CIFER(R)를 이용한 무인 헬리콥터의 동특성 분석 (1) -조종기 제어 입력 데이터 획득을 위한 비행시험

• Published in: Journal of biosystems engineering 2011-12, Vol.36 (6), p.467
• Main Authors: 박희진, Hee Jin Park, 구영모, Young Mo Koo, 배영환, Yeong Hwan Bae, 오민석, Min Suk Oh, 양철오, Chul Oh Yang, 송명현, Myung Hyun Song
• Format: Article
• Language: Korean
• Subjects: CIFER; Flight dynamics; Stick position; Transmitter; Unmanned helicopter
• ISSN: 1738-1266

Aerial spraying technology using a small unmanned helicopter is an efficient and practical tool to achieve stable agricultural production to improve the working condition. An attitude controller for the agricultural helicopter would be helpful to aerial application operator. In order to construct the flight controller, a state space model of the helicopter should be identified using a dynamic analysis program, such as CIFER(R). To obtain the state space a model of the helicopter, frequency-sweep flight tests were performed and time history data were acquired using a custom-built stick position transmitter. Four elements of stick commands were accessed for the collective pitch (heave), aileron (roll), elevator (pitch), rudder (yaw) maneuvers. The test results showed that rudder stick position signal was highly linear with rudder input channel signal of the receiver; however, collective pitch stick position signal was exponentially manipulated for the convenience of control stick handling. The acquired stick position and flight dynamic data during sweep tests would be analyzed in the followed study.