http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
시간지연 제어기를 이용한 쿼드로터 시스템의 고도제어에 대한 연구
임정근(Jeong Geun Lim),정슬(Seul Jung) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.7
This paper presents the altitude control of a quadrotor system under the disturbance. The altitude is measured by an ultra sonic sensor attached at the bottom of the quadrotor system and the measured altitude data are used in the time-delayed controller. To test the robustness of the controller, a weight attached to the center of the system is dropped intentionally several times to cause disturbances to the system. Performances of the altitude control by the PID control and time-delayed control method are compared experimentally. Experimental studies are conducted to verify the outperformance of the time-delayed controller for controlling the altitude of the quadrotor system under disturbances.
쿼드로터 시스템의 자세 및 비행제어 실험을 위한 거치대 설계 및 제작
임정근(Jeong-Geun Lim),정슬(Seul Jung) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.12
This article presents the design and implementation of a test-bed for controlling the attitude of a quadrotor system in an indoor environment. The attitude control test should be done a priori before launching the quadrotor in outdoors. Testing the attitude control performance of a quadrotor system requires controlling three angles and the altitude. The novel design of a test-bed is presented to cover all the tests required for a quadrotor system. The altitude control of a quadrotor system can be tested in three orientation angles. In addition, a circular trajectory following control task can be tested on the same test-bed. Actual experimental works on the test-bed have been performed to evaluate the functionality of the test-bed.