플라잉 타입 소화수 살수장치 개발에 관한 연구

Abstract

This study presents the system design and modeling problem of a flying type fire extinguishing system. Fire accidents present very hazardous environments, and firefighters are in danger of losing their lives while putting out the fire. Strict safety measures should be considered to guarantee safe working conditions for firefighters, which is not the case every time, as fatalities and casualties are still being recorded. For this reason, a novel fire extinguishing system is proposed to provide more safe firefighting and survivor searches. In this study, in order to overcome the problems of the current passive suppression strategy, the development of a flying type fire extinguishing system that can extinguish fires nearly by moving to a location as close to the ignition point as possible and directly suppression fire extinguishing water. The fire extinguishing system is a structure that can fly, and it deals with dynamic characteristic analysis, modeling, and motion control system design issues, and evaluates the effectiveness of the proposed system through simulation. In this study, the fire extinguishing system for fire suppression proposed a system that can be moved by flying through the propulsion of a water jet actuator to the point of fire. In a fire scene where the inside of a fire site is very dangerous, the situation is almost impossible to check, and a lot of unknown risk factors are involved, the fire extinguishing system is the main purpose that put directly into the fire site instead of the firefighter, so that not only the fire suppression work but also the site search work can be performed at the same time. For this purpose, the fire extinguishing system must move precisely to the target point of fire suppression. The fire extinguishing system is generated from the four water jet actuators, and by appropriately adjusting them, it is possible to secure the motion control performance. In the end, 6DOF motion, including altitude maintenance, is controlled by the thrust generated from the actuator nozzle. Therefore, the control system design method for 6DOF motion control is introduced, and simulation evaluation is performed considering uncertainty such as disturbance. The effectiveness of the proposed control method and technology is verified through comparative evaluation. By applying the sliding mode controller, a rather large overshoot occurs in the transient state, but in the steady state, it can be seen that the target value is followed well without error. Finally, it was confirmed that excellent control performance can be secured by designing the controller based on the model for the fire extinguishing system and applying the appropriate controller considering the system characteristics.