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수직 벽 이착륙 및 이동이 가능한 드론의 설계 및 제어기 개발
배성용(Sung-Yong Bae),김승훈(Seung-Hun Kim),김지환(Ji-Hwan Kim),최현수(Hyun-Su Choi),조천용(Chun-Yong Cho),이동환(Dong-Hwan Lee),김동환(Dong Hwan KIm) 제어로봇시스템학회 2019 제어·로봇·시스템학회 논문지 Vol.25 No.12
This paper describes the development of a drone design and controller capable of landing and driving on the outer wall of a building, delivering the object to the target location and after completing the mission, then taking off from the outer wall and reflying. It suggests a solution that can fulfill a mission even in the windy conditions, which is the biggest weakness of the drone. Four motors and wheels are located on the drone’s body to drive on the wall, and the damper was designed based on impact analysis. To avoid interference with the wheels, brushless DC (BLDC) motors are installed at the bottom of the drone, and propeller guards are designed to prevent collisions with the wall. The thrust must be specially controlled to attach this drone to the wall and to take it off the wall.