Earticle

초록

영어

This paper presents the design and implementation of a miniaturized, high-precision 3-axis gimbal system for Unmanned Aerial Vehicles (UAVs) to ensure stable image acquisition under high-frequency vibrations and rapid attitude changes. To overcome the Size, Weight, and Power (SWaP) constraints of small UAVs, a lightweight mechanical structure driven by Brushless DC (BLDC) motors was developed. A quaternion-based kinematic model was applied to prevent gimbal lock and improve computational efficiency. For accurate attitude estimation, an Extended Kalman Filter (EKF) was designed to fuse data from a low-cost MEMS Inertial Measurement Unit (IMU), effectively compensating for gyro drift and high-frequency noise. Furthermore, a cascade Proportional-Integral-Derivative (PID) control strategy, consisting of an inner velocity loop and an outer position loop, was implemented to rapidly reject external disturbances. A physical hardware testbed was constructed to evaluate the proposed system. Experimental results demonstrate that the developed gimbal system significantly attenuates external vibrations and precisely tracks target angles, validating its suitability for real-time monitoring and inspection missions using small UAVs.

목차

Abstract
1. 서론
2. 짐벌 시스템 모델링
2.1 기구학적 분석
2.2 구동기 동역학
3. 짐벌 제어 로직 설계
3.1 확장 칼만 필터(EKF) 기반 자세 추정
3.2 이중 루프 PID 제어기 설계
4. 짐벌 실험 및 검증
4.1 테스트베드 구축
5. 결론
후기
References

키워드

저자

• 김근찬 [ Kim, Geunchan | 주식회사 니나노컴퍼니 ]
• 정의태 [ Jeong, Euitae | 경운대학교 무인기공학부 ]
• 박수길 [ Park, Sookil | 경운대학교 무인기공학부 ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  한국기계항공기술학회 학술대회논문집(구 한국기계기술학회 학술대회논문집) [Proceedings of KSMT Annual Meeting]

• 간기

  부정기

• 수록기간

  2000~2026

• 십진분류

  KDC 550 DDC 620