Journal of Aerospace System Engineering (항공우주시스템공학회지)

The Society for Aerospace System Engineering (항공우주시스템공학회)
권호 표지
DOI QR코드

DOI QR Code

A Test Bench with Six Degrees of Freedom of Motion For Development of Small Quadrotor Drones

소형 쿼드로터 드론 개발을 위한 6 자유도 운동 실험 장치

  • Jin, Jaehyun (Division of Aerospace Engineering, Sunchon National University) ;
  • Jo, Jin-Hee (Division of Aerospace Engineering, Sunchon National University)
  • 진재현 (순천대학교 우주항공공학전공) ;
  • 조진희 (순천대학교 우주항공공학전공)
  • Received : 2017.01.09
  • Accepted : 2017.02.13
  • Published : 2017.02.28
Download PDF
⟨ Previous Next ⟩

Abstract

A new test bench for small multi-rotor type drones has been developed. Six degrees of freedom (DOF) motion is possible due to a ball bushing, wheels, and rotating plates. An FPGA (field programmable gate array) based controller, that supports realtime parallel processing, is used to measure attitude with an accelerometer and a gyro to adjust motor speed. Several tests were performed to check the operational properties of the test bench and the controller. The results show that this test bench is proper for verifying controllers and the control methods of small multi-rotor drones.

소형 다중로터 드론의 동작 실험을 위하여 개발한 장치를 소개한다. 개발한 장치는, 볼 부슁 메카니즘, 이동형 지지대, 그리고 회전판을 적용하여 6자유도 운동이 가능하다. 병렬 처리가 가능한 FPGA기반의 제어기를 사용하여, 가속도와 자이로 센서로 부터 자세를 측정하고 모터 속도를 제어하였다. 다양한 동작을 수행하면서 실험 장치와 제어기의 동작성을 확인하였다. 결론적으로, 개발한 6자유도 실험 장치는 소형 드론 제어를 위한 제어기의 성능 검증을 위해 적합하다.

Keywords

References

  1. Y. Kim, et al., "Quadrotor attitude stabilization by using PID controller," Journal of The Society for Aeros pace System Engineering (in Korean), Vol.4, No.4, p p.18-27, 2010.
  2. J. Kim, et al., "An experimental study of a single axis seesaw attitude control consisting of motor and pr operller," Journal of Advanced Navigation Technology (in Korean), Vol.16, No.1, pp.1-7, 2012. https://doi.org/10.12673/jkoni.2012.16.1.001
  3. A. Vinoth Kumar, et al., "Design of multirotor test rig multirotors performance test," International Journal on Mechanical Engineering and Robotics, Vol.2, No.1, pp.72-77, 2014.
  4. S. Govindarajan, et al., "Design of multicopter test bench," International Journal of Modeling and Optimization, Vol.3, No.3, pp.251-255, 2013.
  5. https://www.youtube.com/watch?v=KMCZpIk5Lmk
  6. https://www.youtube.com/watch?v=bsHryqnvyYA
  7. J. Avila Vilchis, et al., "Nonlinear modeling and control of helicopters," Automatica, Vol.39, No.9, pp.1583 -1596, 2003. https://doi.org/10.1016/S0005-1098(03)00168-7
  8. https://www.youtube.com/watch?v=aebIXJ_tADE
  9. N. Vitzilaios and N. Tsourveloudis, "An experimental test bed for small unmanned helicopters," Journal of Intelligent & Robotic Systems, Vol.54, No.5, pp.769-794, 2009. https://doi.org/10.1007/s10846-008-9284-8
  10. Y. Yushu and X. Ding, "A quadrotor test bench for six degree of freedom flight," Journal of Intelligent & Robotic Systems, Vol.68, No.3, pp.323-338, 2012. https://doi.org/10.1007/s10846-012-9680-y
  11. https://www.youtube.com/watch?v=ynIID1dV9VM
  12. https://www.youtube.com/watch?v=jwCa6MZcqPc
  13. J. Lee, et al., "Design of Positon and Attitude Controller using for Quadrotor Robot," Proceedings of 2015 Spring Conference of the Korean Society Of Precision Engineering (in Korean), 2015, pp.83-84.
  14. E. Shin, et al., "Controller Design and Experiment for Attitude Recovery of a Quadrotor," Proceedings of 2015 Fall Conference of the Korean Society For Aeronautical And Space Sciences (in Korean), 2015, pp. 386-389.