한국항공운항학회지 (Journal of the Korean Society for Aviation and Aeronautics)

  • 제23권4호
  • /
  • Pages.22-29
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  • 2015
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  • 1225-9705(pISSN)
  • /
  • 2466-1791(eISSN)
한국항공운항학회 (The Korean Society for Aviation and Aeronautics)
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주파수 영역 기반 쿼드로터 무인기 운동 모델 식별

Dynamic Model Identification of Quadrotor UAV based on Frequency-Domain Approach

  • 정성구 (과학기술연합대학원대학교 항공우주시스템공학) ;
  • 김성욱 (한국항공우주연구원 비행제어연구팀) ;
  • 정연득 (한국항공우주연구원 비행제어연구팀) ;
  • 김응태 (한국항공우주연구원 비행제어연구팀)
  • 투고 : 2015.10.01
  • 심사 : 2015.12.10
  • 발행 : 2015.12.31
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초록

Quadrotor is widely used in variable application nowadays. Due to its inherent unstable characteristics, control system to augment the stability is essential for quadrotor operation. To design control system and verify its performance through simulation, accurate dynamic model is required. Quadrotor dynamic model is simply compared with conventional rotorcraft such as helicopter. However, the accurate dynamic model of quadrotor is not easy to develop because of the highly correlated aerodynamic effect of each rotor. In this paper, quadrotor dynamic model is identified from the flight data using frequency domain approach. Flight test of quadrotor is performed in closed loop configuration with stability augmentation system included. Frequency sweep input is applied in each of lateral, longitudinal, yaw and heave axis separately. The bare dynamic model is identified from the flight data of quadrotor responses and thrust measurement through Pulse Width Modulation(PWM) data. The frequency responses of identified model match well with those of flight data, and time responses of identified model for doublet input in each axis are also shown to agree with flight data.

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참고문헌

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