자이로의 진화 (Mechanical, Piezo, MEMS)

<p><br></p><p style="text-align: left;"><img src="https://t1.daumcdn.net/cfile/cafe/2637183E57ECACEE18" class="txc-image" actualwidth="740" hspace="1" vspace="1" border="0" width="740" exif="{}" data-filename="futaba.jpg" style="clear:none;float:none;" id="A_2637183E57ECACEE185EE6"/></p><p><br></p><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;">25년전(1991년)에 사용하던 </span><span style="font-family: Arial; font-size: 10pt;"><span style="font-size: 10pt;">Futaba FP-G153BB</span><span style="font-size: 10pt;"> </span></span><span style="font-family: Arial; font-size: 10pt;">입니다.</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;">Gyro, Controll Amplifier, Gyro Trimmer (Gain Controller) 로 구성되어 있습니다.</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><font face="Arial"><span style="font-size: 10pt;">단축 </span></font><span style="font-family: Arial; font-size: 10pt;">기계식 </span><span style="font-family: Arial; font-size: 10pt;">Gyro로 Yaw축(Rudder)에 사용하는데 가격이 20만원 정도였던 것으로 기억합니다.</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;">현재 가치로 환산하면 거의 100만원에 해당합니다.</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 13.3333px;"><br></span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 13.3333px;"><br></span></div><p style="text-align: left;"><img src="https://t1.daumcdn.net/cfile/cafe/2525393E57ECACEF25" class="txc-image" actualwidth="740" hspace="1" vspace="1" border="0" width="740" exif="{}" data-filename="mechanical_gyro.jpg" style="clear:none;float:none;" id="A_2525393E57ECACEF25CCB8"/></p><p><br></p><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;">기계식 자이로는 단축 짐벌에 모터가 달려있고 모터의 좌우에 플라이휠 역할을 하는 황동 Disc가 회전합니다.</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;">좌우(Yaw)로 움직임을 주면 자이로 효과 (Gyro Precession) 에 의해 90도 지나 상하(Roll) 움직임이 발생합니다.</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;">Magnetic 센서가 이 움직임을 잡아내고, 이를 전기신호로 바꿉니다.</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;"><br></span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;"><br></span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><iframe src="https://www.youtube.com/embed/sM7HyIyRePY?wmode=opaque" width="740px" height="416px" frameborder="0" scrolling="no" allowfullscreen="" style="color: rgb(51, 51, 51); font-family: gulim;"></iframe><div align="left" style="color: rgb(51, 51, 51);"><br style="margin: 0px; padding: 0px;"></div><div align="left" style="color: rgb(51, 51, 51);"><div align="left"><span style="font-family: Arial; font-size: 13.3333px;">25년이나 되었는데도 전원을 넣어보니 잘 돌아갑니다.</span></div></div></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 13.3333px;"><br></span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 13.3333px;"><br></span></div><p style="text-align: left;"><img src="https://t1.daumcdn.net/cfile/cafe/21149F3E57ECACEF34" class="txc-image" actualwidth="740" hspace="1" vspace="1" border="0" width="740" exif="{}" data-filename="jr.jpg" style="clear:none;float:none;" id="A_21149F3E57ECACEF3485FF"/></p> <div align="left" style="font-family: 돋움, Dotum, Helvetica, sans-serif;"><div><br></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;">JR NEJ-120A 자이로</span><span style="font-family: Arial; font-size: 10pt;"> </span><span style="font-family: Arial; font-size: 10pt;">입니다.</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;">역시 Gyro, Controll Amplifier</span><span style="font-family: Arial; font-size: 13.3333px;"><span style="font-size: 10pt;">,</span><span style="font-size: 10pt;"> </span></span><span style="font-family: Arial; font-size: 10pt;">Gain Controller </span><span style="font-family: Arial; font-size: 10pt;">로 구성되어 있습니다.</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;">Yaw Rate Damper Sytem이라고 적혀 있듯이 RC헬기의 꼬리의 흔들림과 회전을 잡아줍니다. (Yaw Damping)</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;"><br></span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;"><br></span></div><p style="text-align: left;"><img src="https://t1.daumcdn.net/cfile/cafe/224C073E57ECACEF07" class="txc-image" actualwidth="250" hspace="1" vspace="1" border="0" width="250" exif="{}" data-filename="piezo_gyro.jpg" style="clear:none;float:none;" id="A_224C073E57ECACEF07BD34"/></p><p><br></p><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;">기계식 자이로의 다음 세대는 Piezo(압전) Gyro 입니다.