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- 저자 : Gilar (검색결과 3 건)
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Development of Small Quadrotor Autonomous Control System
Gilar B. Raharja,Kim Gyu Beom,A. Budiyono,K. J. Yoon 한국항공우주학회 2010 한국항공우주학회 학술발표회 논문집 Vol.2010 No.11
This paper discuss about development of control system of mini quadrotor in Konkuk University for indoor application. The attitude control system consists of stability augmentation system as the inner loop control. The inner loop control satisfied experimentally by proportional-derivative controller, this is used for support the flight test to validate the modeling. In this paper we introduce the mathematical model for simulation and design the optimal control on the outer loop control. To perform experimental test, basic electronics hardware are developed in a simple configuration; AVR ?controller used as the embedded controller, low-cost 100Hz AHRS for the inertial sensing, built on X-UFO quadrotor airframe. It results an automatic hovering ability.
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Design of an Autonomous Hover Control System for a Small Quadrotor
Gilar B. Raharja,Kim Gyu Beom,K. J. Yoon 한국항공우주학회 2010 International Journal of Aeronautical and Space Sc Vol.11 No.4
This paper discusses the development of the control system of a mini quadrotor in Konkuk University for indoor applications. The attitude control system consists of a stability augmentation system, which acts as the inner loop control, and a modern control approach based on modeling will be implemented as the outer loop. The inner loop control was experimentally satisfied by a proportional-derivative controller; this was used to support the flight test in order to validate the modeling. This paper introduces the mathematical model for the simulation and design of the optimal control on the outer loop control. To perform the experimental tests, basic electronic hardware was developed using simple configurations; a microcontroller used as the embedded controller, a low-cost 100 Hz inertial sensors used for the inertial sensing, infra-red sensors were employed for horizontal ranging, an ultrasonic sensor was used for ground ranging and a high performance propeller system built on an quadrotor airframe was also employed. The results acquired from this compilation of hardware produced an automatic hovering ability of the system with ground control system support for the monitoring and fail-safe system.
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Real-time hardware simulation of a small-scale helicopter dynamics
Budiyono, Agus,Putro, Idris E.,Yoon, K.,Raharja, Gilar B.,Kim, G.B. Emerald Group Publishing Limited 2010 Aircraft engineering and aerospace technology Vol.82 No.6
<B>Purpose</B> - The purpose of this paper is to develop a real-time simulation environment for the validation of controller for an autonomous small-scale helicopter. <B>Design/methodology/approach</B> - The real-time simulation platform is developed based on the nonlinear model of a series of small-scale helicopters. Dynamics of small-scale helicopter is analyzed through simulation. The controller is designed based on the extracted linear model. <B>Findings</B> - The model-based linear controller can be effectively designed and tested using real-time simulation platform. The hover controller is demonstrated to be robust against wind disturbance. <B>Research limitations/implications</B> - To use the real-time simulation environment to test and validate controllers for small-scale helicopters, basic helicopter parameters need to be measured, calculated or estimated. <B>Practical implications</B> - The real-time simulation environment can be used generically to test and validate controllers for small-scale helicopters. <B>Originality/value</B> - The paper presents the design and development of a low-cost hardware in the loop simulation environment using xPC target critical for validating controllers for small-scale helicopters.
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