부산대학교 도서관

A prototype single rotor UAV with vertical fins under the main rotor was produced. The vertical wings have stator wings and movable fins. This UAV performs anti-torque correction on stator wings and controls attitude with movable fins. Exercise analysis considering the bias of momentum by the main rotor was performed. Based on the results of the motion analysis, a simulator based on detailed equations of motion was prototyped. A prototype of the flight control method was created in consideration of the momentum bias, and the effectiveness of the control method was confirmed by simulation. In addition, a prototype of the software was created and confirmed using the prototype.