{"id":663,"date":"2026-06-05T12:16:47","date_gmt":"2026-06-05T03:16:47","guid":{"rendered":"https:\/\/wuhanqing.cn\/wordpress\/?p=663"},"modified":"2026-06-05T12:16:47","modified_gmt":"2026-06-05T03:16:47","slug":"%ea%b8%b0%eb%a7%90-%ed%94%84%eb%a1%9c%ec%a0%9d%ed%8a%b8-lego-ev3-%ea%b8%b0%eb%b0%98-%eb%9d%bc%ec%9d%b8%ed%8a%b8%eb%9e%98%ed%82%b9-%eb%b0%8f-%eb%ac%bc%eb%a5%98-%ec%9a%b4%eb%b0%98-%eb%a1%9c%eb%b4%87","status":"publish","type":"post","link":"https:\/\/wuhanqing.cn\/wordpress\/ko\/2026\/06\/05\/%ea%b8%b0%eb%a7%90-%ed%94%84%eb%a1%9c%ec%a0%9d%ed%8a%b8-lego-ev3-%ea%b8%b0%eb%b0%98-%eb%9d%bc%ec%9d%b8%ed%8a%b8%eb%9e%98%ed%82%b9-%eb%b0%8f-%eb%ac%bc%eb%a5%98-%ec%9a%b4%eb%b0%98-%eb%a1%9c%eb%b4%87\/","title":{"rendered":"[\uae30\ub9d0 \ud504\ub85c\uc81d\ud2b8] LEGO EV3 \uae30\ubc18 \ub77c\uc778\ud2b8\ub798\ud0b9 \ubc0f \ubb3c\ub958 \uc6b4\ubc18 \ub85c\ubd07 \uc2dc\uc2a4\ud15c \uc124\uacc4 \ubc0f \uad6c\ud604"},"content":{"rendered":"

# [\uae30\ub9d0 \ud504\ub85c\uc81d\ud2b8] LEGO EV3 \uae30\ubc18 \ub77c\uc778\ud2b8\ub798\ud0b9 \ubc0f \ubb3c\ub958 \uc6b4\ubc18 \ub85c\ubd07 \uc2dc\uc2a4\ud15c \uc124\uacc4 \ubc0f \uad6c\ud604<\/p>\n