</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;">빠르게 진동하는 크리스탈이 외부 </span><span style="font-family: Arial; font-size: 10pt;">회전력에 의해 </span><span style="font-family: Arial; font-size: 10pt;">털게 되는데</span><span style="font-family: Arial; font-size: 10pt;">(wobble) 여기서 전기 </span><span style="font-family: Arial; font-size: 10pt;">신호를 잡아냅니다.</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 13.3333px;"><br></span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 13.3333px;"><br></span></div><p style="text-align: left;"><img src="https://t1.daumcdn.net/cfile/cafe/2335A33E57ECACF019" class="txc-image" actualwidth="740" hspace="1" vspace="1" border="0" width="740" exif="{}" data-filename="Gyro5.jpg" style="clear:none;float:none;" id="A_2335A33E57ECACF019B275"/></p><p><br></p><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;">요즘에 주로 사용하는 MEMS (</span><font face="Arial"><span style="font-size: 10pt;">Micro Electric-Mechanical System) </span></font><span style="font-family: Arial; font-size: 10pt;">자이로의 원리를 설명한 그림입니다.</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;">실리콘 막대가 빠르게 진동하고 있고, 회전시에 움직임의 변화를 측정합니다.</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 13.3333px;"><br></span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 13.3333px;"><br></span></div><p style="text-align: left;"><img src="https://t1.daumcdn.net/cfile/cafe/2538EF3E57ECACF016" class="txc-image" actualwidth="740" hspace="1" vspace="1" border="0" width="740" exif="{}" data-filename="MEMS-Accelerometer-How-It-Works.jpg" style="clear:none;float:none;" id="A_2538EF3E57ECACF016E55E"/></p><p><br></p><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;">Accelometer 의 원리입니다.</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;">아주 작은 MEMS 칩 안에 3축 Gyro와 3축 Accelometer가 들어 있습니다.</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 13.3333px;"><br></span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 13.3333px;"><br></span></div><p style="text-align: left;"><img src="https://t1.daumcdn.net/cfile/cafe/21249C3E57ECACF126" class="txc-image" actualwidth="740" hspace="1" vspace="1" border="0" width="740" exif="{}" data-filename="cgy750.jpg" style="clear:none;float:none;" id="A_21249C3E57ECACF12674D1"/></p><p style="text-align: left;"><br></p><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;">고급 RC헬기에 사용하는 </span><span style="font-family: Arial; font-size: 10pt;">3축 </span><span style="font-family: Arial; font-size: 10pt;">자이로 </span><span style="font-family: Arial; font-size: 10pt;"><span style="font-size: 10pt;">Futaba CGY-750</span><span style="font-size: 10pt;"> </span></span><span style="font-family: Arial; font-size: 10pt;">입니다. ($350)</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><font face="Arial"><span style="font-size: 10pt;">역시 MEMS칩을 사용합니다.</span></font></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><font face="Arial"><span style="font-size: 13.3333px;"><br></span></font></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><font face="Arial"><span style="font-size: 13.3333px;"><br></span></font></div><p style="text-align: left;"><img src="https://t1.daumcdn.net/cfile/cafe/2627B73E57ECACF124" class="txc-image" actualwidth="740" hspace="1" vspace="1" border="0" width="740" exif="{}" data-filename="gy520.jpg" style="clear:none;float:none;" id="A_2627B73E57ECACF12470EC"/></p><p><br></p><p style="text-align: left;"><span style="color: rgb(0, 0, 0); font-family: Arial; font-size: 10pt;">소형 RC헬기에 사용하는 </span><span style="color: rgb(0, 0, 0); font-family: Arial; font-size: 10pt;">3축 </span><span style="color: rgb(0, 0, 0); font-family: Arial; font-size: 10pt;">자이로 </span><span style="color: rgb(0, 0, 0); font-family: Arial; font-size: 10pt;">Futaba GY-520 </span><span style="color: rgb(0, 0, 0); font-family: Arial; font-size: 10pt;">입니다. ($200)</span><br></p><p style="text-align: left;"><span style="color: rgb(0, 0, 0); font-family: Arial; font-size: 10pt;"><br></span></p><p style="text-align: left;"><br></p><p style="text-align: left;"><img src="https://t1.daumcdn.net/cfile/cafe/25534B4457ECACF203" class="txc-image" actualwidth="740" hspace="1" vspace="1" border="0" width="740" exif="{}" data-filename="px4.jpg" style="clear:none;float:none;" id="A_25534B4457ECACF203104E"/></p><p><br></p><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;">FC(Flight Controller) PX4의 내부 모습입니다.