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자동화 비행시험기법에 의한 소형 무인헬리콥터의 파라메터 추정
방극희(Keuk-Hee Bang),김낙완(Nakwan Kim),홍창호(Changho Hong),석진영(Jinyoung Suk) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.9
In this paper dynamic modeling parameters were estimated using a frequency domain estimation method. A systematic flight test method was employed using preprogrammed multistep excitation of the swashplate control input. In addition when one axis is excited, the autopilot is engaged in the other axis, thereby obtaining high-quality flight data. A dynamic model was derived for a small scale unmanned helicopter (CNUHELI-020, developed by Chungnam National University) equipped with a Bell-Hiller stabilizer bar. Six degree of freedom equations of motion were derived using the total forces and moments acting on the small scale helicopter. The dynamics of the main rotor is simplified by the first order tip-path plane, and the aerodynamic effects of fuselage, tail rotor, engine, and horizontal/vertical stabilizer were considered. Trim analysis and linearized model were used as a basic model for the parameter estimation. Doublet and multistep inputs are used to excite dynamic motions of the helicopter. The system and input matrices were estimated in the frequency domain using the equation error method in order to match the data of flight test with those of the dynamic modeling. The dynamic modeling and the flight test show similar time responses, which validates the consequence of analytic modeling and the procedures of parameter estimation.
정준호,이문규,방극희,김도명,석진영,김성남,정대성,박진현 한국항공우주학회 2013 한국항공우주학회 학술발표회 논문집 Vol.2013 No.4
본 논문에서는 국내 개발에 성공한 자동항법 무인헬기의 임무장비 탑재공간을 활용한 탑재비행시험 운용절차 및 시험결과를 소개한다. 무인헬기 시스템은 무인헬기 플랫폼, 비행제어컴퓨터를 비롯한 항전시스템, 지상통제시스템, 자동비행 알고리즘으로 구성되어 있다. 총 40 쏘티 이상의 성공적인 임무수행을 통하여 자동항법 무인헬기 시스템의 성능 및 안정성을 확인하였으며, 구축된 시스템을 토대로 개발된 무인헬기가 다양한 임무를 수행할 수 있는 가능성을 확인하였다. This paper presents operation process and results of the captive flight test using an autonomous unmanned helicopter. The unmanned helicopter system consists of a helicopter platform, an avionic system including a flight control computer, a ground control system and an automatic navigation system. Performance of the autonomous unmanned helicopter system is verified through over 40 sorties of mission flight. Moreover, the developed system confirms possibilities of to carry out various missions such as surveillance, reconnaissance and CFT missions.