• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1385-1389
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• 2005

This paper describes the design, analysis and manufacture procedure of the composite blade for hingeless rotor system of unmanned helicopters. Helicopter rotor system is the key structural unit that produces thrust and control forces for intended flight conditions. In this work, a hingeless rotor system is adopted, and base on the design requirements for rotor system, composite blade section design and calculation of material properties were performed. In order to avoid the unstable state such as resonance, vibration characteristics of rotor system were analyzed. Finally, this paper describes the forming and manufacture of composite blade.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.11
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• pp.990-998
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• 2007

Adaptive output feedback control technique using Neural Networks(NN) is proposed for uncertain nonlinear Multi-Input Multi-Output(MIMO) systems. Modified Dynamic Inversion Model(MDIM) is introduced to decouple uncertain nonlinearities from inversion-based control input. MDIM consists of approximated dynamic inversion model and inversion model error. One NN is applied to compensate the MDIM of the system. The output of the NN augments the tracking controller which is based upon a filtered error approximation with online weight adaptation laws which are derived from Lyapunov's direct method to guarantee tracking performance and ultimate boundedness. Several numerical results are illustrated in the simulation of Van der Pol system and unmanned helicopter with model uncertainties.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2011.04a
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• pp.484-489
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• 2011

In this paper, it was described the current technology status of bearingless rotor hub system for helicopter which is one of major rotor hub system. Also, a conceptual study on the new bearingless rotor hub system of helicopter was described. First, the advantages and disadvantages of major helicopter rotor hub system are described in comparison to each other types of rotor hub system. The unique characteristics of bearingless rotor hub system are described compared to other types of rotor hub systems. Next, the main function, role and characteristics of the sub-components of bearingless rotor hub system are described. Recent helicopters which adopt this bearingless rotor hub system are described and introduced. This conceptual study shows that double-H sectional construction and rectangular construction of flexbeam are the most effective candidates of this new bearingless rotor system. This bearingless rotor hub system can be used for 7,000lbs class helicopter. Now, a further trade-off study will show.

• Journal of Advanced Navigation Technology
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• v.9 no.2
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• pp.185-192
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• 2005

The aim of this paper is to analyze handling qualities of tiltrotor aircraft(TR-S4) in helicopter flight mode including hovering and forward flight. Analysis of handling qualities is composed of aircraft response to control inputs that effect on stability and controllability. In short term response analysis, bandwidth is the critical parameter for small amplitude motions since it relates to the ability of a pilot to crisply start and stop maneuver. The handling qualities of TR-S4 in helicopter mode are analyzed with a SAS and an attitude controller and are satisfied level 1 in almost criteria with simulation of TR-S4 6-DOF nonlinear model.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.2
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• pp.173-178
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• 2007

Recently, fires happen to occur owing to various factors. However, the demage caused by the fire is eyer increasing because timely actions could not be taken. To reduce the demage, a development of fire detection system which makes it possible to take adequate actions is requited. In this work, a sensor network-based fire detection system which utilizes both sensor nodes equipped with smoke sensor and unmaned helicopter is proposed. The proposed system is composed of unmaned helicopter which can gather the measurement data from the deployed sensor nodes and the embedded system which can get visual information on the firing spot and transmit these images to a remote server computer. The proposed system is applied to actual test bed to verify its feasibility.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.5
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• pp.398-405
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• 2014

Recently the embedded software has been widely applied to the safety-critical systems in aviation and defense industries, therefore, the higher level of reliability, availability and fault tolerance has become a key factor for its implementation into the systems. The integrity of the software can be verified using the static analysis tools. And recent developed static analysis tool can evaluate code integrity through the mathematical analysis method. In this paper we detect the autocode error and violation of coding rules using the formal verification tool, Polyspace(R). And the fundamental errors on the flight control law model have been detected and corrected using the formal verification results. As a result of verification process, FBW helicopter control law autocode can ensure code integrity.

• Journal of Aerospace System Engineering
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• v.13 no.6
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• pp.52-59
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• 2019

The rotor blade is a key component that generates the lift, thrust, and control forces required for helicopter flight by the torque transmitted through the hub and the blade pitch angle control, and should be designed to factor vibration characteristics so that there is no risk of resonance with structural safety. In this study, the structural design of the main rotor blade for MPUH(Multi-Purpose Unmanned Helicopter) was conducted and the sectional stiffness measurement of the fabricated blade was performed. The evaluation of the vibration characteristics of the main rotor system was then conducted factoring the measured stiffness distribution. The interior of the rotor blade comprised of the skin, spar, and torsion box, and carbon and glass fiber composites were applied. The Ksec2D program was applied to predict the stiffness of blade, and the results were compared to the measured data. CAMRADII, a comprehensive rotorcraft analysis program, was applied to investigate the natural frequency trends and resonance risks due to the rotor rotation.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.11
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• pp.997-1003
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• 2012

GNSS and ARS are the most common sensors in low-end UAVs. However, these sensors are vulnerable to built-in errors and cannot measure the body heading independently. The GNSS/INS cannot fully compensate the IMU errors in initial alignment process and rectilinear flights. For an unmanned helicopter, a magnetometer can be more useful than any other sensors to obtain heading information. However, the electric motor which drives small helicopter UAV keeps the magnetometer from reading the pure magnetotelluric vector. This paper shows the effects of electric motor on the magnetometer readings, and presents a method to compensate the effects. The results are verified with flight test data. The simulation and experimental results in this paper proves that aiding GNSS/INS with magnetometer increases observability and improves accuracy.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.6
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• pp.488-494
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• 2013

The control law design and analysis environment of the FBW helicopter system have been developed using model base design method. The model based design is generally used in a aircraft, unmanned aerial system and automobile as well as rotorcraft development. The model based design provides many advantages such as development risk and schedule reduction using simulation and autocode generation. This paper describes a development of process for verification and validation of auto generated code for FBW helicopter flight control law. And this process is applied for Fly-By-Wire Helicopter Development Project. The results of functional test for auto generated code meet several specific requirements.

• Current Research on Agriculture and Life Sciences
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• v.32 no.3
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• pp.159-163
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• 2014

Agricultural unmanned helicopters have become a new paradigm for aerial application. Yet, such agricultural helicopters require easy and affordable attitude control systems. Therefore, this study presents an affordable attitude measurement system using a DCM (direction cosine matrix) algorithm that would be applied to agricultural unmanned helicopters. An IMU using a low-cost MEMS and an algorithm to estimate the attitude of the helicopter were applied in a gimbals structure to evaluate the accuracy of the attitude measurements. The estimation errors in the attitude were determined in comparison with the true angles determined by absolute position encoders. The DCM algorithm and sensors showed an accuracy of about 1.1% for the roll and pitch angle estimation. However, the accuracy of the yaw angle estimation at 3.7% was relatively larger. Such errors may be due to the magnetic field of the stepping motor and encoder system. Notwithstanding, since the intrinsic behavior of the agricultural helicopter remains steady, the determination of attitude would be reliable and practical.