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
- 학위논문
- 저자정보
- 지도교수
- 유준
- 발행연도
- 2013
- 저작권
- 충남대학교 논문은 저작권에 의해 보호받습니다.
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초록· 키워드
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This thesis presents a development of autonomous flight control system for a small coaxial helicopter, mainly of indoor use.
A small rotorcraft is first constructed adopting the rotor system from RC toy helicopter. The mathematical model when the helicopter is in hovering state is then derived based on the Newton''s laws.
Vibrations of helicopter disturb ARS(Attitude Reference System) that sense roll and pitch angles. To attenuate the affect of vibrations, the following attempts are made. First, a low-pass filtering is applied to ARS. Second, the weight of ARS is increased. Third, the ARS is hanged at the center of gravity with rubber band. Finally, the improvement of ARS signal to noise ratio has been conformed.
For hovering, PID plus Smith predictor controller is designed and experimentally evaluated. Also, the dynamic models for roll and pitch are identified using the PEM(Prediction Error Method). But imperfect control results might stem from fluctuations in ARS signal, system nonlinearities and couplings among the controlled variables.
A small rotorcraft is first constructed adopting the rotor system from RC toy helicopter. The mathematical model when the helicopter is in hovering state is then derived based on the Newton''s laws.
Vibrations of helicopter disturb ARS(Attitude Reference System) that sense roll and pitch angles. To attenuate the affect of vibrations, the following attempts are made. First, a low-pass filtering is applied to ARS. Second, the weight of ARS is increased. Third, the ARS is hanged at the center of gravity with rubber band. Finally, the improvement of ARS signal to noise ratio has been conformed.
For hovering, PID plus Smith predictor controller is designed and experimentally evaluated. Also, the dynamic models for roll and pitch are identified using the PEM(Prediction Error Method). But imperfect control results might stem from fluctuations in ARS signal, system nonlinearities and couplings among the controlled variables.
목차
Ⅰ. 서 론 11.1 연구배경 및 목적 11.2 연구내용 및 논문의 구성 3Ⅱ. 전체 시스템 구성 및 모델링 62.1 로터 및 동체 구성 62.2 비행제어 시스템 구성 82.3 소형 동축반전 헬리콥터의 거동 및 동역학 모델 11Ⅲ. ARS 신호분석 및 성능개선 213.1 진동주파수 분석 213.2 ARS 신호개선 26Ⅳ. 비행제어기 설계 및 실험 결과 294.1 고도 제어기 및 요축 각속도 제어기 294.2 롤, 피치 자세 제어기 344.3 모델 식별 39Ⅴ. 결론 52참고문헌 54Abstract 57
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