Journal of Aerospace System Engineering (항공우주시스템공학회지)

The Society for Aerospace System Engineering (항공우주시스템공학회)
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Pixhawk mission mode flight control-law structure analysis based on Open-Source

오픈소스 기반 Pixhawk 미션모드 비행제어법칙 구조 분석

  • Lee, Yeongho (School of Aerospace and Mechanical Engineering, Korea Aerospace University) ;
  • Shin, Seungchan (School of Aerospace and Mechanical Engineering, Korea Aerospace University) ;
  • Mok, Jihyun (School of Aerospace and Mechanical Engineering, Korea Aerospace University) ;
  • Ko, Sangho (School of Aerospace and Mechanical Engineering, Korea Aerospace University)
  • 이영호 (한국항공대학교 항공우주 및 기계공학부) ;
  • 신승찬 (한국항공대학교 항공우주 및 기계공학부) ;
  • 목지현 (한국항공대학교 항공우주 및 기계공학부) ;
  • 고상호 (한국항공대학교 항공우주 및 기계공학부)
  • Received : 2017.11.10
  • Accepted : 2018.06.11
  • Published : 2018.06.30
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Abstract

This paper deals with the analysis of the inner-loop algorithm of the Pixhawk which is a representative multi-copter open source. The algorithm is based on flight control-law structure. The inner-loop algorithm of the Pixhawk can be divided into a position controller and an attitude controller. The position controller generates the attitude of the multi-copter to move to the destination The position controller also generates the demand force and moment acting on each actuator. We confirm that the position controller saturates the desired acceleration and speed by using a proper relational expression. The expression can be used in order to prevent the sudden change in the attitude of a multi-copter.

본 논문에서는 현재 대표적으로 사용되고 있는 멀티콥터 오픈소스 기반 비행제어 컨트롤러인 Pixhawk의 내부루프 알고리즘 분석에 대해 연구한 내용을 다룬다. Pixhawk의 내부루프 알고리즘은 위치제어기, 자세제어기로 나눌 수 있는데, 위치 제어기는 목표로 이동하기 위한 멀티콥터의 자세를 제시하며 자세제어기는 원하는 자세로 변할 수 있도록 구동기에 작용하는 요구 추력과 모멘트 변화를 발생시킨다. 여기서 위치제어기는 멀티콥터의 급격한 자세변화를 방지하기 위해 적절한 관계식을 이용하여 요구 가속도 및 속도에 대해 제한을 하고 있는 것을 확인 할 수 있다.

Keywords

References

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