지적-PID 제어기를 이용한 드론용 짐벌시스템의 안정화

Abstract

Unmanned vehicle industries including drones, autonomous cars and unmanned ships have emerged of late as a new burgeoning field for the future. Above all, drones have exceeded expectations in developing and penetrating into our daily lives, drawing much attention across the whole industries and applying to many other uses swiftly. In particular, its effectiveness is well verified in areas which include disaster prevention, maritime security, agriculture, industrial site management, sports activities, environmental surveillance, Airselfie and producing videos such as broadcasting. Recently, drones are highly used for broadcasting, marking films, shooting documentaries and relaying scenes live by broadcasters at home and abroad to report news. Although drones are affected by external disturbance and vibration at the attached part, their gimbal system can control wobbles of the images on the camera and can adjust the equipment rightly to the targeted scene as the gimbal system is divided into a camera module and a driving gear for stabilization. Gimbal system is a structure, making an object to revolve around an axis. The system is comprised of three gimbals. Once a pivot of the gimbal and the pivots of the other two gimbals form a right angle, the body attached to the pivot at the very inside would not be affected by the rotation of the buttress outside. In the case of vessels, gimbal system is used to level horizontally, even though the ship is rocking in every direction from gyroscope, compass, heater to cup holder. The Camera module of gimbal system is composed of an optical system which directly captures images, of an electric board which controls the optical system, and of a driving gear for stabilization to follow and track through where camera sees by rolling, pitching and yawing, despite dynamic outer disturbance. To control its gearing system for stabilization, PID(Propotional-Integral-Derivative Controller) is used the most. PID is a traditional control measure, lasting for half a century after its original form is properly established. However, there has been problems with its limited application to control and safety assurance of closed loop when designing, etc. To overcome these difficulties, literatures on new measures of PID are revealed in recent years. As part of the solution, a new control measure called Intelligent-PID is suggested, lately, by M. Fliess, C. Join and more in order to simplify nonlinear control. It does not need almost any objective model to control and its structure is simple, using general proportion-integral- derivative controller. It can adjust parameters to advanced systems, and it does not need to readjust parameters of the controller, even though the parameter varies (by changing the object to control). Gimbal system would be modelling, and response characteristics to outer disturbance would be simulated through MATLAB/Simulink by designing existing PID and i-PID, using this control measure. In addition, it ensures design parameters for i-PID, suggested in this paper, and hardiness about response characteristics with respect to selecting indicators.