Journal of the Korean Society for Aeronautical & Space Sciences (한국항공우주학회지)

The Korean Society for Aeronautical and Space Sciences (한국항공우주학회)
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A Study on the Development of Low-Altitude and Long-Endurance Solar-Powered UAV from Korea Aerospace University (2) - Flight Control and Guidance of Solar Powered UAV -

한국항공대학교 저고도 장기체공 태양광 무인기 개발에 관한 연구 (2) - 태양광 무인기 비행제어 및 유도항법 -

  • Kim, Taerim (Dept. of Aerospace and Mechanical Engineering, Korea Aerospace University) ;
  • Kim, Doyoung (Dept. of Aerospace and Mechanical Engineering, Korea Aerospace University) ;
  • Jeong, Jaebaek (Dept. of Aerospace and Mechanical Engineering, Korea Aerospace University) ;
  • Moon, Seokmin (Korea Aerospace Research Institute, Aeronautics Research Directorate) ;
  • Kim, Yongrae (Doosan Digital Innovation) ;
  • Bae, Jae-Sung (School of Aerospace and Mechanical Engineering, Korea Aerospace University) ;
  • Park, Sanghyuk (School of Aerospace and Mechanical Engineering, Korea Aerospace University)
  • Received : 2022.01.24
  • Accepted : 2022.06.02
  • Published : 2022.07.01
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Abstract

This paper presents the control and guidance algorithm of a KAU-SPUAV(Korea Aerospace University - Solar Powered Unmanned Aerial Vehicle) which is designed and developed in Korea Aerospace University. Aerodynamic coefficients are calculated using the vortex-lattice method and applied to the aircraft's six degrees of freedom equation. In addition, the thrust and torque coefficients of the propeller are calculated using the blade element theory. An altitude controller using thrust was used for longitudinal control of KAU-SPUAV to glide efficiently when it comes across the upwind. Also describes wind estimation technic for considering wind effect during flight. Finally, introduce some guidance laws for endurance, mission and coping with strong headwinds and autonomous landing.

본 논문에서는 한국항공대학교에서 연구, 개발한 태양광 무인기 KAU-SPUAV의 자동 비행을 위한 제어기 설계 및 유도기법에 관하여 기술했다. 와류격자법을 활용하여 공력계수들을 계산했고 이를 항공기의 6자유도 방정식에 적용했다. 또한 깃요소이론을 활용하여 프로펠러의 추력 및 토크계수를 계산했다. 상승풍을 맞닥뜨렸을 때 효율적으로 활공하기 위하여 추력을 사용한 고도제어기가 KAU-SPUAV에 사용되었다. 또한 태양광 무인기의 장기체공 임무를 위해 운용 중에 발생하는 바람의 영향을 고려하기 위한 바람 추정 기법을 적용하였고, 강한 맞바람에 대처하기 위한 유도기법과 자동 착륙 알고리즘을 구성하였으며 2021년 8월, 56시간 33분의 태양광 장기체공 실험을 통해 제어 및 유도기법의 성능을 검증하였다.

Keywords

Acknowledgement

이 논문은 2020년도 한국항공대학교 교비지원 연구비에 의하여 지원된 연구의 결과입니다.

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