DOI QR코드

DOI QR Code

비인과, 객체지향적 언어 모델리카를 이용한 멀티콥터형 드론의 통합 비행 시뮬레이션 프로그램

Integrated Flight Simulation Program for Multicopter Drones by Using Acausal and Object-Oriented Language Modelica

  • Jin, Jaehyun (Department of Aerospace Engineering/Center for Aerospace Engineering Research, Sunchon National University)
  • 투고 : 2017.02.05
  • 심사 : 2017.04.26
  • 발행 : 2017.05.01

초록

멀티콥터형 소형 드론의 통합 비행 시뮬레이션 프로그램을 개발한 내용을 소개한다. 드론의 강체 동역학, 프로펠러 추력, 배터리 에너지 변화, 자세 및 경로 제어, 대기 상태 등을 통합적으로 시뮬레이션 하여 비행경로에 따라 드론의 상태를 분석할 수 있다. 프로그램 개발을 위하여 모델리카 언어를 선정하였는데, 모델리카는 비인과적, 객체지향적 특성을 갖추고 있어서, 프로그램 개발의 효율을 높일 수 있다. 수평 수직 이동이 포함된 가상 임무에 대하여, 시뮬레이션 결과를 이용하여 드론의 동적 거동을 분석하였다.

An integrated flight simulation program for multicopter drones is presented. The program includes rigid body dynamics, propeller thrust, battery energy, control, and air. Using this program, users can monitor and analyze the states of drones along flight trajectories. As a programming language, Modelica has been chosen, that specializes in simulation program development. Modelica enables users to develop simulation programs efficiently due to acausal and object oriented properties. For missions including horizontal and vertical maneuvers, many dynamical states of drones have been analyzed with simulation results.

키워드

참고문헌

  1. KARI Homepage(www.kari.re.kr), Notice, 2016. 9. 13.
  2. Lee, G., Kim, B., Kim., J., and Kang, T., "Dynamic modeling and design of an attitude controller for quad robot unmanned aerial vehicle," Proceedings of the 2010 ICROS Conference, May, 2010, pp.497-499.
  3. Lee, S., Wang, J., Lee, S., and Joo, S., "Modelling of the quad-rotor dynamics and controller design," Proceedings of the 43th KIEE Conference, July, 2012, pp.1357-1358.
  4. Kim, H., Jeong, H., Chong, K., and Lee, D., "Dynamic modeling and control techniques for multi-rotor flying robots," Transactions of the Korean Society of Mechanical Engineers A (in Korean), Vol. 38, No. 2, 2014, pp.137-148. https://doi.org/10.3795/KSME-A.2014.38.2.137
  5. Lee, S. and Kim, Y., "System modeling and waypoint guidance law designing for 6-DOF quadrotor unmanned aerial vehicle," Journal of The Korean Society for Aeronautical and Space Sciences (in Korean), Vol. 42, No. 4, 2014, pp.305-316. https://doi.org/10.5139/JKSAS.2014.42.4.305
  6. Fritzson, P., Principles of Object Oriented Modeling and Simulation with MODELICA 3.3, Wiley-IEEE Press, 2015.
  7. Iderbrant, A., and Fritzson, P., "Aircraft - A Modelica library for aircraft dynamic simulation," Proceedings of the 5th EuroSim Congress on Modeling and Simulation, Paris, France, Sept. 2004, pp.6-10.
  8. Vigano, L., and Magnani, G., "Acausal modelling of helicopter dynamics for automatic flight control application," Proceedings of the 5th International Modelica Conference, Vienna, Austria, Sept. 2006, pp.377-384.
  9. Looye, G., "The new DLR flight dynamics library," Proceedings of the 6th International Modelica Conference, Vol. 1, 2008, pp.193-202.
  10. Klockner, A., Schlabe, D., and Looye, G., "Integrated simulation models for high-altitude solar-powered aircraft," Proceedings of AIAA Modeling and Simulation Technologies Conference, Minnesota, US, Aug. 2012, AIAA 2012-4717.
  11. Chauvin, F. and Fanmuy, G., "System engineering on 3DEXPERIENCE platform - UAS Use Case," Proceedings of Workshop of the Complex Systems Design and Management Conference, Paris, France, Nov., 2014, pp.113-126.
  12. Allerton, D., Principles of Flight Simulation, Wiley, 2009, p.144.
  13. Shin, J. and Choi, K., "Development of a component based helicopter simulation program," Journal of The Korean Society for Aeronautical and Space Sciences (in Korean), Vol. 35, No. 6, 2007, pp.548-555. https://doi.org/10.5139/JKSAS.2007.35.6.548
  14. Kofranek, J., Matejak M., and Privitzer P., "Causal or Acausal Modeling: Labour for Humans or Labour for Machines," Proceedings of the 16th Annual Conference In Technical Computing, 2008, pp.1-19.
  15. Leishmann, G., Principles of Helicopter Aerodynamics, Cambridge University Press, 2006, pp.117-124.
  16. Ren, B., Ge, S., Chen, C., Fua, C., Lee, T., Modeling, Control and Coordinations of Helicopter Systems, Springer, 2012, pp.10-31.
  17. Jang, K. and Chung, G. B., "A SOC estimation using Kalman filter for lithium - polymer battery," The Transactions of Korean Institute of Power Electronics (in Korean), Vol. 17, No. 7, 2012, pp.222-229. https://doi.org/10.6113/TKPE.2012.17.3.222
  18. Lee, J., Jo, J., Kim, S., and Cha, H., "The state of charge estimation for lithium-polymer battery using a PI observer," The Transactions of Korean Institute of Power Electronics (in Korean), Vol. 20, No. 2, 2015, pp.175-181. https://doi.org/10.6113/TKPE.2015.20.2.175
  19. http://www.ibt-power.com/Battery_packs/Li_Polymer/Lithium_polymer_tech.html
  20. Yoon, Y., Flight Mechanics (in Korean), Kyungmoon Pub., 2011, pp.45, 150-153.
  21. Jung, Y., Cho, S., and Shim, H., "Trajectory tracking controller design using L1 adaptive control for multirotor UAVs," Journal of The Korean Society for Aeronautical and Space Sciences (in Korean), Vol. 42, No. 10, 2014, pp.842-850. https://doi.org/10.5139/JKSAS.2014.42.10.842