</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;">오른쪽 위에 기압(고도)를 측정하는 센서 Barometer와 MEMS칩과 지자계 센서가 포함되어 있는 LSM303칩이 붙어 있습니다.</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;">가운데 가장 큰 칩이 MPU 입니다.</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><div align="left"><span style="font-family: Arial; font-size: 10pt;">MEMS+지자계 센서인 LSM303 칩의  가격이 $7.00 정도입니다.</span></div><div align="left"><span style="font-family: Arial; font-size: 13.3333px;"><br></span></div><div align="left"><span style="font-family: Arial; font-size: 13.3333px;"><br></span></div></div><p style="text-align: left;"><img src="https://t1.daumcdn.net/cfile/cafe/253B504457ECACF31C" class="txc-image" actualwidth="740" hspace="1" vspace="1" border="0" width="740" exif="{}" data-filename="naze32.jpg" style="clear:none;float:none;" id="A_253B504457ECACF31C2102"/></p><p><br></p><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;">멀티콥터 </span><span style="font-family: Arial; font-size: 10pt;">FC인 Naze 32의 내부 모습입니다.</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;">3-axis Gyro / </span><span style="font-family: Arial; font-size: 10pt;">3-axis </span><span style="font-family: Arial; font-size: 10pt;">Accelometer 칩, Magnetometer 칩, Barometer 가 나란히 붙어 있습니다.</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 13.3333px;"><br></span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 13.3333px;"><br></span></div><p style="text-align: left;"><img src="https://t1.daumcdn.net/cfile/cafe/222B8D4457ECACF32E" class="txc-image" actualwidth="740" hspace="1" vspace="1" border="0" width="740" exif="{}" data-filename="naza.jpg" style="clear:none;float:none;" id="A_222B8D4457ECACF32ED6EF"/></p><p><br></p><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;">DJI Naza M의</span><span style="font-family: Arial; font-size: 10pt;"> 내부 모습입니다.</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;">알아볼 수 없게 검은 칠을 해 놓았는데 주요 부속은 별반 다르지 않을 듯요.</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 13.3333px;"><br></span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 13.3333px;"><br></span></div><p style="text-align: left;"><img src="https://t1.daumcdn.net/cfile/cafe/2247D34457ECACF410" class="txc-image" actualwidth="740" hspace="1" vspace="1" border="0" width="740" exif="{}" data-filename="cx-10inhand.jpg" style="clear:none;float:none;" id="A_2247D34457ECACF410BA90"/></p><p><br></p><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 10pt;">MEMS칩은 </span><span style="font-family: Arial; font-size: 10pt;">스마트폰과 W</span><font face="Arial"><span style="font-size: 10pt;">earable Device등에 널리 사용되면서 가격이 크게 내려갔습니다.</span></font></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><font face="Arial"><span style="font-size: 10pt;">값싼것은 $3.00도 안된다고 합니다.</span></font></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><font face="Arial"><span style="font-size: 10pt;">덕분에 완구형 멀티콥터의 가격이  </span></font><span style="font-family: Arial; font-size: 10pt;">$14.00 까지 내려갔습니다.</span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 13.3333px;"><br></span></div><div align="left" style="color: rgb(0, 0, 0); font-family: 돋움, Dotum, Helvetica, sans-serif;"><span style="font-family: Arial; font-size: 13.3333px;"><br></span></div><p style="text-align: left;"><img src="https://t1.daumcdn.net/cfile/cafe/2150BB4457ECACF506" class="txc-image" actualwidth="740" hspace="1" vspace="1" border="0" width="740" exif="{}" data-filename="cx-10.jpg" style="clear:none;float:none;" id="A_2150BB4457ECACF5067786"/></p><p><br></p><p><span style="color: rgb(0, 0, 0); font-family: Arial; font-size: 10pt;">구성이 아주 단순하지만 </span><span style="color: rgb(0, 0, 0); font-family: Arial; font-size: 10pt;">MPU, </span><span style="color: rgb(0, 0, 0); font-family: Arial; font-size: 10pt;">MEMS, RF</span><span style="color: rgb(0, 0, 0); font-family: Arial; font-size: 10pt;">칩등 </span><span style="color: rgb(0, 0, 0); font-family: Arial; font-size: 10pt;">필요한 </span><span style="color: rgb(0, 0, 0); font-family: Arial; font-size: 10pt;">것은 다 있습니다.</span><br></p></div><p><br></p>