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천이비행모드를 고려한 스마트 드론의 Longitudinal Motion 동역학 모델링 및 제어기 설계
서범국(Beomgook Seo),김상호(Sangho Kim),이영재(Young Jae Lee),성상경(Sangkyung Sung) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.7
This paper investigates the design of the flight control system of multi-purpose drones with the transition flight mode in the longitudinal motion and analyzes the system through the simulation. The dynamic characteristic of the multi-purpose drone is mode dependent. Thus, the flight mode is separated into hover flight, transition flight, and level flight. Each flight mode has a different flight dynamic model and a controller. The PID controller is used to design the controller, and the stability analysis is done using the typical root locus method. Then, the control system design is validated via a longitudinal-mode flight simulation with transition sequence logics.