수직평면에서의 이동제어를 위한 와이어 플라잉 시스템 구현

Abstract

This paper proposes new implementation method of wire flying system for vertical plane motion. A typical two-dimensional wire flying system uses only two wires so that it is difficult to control exact position and motions. In this paper, we propose wire flying system which use four wires. Two wires are used for movement control, and the others are used for tension. The four wire system is analyzed and the plane motion control method is derived for the disturbance reduction. The experiments show the validity of the proposed system.