http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
2축식 드론 추적 로봇의 제어기 설계 및 선정 방안 연구
박승운(Seungwoon Park),김보겸(Bo Gyum Kim),박창대(Chang Dae Park),임현준(Hyeon Jun Lim),이철희(Chul-Hee Lee) 유공압건설기계학회 2024 드라이브·컨트롤 Vol.21 No.3
This study compared performances of PID (Proportional Integral Derivative), SMC (Sliding Mode Control), and MPC (Model Predictive Control) strategies applied to a 2DOF (Degree Of Freedom) drone tracking robot. The developed 2DOF robot utilized a depth camera with an IMU (Inertial Measurement Unit), laser pointers, and servo motors to rapidly detect and track objects. Image processing was conducted using the YOLO deep learning model. Through this setup, controllers were attached to the robot to track random drone movements, comparing performances in terms of accuracy and energy consumption. This study revealed that while SMC demonstrated precise tracking without deviating from the path, both PID and MPC controllers showed deviations. Performance-wise, SMC is superior. However, considering economic aspects, PID is more advantageous due to its lower power consumption and relatively minor tracking errors.