드론의제어원리. Professor H.J. Park, Dept. of Mechanical System Design, Seoul National University of Science and Technology.
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1 드론의제어원리 Professor H.J. Park, Dept. of Mechanical System Design, Seoul National University of Science and Technology. An Unmanned aerial vehicle (UAV) is a Unmanned Aerial Vehicle. UAVs include both autonomous (means they can do it alone) drones and remotely piloted vehicles (RPVs).
2 CONTENTS 01 드론이란무엇인가? 드론의어원, 역사등을알아본다. 02 드론의분류드론의분류에대하여알아본다. 03 제어원리드론의위치와자세를제어하는원리에대하여알아본다. 04 드론용센서 IMU 센서의원리와센서융합에대하여알아본다. 05 드론의구성예드론을구성하는분품을살펴본다.
3 드론이란무엇인가?
4 Drone 의어원 n 정의 : 영어고어 Drone = male bee = lazy people n 역사 1915: 1 차세계대전중무선조종비행기개발 1935: 영국해군 DH 82B Queen Bee 1939: Radioplane à Drone 영국 DH 82B Queen Bee 정찰및대공무기의 Target 으로활용됨. 미국 Radioplane
5 공식명칭 n Official Names Unmanned Aerial Vehicle - UAV Unmanned Aerial System UAS Remotely Piloted Aircraft Systems - RPAS UAS 연방항공국 (FAA) 공식이름 UAV/UAS RPAS Mulicopters Quadcopter Hexacopter Octacopter
6 드론의분류
7 2 차원운동 - 차량, 선박 n 2D 상의차량상태 (,, ) 로결정 3 개의구동으로위치 / 자세를임의로결정 à Holonomic ( 구동수 = 상태수 ) n 상태결정방법 non-holonomic Holonomic
8 비행체 n 공간상의비행체상태 (,,,,, ) 로결정 6 개의구동으로 6 개의위치 / 자세를임의로결정 à Holonomic n 상태결정방법 aileron 4 elevator rudder 4 4 non-holonomic
9 드론의종류 n 분류 UAV Rotor Type Wing type Single Double Triple multi Coax Quad Hexa Octo Fixed wing Hybrid Ornithopter Y4 Y6 X8 Hybrid-X
10 공식 Multi-copter n 로터의수는주로짝수개 회전반작용상쇄에유리
11 제어원리
12 Quadrotor 제어방식 n 4 개의프로펠러회전속도 è 4 개의작용력 è 4 개의운동 Ω, : force 상승운동 Roll 운동,, M movement matrix : torque : torque : torque Yaw 운동 Pitch 운동 M -1 movement matrix Motor speed 4 개의작용력 4 개의운동
13 Quadrotor 제어방식 n Throttle 제어 : 방향의가속 기본 Hovering+Δ Ω = Ω + Δ : Ω = Ω + Δ : Ω = Ω + Δ : Ω = Ω + Δ : where Ω : speed required for hovering Ω = 4(Ω + Δ ) n Roll 제어 : 방향의회전가속 Φ Ω = Ω + Δ : Ω = Ω Δ : Ω = Ω Δ : Ω = Ω + Δ : Ω = 4Ω Ω =Ω + = + (Δ ) = + Φ = 4l (Δ ) = Ω =Ω Ω =Ω + Ω =Ω + Ω =Ω Ω =Ω + Ω =Ω + Φ 전진방향 Ω =Ω + 전진방향
14 Quadrotor 제어방식 n Pitch 제어 : 방향의회전가속 Θ 기본 Hovering+Δ Ω = Ω Δ : Ω = Ω Δ : Ω = Ω + Δ : Ω Ω = Ω + Δ : = 4Ω Θ = 4l (Δ ) = Ω =Ω + Θ Ω =Ω Ω =Ω + Ω =Ω 전진방향 n Yaw 제어 : 방향의회전가속 Ψ Ω = Ω + Δ : Ω = Ω Δ : Ω = Ω + Δ : Ω = Ω Δ : Ω = 4Ω Ψ = 4 Δ = Ω =Ω Ω =Ω + Ψ Ω =Ω Ω =Ω + 전진방향
15 Quadrotor 제어시스템 n Overall control system diagram Commands required force required motor speed required PWM,,,,,, Ω, Ω, Ω, Ω,,, Control Algorithm Inverted Movement Matrix Motor Parameters,,, Sensors
16 Quadrotor 제어시스템 n Typical Block diagram GPS Altitude sensors Receiver Bluetooth WiFi Microcontroller AVR, STM32 Ultrasonic Sensor Pressure Sensor 6-AXIS IMU 3-AXIS Accelerometer 3-AXIS Magnetometer ESC, Servo motor 3-AXIS Gyro
17 드론용센서
18 센서융합 (Fusion) n IMU 센서의 Fusion IMU 3x- Accelerometer,, 3x- Gyro sensor Sensor fusion,, 3x- Magnetosensor,, roll, pitch, yaw,, Yaw Roll Pitch
19 MEMS IMU 센서 n 가속도측정센서 mass-spring-capacitance sensor 4x4x0.9 M C MEMS IMU 출처 :
20 MEMS IMU 센서 n MEMS IMU 센서의원리 n 물체가직선운동을시키고회전을시키면 Coriolis force 가발생 = 2 : Coriolis force vector, : rotation vector, : linear velocity vector n 에의한변위를 capacitive 센서로측정 Image credit: Accelerometers.html
21 각도측정의원리 - Accelerometer n 가속도센서를이용한 pitch = 0 인경우 =, = 0 > 0 인경우 = cos, = sin = tan n 문제점 잡음에취약하다. 운동가속도에도영향을받는다. sin 1) = 2) >
22 각도측정의원리 -Gyro n Gyro 센서를이용한 pitch gyro 센서는근본적으로각속도를측정하는센서 를구하려면각속도 를적분 문제점 : Drift 현상 작은오차적분에의하여 error = dt drift
23 센서융합 (Fusion) n 상보 (Complementary) 필터 지자기센서 각속도 결과각도
24 Sensor fusion
25 드론의구성
26 Ardupilot Components 1 Propeller 2 BLDC motor 3 Connectors 4 ESC 5 Li-Po battery 6 Power Distributor 7 8 Servo connector 9 Flight Controller 10 Gimbal Connector 11 Gimbal - Roll 12 Gimbal - Pitch 13 Gimbal 14 GPS 15 RC receiver GHz Antenna 17 RC Transmitter
27 PX4
28 THANK YOU An Unmanned aerial vehicle (UAV) is a Unmanned Aerial Vehicle. UAVs include both autonomous (means they can do it alone) drones and remotely piloted vehicles (RPVs).
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