트라이-로터 무인항공기 동역학 모델링 및 제어시스템 설계 연구

In this paper, design, dynamics and control allocation of Tri-Rotor UAV are introduced. Tri-Rotor UAV has three rotors that are equidistant from its center of gravity. Tri-Rotor UAV has a servo-motor that has been installed on one of the three rotors, which enables a rapid control on its motion and its various attitude changes; unlike a Quad-Rotor UAV, which only depends on rpm of four rotors to control. Tri-Rotor UAV has an advantage of rapid control response over Quad-Rotor UAV, but it has several problems to deal with, such as having a yawing moment being induced from the tilting rotor. To get rid of such problems, accurate dynamic computations and control logics are required, and this paper will address such matters.