무인 항공방제를 위한 변량살포 제어기의 개발
Development of a Variable Rate Spray Controller for an Unmanned Aerial Application
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초록
항공방제 시스템의 변량살포 개념은 미국을 중심으로 고정익 살포기에 적용하기 시작하였으며, 최근에는 무인 항공방제 시스템의 변량제어 시스템이 연구되고 있다. 본 연구에서는 자체 개발한 무인 농용회전익기를 이용하여, 살포 균일도를 제고하기 위한 지면속도 비례 변량살포 기술을 적용한 제어기를구현하고 평가하였다. 변량살포장치의 제어에는 델피노® 개발보드와 펄스폭 변조방식(PWM) DC모터 제어모듈이 사용되었고, 관성센서와 GPS가 연결합된 관성항법 시스템으로부터 지면좌표계 속도를 획득하여 지면 살포속도를 계산하였다. 지면살포속도에 대한 PWM 평균전압의 반응의 정도를 두 반복의 실험에 대하여 회귀분석을 하였다. 결정계수(R2)는 각각 0.9964 및 0.9792이었으며, 기울기는 2.322와2.324를 얻었는데 이론치(2.313)와 근사하였다. 지면속도에 대응하여 PWM 평균 전압이 선형으로 반응하여 변량 제어를 구현하였고 따라서 DC모터로 구동되는 펌프의 제어가 가능하게 되었다.
Abstract
The concept of a variable rate application for aerial application was adapted first tofixed-wing dusters in the US, nowadays the variable system has been studied for unmannedaerial applications. In this study, a variable rate application controller, linearly responding toground velocity was developed and evaluated for the improved spray uniformity using anunmanned rotorcraft previously developed. The variable rate application controller was fabricatedwith a Delfino® evaluation board and a PWM(pulse width modulation) motor module. Theground spray velocity was calculated by NED speeds, acquired from an inertial navigationsystem, softly coupled with inertial measurement unit and GPS. The degree of response wasanalyzed with the regression of PWM average voltage and ground spray velocity for tworeplications. The coefficients of determination(R2) were 0.9964 and 0.9792, and the slopes of theregression equations were 2.322 and 2.324, closely related to a theoretical slope of 2.313. Thevariable rate control was feasible because the PWM average voltage was linearly responded toground velocity.
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