철도 시설물 점검용 매니퓰레이터 탑재 무인이동체의 제어 연구

초록

While the use of unmanned aerial vehicles (UAVs) for close-range non-destructive inspection of critical national infrastructure, such as railway bridges and tunnels, is on the rise, ensuring flight stability is challenging because of the structural asymmetry caused by a forward-mounted manipulator. This paper proposes a fixed-mass compensation framework that resolves the center-of-mass (CoM) eccentricity problem in small drones with strict payload constraints by relocating the battery position, without adding actuators or counterweights. In addition, axis-specific PID control parameters reflecting the inertia asymmetry between the Pitch and Roll axes (ratio of approximately 3.9) were derived using the ultimate sensitivity method. The experimental results showed that the +83.2 mm forward CoM eccentricity introduced by the manipulator was reduced to ？0.110 mm (approximately 99 % reduction) without additional weight, and an experimental allowable load of 800 g was achieved, exceeding the theoretical maximum of 1.20 kg. Single-axis test bench experiments confirmed stable setpoint tracking without overshoot on the high-inertia Pitch axis. This paper reports a practical approach to achieve structural equilibrium without a weight increase and enhance the field applicability of non-destructive inspection UAVs in railway infrastructure environments.

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