부등식을 이용해 설계하였다. 병렬분산보상제어기 적용가능성 판단을 위한 실험은 시뮬레이션과 1축 자세제어장비를 이용해 수행하였다. Mathworks의 Simulink를 사용해 시뮬레이션을 진행하고 설계한 제어기의 전반적인 성능과 특성을 파악하였다. 이후 1축 자세제어장비와 기 개발된 제어기를 이용해 병렬분산보상기법을 적용한 제어기와 결과를 비교하고 성능을 검증하였다. 시뮬레이션 및 실험 결과를 토대로 고정피치 프로펠러를 사용하는 회전익 시스템에서 설계한 병렬분산보상제어기 적용가능성과 개선사항을 분석하였다.

Keywords

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