• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.329-332
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• 1997

This paper deals with the attitude control problem of nonlinear MIMO propeller setup. Multivariable GPC[Generalized Predictive Control] is adopted as the main controller, and it is implemented by TMS320C31 in the current paper. The main object of control is to move the propellers to wanted positions. System identification is performed to configure the system. Performance of the multivariable predictive controller implemented is shown via some experiments, which shows the controller meets the adequate control purpose.

• 한국항공운항학회지
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• 제28권3호
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• pp.74-83
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• 2020

Securing excellent pilots is not only directly linked to the military's improved combat capabilities, but also a way to minimize human and property losses from aircraft accidents. Therefore, a scientific method is needed to diagnose pilot aptitude from the pilot selection process and select those with high accident potential, those who are dropped out of the flight training process, and those who are not suitable for pilot life in advance. Developed countries have implemented pilot aptitude tests to solve these problems early on, but so far, the Korean Army has not introduced a pilot aptitude test system that uses diagnostic tools in the helicopter pilot selection process. Therefore, in this study, scientific diagnostic tools are developed for selecting helicopter pilots, and through this, it is predicted that the number of people who are likely to be dropped out of the training course and who have the potential for accidents will be selected in advance and eliminated in the selection process. In this context, prior research examined the key factors involved in the pilot aptitude test. Through this, the aptitude test items were developed and aptitude tests were conducted on student pilots currently in flight training, and the results of flight training were analyzed.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2003년도 춘계학술대회 논문집
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• pp.168-171
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• 2003

We introduced a small-sized automatic model helicopter for using in the remote sensing. The feature of our helicopter system is that the helicopter system is realized using commercialized radio-controlled model helicopter, whose payload is 1.5 kg. Therefore, our system has may benefits when apply our system to practical tasks. The compactness and light-weight of our system is realized by the introduction of our original technique to suppress the vibration noise using a slimy material as well as the introduction of latest sensors and semiconductor products. Submerging the acceleration sensor into a slimy material, moise ratio is highly improved. In this paper, we show an experimental results for the effect of our orignal technique to remove the vibration noise of helicopter. The result of hovering flying test shows the effectiveness of our system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.763-766
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• 1996

A model helicopter is an unstable, multi-input multi-output nonlinear system exposed to strong disturbances and its system parameters change continually. In this paper, Time Delay Control(TDC) is adopted for these reasons. TDC uses past observation of the system's response and the control input to directly modify the control action rather than adjusting the controller gains leading to a model independent robust controller. TDC can force the plant to follow an appropriate reference model, but the reference model cannot be chosen arbitrarily. In this paper the procedure of choosing a reference model and the performance of the controller are presented.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 B
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• pp.818-821
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• 1999

Helicopter system is regarded as a challenging example in multivariable robust control application since the dynamics of helicopter is highly coupled and nonlinear. In this paper, Dynamic equations for model helicopter at hover are derived. Various system properties are stated with respect to control of the attitude of the vehicle. A linearized model is used to analyse the system stability and to design the attitude controller. The simulation results of LQG controller are presented.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.457-459
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• 1998

This paper presents a 3-DOF hovering flight controller for a model helicopter using the minimal order LQG/LTR technique. A model helicopter is an unstable multi-input multi-output nonlinear system strongly exposed to disturbances, so a robust multi-variable control theory should be applied to control it. The minimal order LQG/LTR technique which uses a reduced-order observer in the LTR procedure is used to design the controller. Performances for the 3-DOF hovering flight controller are evaluated through computer simulations.

• 한국항공우주학회지
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• 제35권10호
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• pp.868-874
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• 2007

정지비행시의 헬리콥터 로터 모형의 블레이드의 피치각 변화가 소음방사에 미치는 영향을 수치해석을 통해 파악하였다. 공력 자료는 비정상 패널법과 경험후류 방법을 이용하여 구하였으며, $0^{\circ}$에서 $9^{\circ}$까지 등간격으로 $1.5^{\circ}$ 씩 피치각을 증가시키면서 블레이드 표면상의 공력 하중 분포를 얻어내었다. 수치해석을 통해 얻어낸 두께 소음은 피치각에 무관한 결과를 보였으나, 하중소음은 피치각이 $1.5^{\circ}$ 씩 증가할 때 마다 대략 3~4dBA정도로 소음의 세기가 증가하는 경향을 보였으며, 이정도의 증가분은 소음이 더 커졌음을 감지할 수 있는 충분한 크기라 할 수 있다. 또한 하중소음의 방향성 결과로부터 블레이드의 윗면 보다는 아랫면에서의 소음의 세기가 더 크게 나옴을 알 수 있었다.

• 제어로봇시스템학회논문지
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• 제6권12호
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• pp.1120-1125
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• 2000

This paper presents a technique for estimating the attitude of a model helicopter at near hovering using a combination of inertial and non-inertial sensors such as gyroscope and potentiometer. To estimate the attitude of helicopter a simplified indirect Kalman filter based on sensor modeling is derived and the characteristics of sensors are studied, which are used in determining the optimal Kalman gain. To verify the effectiveness of the proposed algorithm simulation results are presented with real flight data. Our approach avoids a complex dynamic modeling of helicopter and allows for an elegant combination of various sensor data with different measurement frequencies. We also describe the method of implementation of the algorithm in the model helicopter.

• 광학세계
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• 통권158호
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• pp.40-47
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• 2015

드론은 군사용으로 제일 먼저 개발되어 시장을 형성했지만, 오픈소스 드론의 제작이 많아지면서 소비자 시장도 급속도로 확대되고 있다. 최근 중국의 DJI는 기업가치 100억 달러 이상을 넘볼 정도로 급성장을 하였고, 드론용 소프트웨어나 플랫폼을 확보한 스타트업 기업들에 대한 투자도 활발하게 이루어지고 있다. 구글이나 페이스북, 아마존 등은 자사의 서비스 강화를 위한 목적으로 드론 기술을 적극적으로 활용하고 있으며, 드론의 시장 확대에 따른 드론 시장 생태계도 크게 확장되고 있다. 최근 드론에 대한 관심이 뜨겁다. 특히 중국의 DJI는 모형 헬리콥터의 비행조종 시스템을 만들다가 전격적으로 소비자 드론 시장에 뛰어들었는데, 2014년 약 5억 달러 정도의 매출을 올렸다고 한다. 이는 2013년과 비교할 때 4배가 증가한 것이며, 2015년에는 또 다시 2배 이상 성장을 할 것으로 보여 올해에는 소비자 드론을 만드는 기업중에서 세계 최초로 10억 달러 매출을 달성할 것으로 예측된다. 당연히 기업가치도 크게 상승해서, 실리콘밸리에서는 DJI의 기업 가치를 100억 달러 이상으로 보고 있다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1992년도 춘계학술대회 논문집
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• pp.173-177
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• 1992

The Helicopter has a lot of flight modes. The most characteristic flight mode is Hovering. It enables the helicopter to be used in many situations. However, a helicopter has nonlinear dynamics so its mathematical modeling is very difficult. Hence it is not easy to control helicopter in hover. In this paper, RC model helicopter is selected as a plant. To stabilize the behavior of RC model helicopter, Fuzzy alogrithm is used as a controller and one camera is used as a sensor. To get proper Information from camera Image, three characteristic points are attatched to the helicopter and a position recognition algorithm is developed. Experiments are performed to stabilize 3 rotational motions synchronousely with fuzzy control algorithm. As a result, Fuzzy control represents better performances than the conventional PID control.