지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2024.2
- 수록면
- 116 - 121 (6page)
- DOI
- 10.5302/J.ICROS.2024.23.0198
이용수
이 논문의 연구 히스토리 (7)
2024
2022
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초록· 키워드
오류제보하기
Electric vertical takeoff and landing (eVTOL) vehicles can be employed to rescue individuals stranded in elevated locations inaccessible to conventional fire ladders. Conventional eVTOL vehicles face challenges in the performance of long-endurance and repetitive missions due to limitations in onboard battery capacity. Thus, integrating a tethered flight system to the vehicle is necessary. In this study, a preliminary design of a tethered heavy-lift multicopter for human rescue missions was implemented according to an existing eVTOL vehicle with proven flight performance. A multibody dynamic simulation model was developed, in which the structural properties of the electric power cable for a tethered system were considered. The command-following performance was evaluated under various flight conditions. Iterative feedback tuning was performed to determine the optimal control gains for the multicopter control system without the tethered flight power cable. The results were applied to the multicopter dynamic and control model, in which a flexible multibody dynamics model of the electric power cable was incorporated. Then, the command-following performances of the control system with and without the electric power cable for a tethered flight were compared. The overall command-following performance was lower in the former scenario than in the latter one. The moments induced by the bending rigidity of the power cable at lower altitudes acted as larger disturbances on the multicopter, particularly at higher altitudes. Therefore, for the effective utilization of tethered heavy-lift multicopters in search and rescue missions involving repetitive landings in confined spaces, a robust control system resilient to disturbances induced by the electric power cable should be applied.
목차
Abstract
I. 서론
II. 계류비행형 고중량 멀티콥터의 모델링
III. IFT를 이용한 고중량 멀티콥터의 명령추종성능 향상
IV. 전력전선에 의한 명령추종성능 변화
V. 결론
REFERENCES
참고문헌 (25)
참고문헌 신청
S. Jo, B. Lee, J. Oh, J. Song, C. Lee, S. Kim, and J. Suk, “Experimental study of in-flight deployment of a multicopter from a fixed-wing UAV,” International Journal of Aeronautical and Space Sciences, vol. 20, pp. 697–709, 2019.
T. Kim and S. Kim, “Actuator fault diagnosis and counterplan using extended Kalman filter considering symmetry of hexacopter UAV,” Journal of Institute of Control, Robotics and Systems (in Korean), vol. 27, no. 7, pp. 473-481, 2021.
P. A. Butcher, A. P. Colefax, R. A. Gorkin, S. M. Kajiura, N. A. López, J. Mourier, C. R. Purcell, G. B. Skomal, J. P. Tucker, A. J. Walsh, J. E. Williamson, and V. Raoult, “The drone revolution of shark science: A review,” Drones, 2021.
R. Bogue, “Fruit picking robots: Has their time come?,” Industrial Robot, vol. 47, no. 2, pp. 141–145, 2020.
R. W. Hascaryo and J. M. Merret, “Configuration-independent initial sizing method for UAM/eVTOL vehicles,” Proceedings of the AIAA AVIATION Forum 2020, Dalas, TX, USA, p. 2630, June 2020.
T. Kim and S. Kim, “Actuator fault diagnosis and counterplan using extended Kalman filter considering symmetry of hexacopter UAV,” Journal of Institute of Control, Robotics and Systems (in Korean), vol. 27, no. 7, pp. 473-481, 2021.
P. A. Butcher, A. P. Colefax, R. A. Gorkin, S. M. Kajiura, N. A. López, J. Mourier, C. R. Purcell, G. B. Skomal, J. P. Tucker, A. J. Walsh, J. E. Williamson, and V. Raoult, “The drone revolution of shark science: A review,” Drones, 2021.
R. Bogue, “Fruit picking robots: Has their time come?,” Industrial Robot, vol. 47, no. 2, pp. 141–145, 2020.
R. W. Hascaryo and J. M. Merret, “Configuration-independent initial sizing method for UAM/eVTOL vehicles,” Proceedings of the AIAA AVIATION Forum 2020, Dalas, TX, USA, p. 2630, June 2020.
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