CAJ | 학술논문

系统的可控度在某种程度上反映了系统控制的难易程度。可控度的概念是对可控性概念的推广，将可控性的二值概念拓展到一个连续的标量概念。可控度目前没有一个统一的定义，学者们从不同的角度提出了不同的定义。本文对Viswanathan等人提出的可控度定义进行了改进。将原定义的控制输入约束由[-1,1]的对称区间拓展到[a,b]非对称区间，并给出了基于系统离散化的可控度计算方法。最后运用该理论对不同结构布局的六旋翼飞行器姿态可控度进行了比较，并分析了当六旋翼飞行器有一个和两个旋翼停机时的姿态可控度。
계통적가공도재모충정도상반영료계통공제적난역정도。가공도적개념시대가공성개념적추엄，장가공성적이치개념탁전도일개련속적표량개념。가공도목전몰유일개통일적정의，학자문종불동적각도제출료불동적정의。본문대Viswanathan등인제출적가공도정의진행료개진。장원정의적공제수입약속유[-1,1]적대칭구간탁전도[a,b]비대칭구간，병급출료기우계통리산화적가공도계산방법。최후운용해이론대불동결구포국적륙선익비행기자태가공도진행료비교，병분석료당륙선익비행기유일개화량개선익정궤시적자태가공도。
The degree of controllability is in some sense a measure of how easy it is for the controller to control the system. The concept of the degree of controllability is the promotion of controllability. It develops from the binary concept controllability into a continuous scalar concept. The degree of controllability at present does not have a unified definition. Some scholars put forward different definitions from different aspects. In this paper, we improved the definition of the degree of controllability proposed by Viswanathan, expanding the control input constraint from [-1, 1], a symmetric interval, to an asymmetric interval [a, b]. And we gave the computation method of the degree of controllability base system discretization. At last, we compared the degree of controllability of hexacopter’s attitude with different structure and analyzed the degree of controllability of the hexacopter’s attitude when it has one or two rotors stopped.