• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.31 no.3
• /
• pp.50-57
• /
• 2003

In the paper, the design and evaluation of a helicopter trajectory tracking controller are presented. The control algorithm is implemented using the feedback linearization technique and the two time-scale separation architecture. In addition, and on-line adaptive architecture that employs a neural network compensating the model inversion error caused by the deficiency of full knowledge of helicopter dynamic is applied to augment the attitude control system. Trajectory tracking performance of the control system in evaluated using modified TMAN simulation program representing as Apache helicopter. It is show that the on-line neural network in an adaptive control architecture is very effective in dealing with the performance depreciation problem of the trajectory tracking control caused by insufficient information of dynamics.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.2
• /
• pp.101-107
• /
• 2007

A coaxial rotor flying robot is developed for surveying and reconnoitering various circumstances under calamity environment. The robot has two contrarotating rotors on a common axis, an embedded microcontroller, an IMU(Inertial Measurement Unit), an IR sensor for height control, a micro camera for surveillance, ultrasonic position sensors and wireless communication devices. A bell-bar mounted on the top of the upper rotor hub increases stability and improves flight performance. In this paper, we present a dynamic model of a coaxial rotor flying robot and design an embedded controller far the robot, and implement them to control the developed flying robot. Experimental results show that the proposed controller is valid for autonomous hovering and position control.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.14 no.2
• /
• pp.213-221
• /
• 2011

Avionics system tends to be designed to have the integrated architecture, and it is getting difficult and complex to verify the flight-critical function because of sophisticated structure. In Korean Utility Helicopter, mission computer acts as the MUX Bus Controller to handle the data from both communication, identification, mission/display and survivability equipment inside Mission Equipment Package and aircraft subsystems such as fuel system and electrical system while it is interfacing with Automatic Flight Control System and Full-Authority Digital Engine Control via ARINC-429 bus. The Flight Displays which is classified as flight-critical function in aircraft is implemented on Primary Flight Display after mission computer processes data from AFCS in order to generate graphics. This paper defines the flight-critical function implemented in mission computer for KUH, and presents the static and dynamic test procedures which is performed on System Integration Laboratory along with Playback Recorder prior to flight test.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.42 no.8
• /
• pp.707-712
• /
• 2014

Aircraft fuel indicator is a device to indicate the amount of fuel remained during flight, where accurate and consistent operation of the indicator should be maintained. Previously the Korean Utility Helicopter fuel indicator sporadically displayed abnormal sign by "8888" during flight, jeopardizing flight safety. Inappropriate EMI/EMC performance was detected during trouble shooting process. The cause of the abnormal display was found to be resulted from unstable power induced by electro-magnetic disturbance and CAN communication error. The aircraft fuel indicator design was improved and the design compatibility was verified to avoid abnormal display.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.25 no.4
• /
• pp.398-404
• /
• 2015

In this paper, we describe the design and performance of a prototype multi-rotor unmaned aerial vehicle( UAV) platform featuring an inertial measurement unit(IMU) based autonomous-flying for use in bluetooth communication environments. Although there has been a fair amount of study of free-flying UAV with multi-rotors, the more recent trend has been to outfit hexarotor helicopter with gimbal to support various services. This paper introduces the hardware and software systems toward very compact and autonomous hexarotors, where they can perform search, rescue, and surveillance missions without external assistance systems like ground station computers, high-performance remote control devices or vision system. The proposed system comprises the construction of the test hexarotor platform, the implementation of an IMU, mathematical modeling and simulation in the helicopter. Furthermore, the hexarotor helicopter with implemented IMU is connected with a micro controller unit(MCU)(ARM-cortex) board. The micro-controller is able to command the rotational speed of the rotors and to get the measurements of the IMU as input signals. The control simulation and experiment on the real system are implemented in the test platform, evaluated and compared against each other.

• Journal of Advanced Navigation Technology
• /
• v.27 no.3
• /
• pp.247-254
• /
• 2023

GAIN in the US explained in its Pilot/Controller Collaboration Initiatives report that "pilots and air traffic controllers talk to each other all day long, but they rarely communicate." The starting point for the study was the question of whether differences in flight safety perceptions and culture between pilots and air traffic controllers, or other factors, could lead to mutual misunderstandings of procedures and instructions. Digest with The many processes that must be solved within tight deadlines increase the likelihood of accidents through cascading risk factors such as James Reason's Swiss Cheese Theory. Despite the fact that the pilot-air traffic controller complex, which is the subject of flight, occupies a considerable part, there is no integrated management for safe operation between the two groups. Therefore, this research aims to achieve integrated management of safety and education for safe operation between pilots and air traffic controllers through JCRM..

• Journal of the Korean Society of Propulsion Engineers
• /
• v.12 no.4
• /
• pp.42-47
• /
• 2008

The power control system of Smart UAV is similar to the propeller pitch governing concept of turboprop aircraft. The pilot adjusts the engine power directly and the pitch governor controls the propeller pitch to maintain the propeller rotational speed. The electronic engine controller(EEC) of PW206C engine developed for helicopter is not fit for the power control concept of Smart UAV, and therefore the manual back-up system of PW206C engine is used for the engine power control of Smart UAV. Engine performance estimation program is used to predict the control range of power lever angle(PLA) according to the variation of engine output shaft speed, flight altitude and flight speed. These data provide a guide for the PLA control in manual mode operation.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.57-62
• /
• 2004

This paper deals with a waypoint trajectory following problem for the tilt-rotor UAV under development in Korea (TR-KUAV). In this problem, dynamic model inversion based on the linearized model and Sigma-Phi neural network with adaptive weight update are involved to realize the waypoint following algorithm for the vehicle in the helicopter flight mode (nacelle angle=0 deg). This algorithms consists of two main parts: outer-loop system as a command generator and inner-loop system as stabilizing controller. In this waypoint following problem, the position information in the inertial axis is given to the outer-loop system. From this information, Attitude Command/Attitude Hold logic in the longitudinal channel and Rate Command/Attitude Hold logic in the lateral channel are realized in the inner-loop part of the overall structure of the waypoint following algorithm. The nonlinear simulation based on the TR-KUAV is carried out to evaluate the stability and performance of the algorithm. From the numerical simulation results, the algorithm shows very good tracking performance of passing the waypoints given. Especially, it is observed that ACAH/RCAH logic in the inner-loop has the satisfactory performance due to adaptive neural network in spite of the model error coming from the linear model based inversion.