Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Flight Control Test of Quadrotor-Plane with Hybrid Flight Mode of VTOL and Fast Maneuverability

Hybrid 비행 모드를 갖는 Quadrotor-Plane의 비행제어실험

  • Kim, Dong-Gyun (Dept. of Aerospace Information Engineering, Konkuk University) ;
  • Lee, Byoungjin (Dept. of Aerospace Information Engineering, Konkuk University) ;
  • Lee, Young Jae (Dept. of Aerospace Information Engineering, Konkuk University) ;
  • Sung, Sangkyung (Dept. of Aerospace Information Engineering, Konkuk University)
  • 김동균 (건국대학교 항공우주정보시스템학과) ;
  • 이병진 (건국대학교 항공우주정보시스템학과) ;
  • 이영재 (건국대학교 항공우주정보시스템학과) ;
  • 성상경 (건국대학교 항공우주정보시스템학과)
  • Received : 2016.04.18
  • Accepted : 2016.07.09
  • Published : 2016.09.01
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Abstract

This paper presents the principle, dynamics modeling and control, hardware implementation, and flight test result of a hybrid-type unmanned aerial vehicle (UAV). The proposed UAV was designed to provide both hovering and fixed-wing type aerodynamic flight modes. The UAV's flight mode transition was achieved through the attitude transformation in pitch axis, which avoids a complex rotor tilt mechanism from a structural and control viewpoint. To achieve this, a different navigation coordinate was introduced that avoids the gimbal lock in pitch singularity point. Attitude and guidance control algorithms were developed for the flight control system. For flight test purposes, a quadrotor attached with a tailless fixed-wing structure was manufactured. An onboard flight control computer was designed to realize the navigation and control algorithms and the UAV's performance was verified through the outdoor flight tests.

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References

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