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

  • 제47권5호
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  • Pages.326-334
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  • 2019
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  • 1225-1348(pISSN)
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  • 2287-6871(eISSN)
한국항공우주학회 (The Korean Society for Aeronautical and Space Sciences)
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6자유도 모션테이블을 이용한 소형 무인항공기용 실시간 HILS 환경 구축

Establishment of Real-time HILS Environment for Small UAV Using 6 D.O.F Motion Table

  • Cha, Hyungkyu (Department of Aerospace Engineering, Pusan National University) ;
  • Jeong, Jinseok (Department of Aerospace Engineering, Pusan National University) ;
  • Shi, Hayoung (Department of Aerospace Engineering, Pusan National University) ;
  • Yoon, Junseok (Department of Aerospace Engineering, Pusan National University) ;
  • Kang, Beomsoo (Department of Aerospace Engineering, Pusan National University)
  • 투고 : 2019.02.13
  • 심사 : 2019.04.28
  • 발행 : 2019.05.01
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⟨ 이전 논문 다음 논문 ⟩

초록

HILS(Hardware In the Loop Simulation)를 이용한 소형 무인항공기 개발은 비용과 시간을 줄이면서 무인항공기의 신뢰성을 높이는데 효과적으로 사용될 수 있다. 또한, 실제 비행 중에 발생할 수 있는 비행제어컴퓨터의 사용 불능상태 등을 고려한 시뮬레이션을 개발과정에 반영하면, 인명 및 재산상 피해 등의 위험을 감소시킬 수 있다. 이러한 HILS를 적용하기 위해서는 실제 비행 조건과 유사한 환경을 제공할 수 있는 실시간 시뮬레이션 환경이 요구된다. 따라서 본 논문에서는 6자유도 모션테이블을 이용하여 소형 무인항공기용 실시간 HILS 환경을 구축하였다. 선행연구에서 개발된 6자유도 모션테이블을 실시간으로 HILS 환경과 연동하기 위하여, 동작 알고리즘을 위치제어 방식에서 속도제어 방식으로 변경하여 설계 하였다. 또한, 모션테이블의 실시간 동작을 확인하기 위해 역기구학 및 동작 시뮬레이션 모델을 Matlab $Simulink^{(R)}$에서 모델링하고 검증하였다.

Development of Small UAV using HILS (Hardware In the Loop Simulation) can be effectively used to improve the reliability of UAV (Unmanned Aerial Vehicle) while reducing cost and time. It is also possible to reduce the damage to people or property by simulating the malfunction of the Flight Control Computer (FCC) that may occur during the actual flight. For applying such HILS, a real-time simulation environment capable of providing an environment similar to an actual flight condition is required. In this paper, we constructed a real - time HILS environment for Small UAV using 6 D.O.F motion table. In order to link the 6 D.O.F motion table developed in the previous research with the HILS environment in real time, the motion algorithm was changed from the position control method to the velocity control method. Also, we implemented modeling of inverse kinematics model for command transmission in Matlab $Simulink^{(R)}$ and verified the action of motion table according to the simulation model.

키워드

참고문헌

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