Journal of the Korea Institute of Information and Communication Engineering (한국정보통신학회논문지)

The Korea Institute of Information and Commucation Engineering (한국정보통신학회)
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Gimbal System Control for Drone for 3D Image

입체영상 촬영을 위한 드론용 짐벌시스템 제어

  • Kim, Min (Department of Control and Instrumentation Engineering, Pukyong National University) ;
  • Byun, Gi-Sig (Department of Control and Instrumentation Engineering, Pukyong National University) ;
  • Kim, Gwan-Hyung (Department of Computer Engineering, Tongmyong University)
  • Received : 2016.10.30
  • Accepted : 2016.11.12
  • Published : 2016.11.30
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Abstract

This paper is designed to develop a Gimbal control stabilizer for drones Gimbal system control for drone for 3D image to make sure clean image in the shaking and wavering environments of drone system. The stabilizer is made of tools which support camera modules and IMU(Inertial Measurement Unit) sensor modules follow exact angles, which can brock vibrations outside of the camera modules. It is difficult for the camera modules to get clean image, because of irregular movements and various vibrations produced by flying drones. Moreover, a general PID controller used for the movements of rolling, pitching and yawing in order to control the various vibrations of various frequencies needs often to readjust PID control parameters. Therefore, this paper aims to conduct the Intelligent-PID controller as well as design the Gimbal control stabilizer to get clean images and to improve irregular movements and various vibrations problems referenced above.

본 논문은 드론 같은 움직임이 불규칙한 환경에서 깨끗하고 안정된 입체영상을 촬영하기 위해서는 드론용 짐벌 시스템 제어 안정화기 설계가 필요하다. 짐벌 시스템은 카메라 모듈을 지지하는 구조와 외부로 부터의 진동을 차단하면서 정확한 각도를 추종하는 센서 등으로 구성된다. 움직임이 불규칙한 촬영장비나, 비행중인 드론에는 매우 다양한 주파수 성분의 진동의 발생으로 인해 안정된 영상물을 촬영하기에 어려움이 많다. 이러한 다양한 주파수 성분의 진동을 제어하기 위해 일반적으로 rolling-pitching-yawing 운동에 대하여 일반적인 PID 제어기를 설계하여 안정적으로 제어하지만, 드론용 짐벌시스템 구조가 변경되거나 시스템 일부 요소가 변경되게 되면 기존에 설계된 PID 제어 파라미터를 재조정을 해야 되는 경우가 빈번하게 있다. 이런 문제점을 개선하기 위해 본 논문에서 제기된 제어 기법인 지적 PID제어를 통하여 움직임과 짐벌시스템의 진동제어를 수행하여 외부 환경의 변화에 강인한 제어기법을 제시하고자 한다.

Keywords

References

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