## \ucd08\ub85d<\/p>\n

\ubcf8 \ud504\ub85c\uc81d\ud2b8\ub294 LEGO MINDSTORMS EV3 \ud50c\ub7ab\ud3fc\uc744 \uae30\ubc18\uc73c\ub85c \ud55c \uc9c0\ub2a5\ud615 \ub77c\uc778\ud2b8\ub798\ud0b9 \ubc0f \ubb3c\ub958 \uc6b4\ubc18 \ub85c\ubd07\uc744 \uc124\uacc4\ud558\uace0 \uad6c\ud604\ud55c\ub2e4. \ubcf5\uc7a1\ud55c \ud2b8\ub799 \ud658\uacbd\uc5d0\uc11c\uc758 \ub2e4\uc911 \uad50\ucc28\ub85c \uc778\uc2dd, \ub3d9\uc801 \ub77c\uc778\ud2b8\ub798\ud0b9 \ubc0f \ud2b9\uc815 \ubb3c\uccb4 \ud30c\uc9c0 \uc694\uad6c\uc0ac\ud56d\uc744 \ud574\uacb0\ud558\uae30 \uc704\ud574, \ubcf8 \uc2dc\uc2a4\ud15c\uc740 \ud558\uc704 \uc218\uc900\uc758 \uc6b4\ub3d9 \uc81c\uc5b4\uc5d0 \uc774\uc0b0 \uc2dc\uac04 \uae30\ubc18\uc758 \uac1c\uc120\ub41c \ube44\ub840-\ubbf8\ubd84(PD) \uc81c\uc5b4 \uc54c\uace0\ub9ac\uc998\uc744 \ub3c4\uc785\ud558\uace0, \ucc28\ub3d9 \uad6c\ub3d9 \uc6b4\ub3d9\ud559 \ubaa8\ub378\uacfc \uacb0\ud569\ud558\uc5ec \ubd80\ub4dc\ub7fd\uace0 \uc801\uc751\uc801\uc778 \uada4\uc801 \ucd94\uc885\uc744 \uad6c\ud604\ud55c\ub2e4. \uc0c1\uc704 \uc218\uc900\uc758 \uacbd\ub85c \uacc4\ud68d \ubc0f \uc791\uc5c5 \uc2e4\ud589\uc5d0\uc11c\ub294 \ubd80\uc6b8 \ub17c\ub9ac\uc640 \uc720\ud55c \uc0c1\ud0dc \uae30\uacc4(FSM) \uae30\ubc18\uc758 \uacb0\uc815\uc801 \uacb0\uc815 \ud2b8\ub9ac \ubaa8\ub378\uc744 \uad6c\ucd95\ud558\uc5ec \"\uc13c\uc11c \ube14\ub77c\uc778\ub529\", \"\uad50\ucc28\ub85c \uc624\ud310\", \"\uac00\uc591\uc131 \uc885\uc810 \ud0d0\uc9c0\"\uc640 \uac19\uc740 \uc804\ud615\uc801\uc778 \uacf5\ud559 \ubb38\uc81c\ub97c \ud574\uacb0\ud55c\ub2e4. \ubcf8 \ub17c\ubb38\uc740 \uc81c\uc5b4 \uc774\ub860\uc758 \uae30\ucd08, \uc54c\uace0\ub9ac\uc998\uc758 \uc218\ud559\uc801 \uc720\ub3c4, \ud558\ub4dc\uc6e8\uc5b4-\uc18c\ud504\ud2b8\uc6e8\uc5b4 \ud611\ub825 \uc124\uacc4\ub97c \uc0c1\uc138\ud788 \uc124\uba85\ud558\uace0, \uc81c\uc5b4 \uc774\ub860\uc758 \uc5ed\uc0ac \ubc0f \uad00\ub828 \uc2e4\uc99d \uc5f0\uad6c\uc640 \ud568\uaed8 \uc9c1\uc120, \ud0c0\uc6d0 \ubc0f 8\uc790\ud615 \ubcf5\uc7a1 \uada4\uc801\uc5d0\uc11c\uc758 \ub2e4\uc591\ud55c \uc81c\uc5b4\uae30\uc758 \uc131\ub2a5\uc744 \ube44\uad50\ud55c\ub2e4. \ub610\ud55c \uc784\ubca0\ub514\ub4dc \uc2dc\uc2a4\ud15c\uc758 \ubb3c\ub9ac\uc801 \ud2b9\uc131(\uc608: CPU \uae30\uc544, PWM \uc81c\uc5b4 \uc751\ub2f5)\uc5d0 \ub300\ud55c \ud558\uc704 \uc218\uc900\uc758 \uc5f0\uc0b0 \ucd5c\uc801\ud654 \ubc29\uc548\uc744 \uc81c\uc548\ud55c\ub2e4$^{[1]}$.<\/p>\n

## 1. \uc11c\ub860<\/p>\n

\uc774\ub3d9 \ub85c\ubd07 \ubd84\uc57c\uc5d0\uc11c \ub77c\uc778\ud2b8\ub798\ud0b9\uacfc \uc790\uc728 \uc8fc\ud589\uc740 \ubcf5\uc7a1\ud55c \uc791\uc5c5\uc744 \uc218\ud589\ud558\uae30 \uc704\ud55c \uae30\ucd08\uc774\ub2e4. \ud575\uc2ec \uacfc\uc81c\ub294 \ub3d9\uc801 \ud658\uacbd\uacfc \ud558\ub4dc\uc6e8\uc5b4 \uc81c\uc57d \uc870\uac74\uc744 \ucc98\ub9ac\ud560 \uc218 \uc788\ub294 \uc2e0\ub8b0\ud560 \uc218 \uc788\ub294 \uc81c\uc5b4\uae30\ub97c \uc124\uacc4\ud558\ub294 \uac83\uc774\ub2e4. \ucd08\uae30 \uc790\ub3d9 \uc81c\uc5b4 \uac1c\ubc1c\uc5d0\uc11c\ub294 \ub2e8\uc21c\ud55c \uc628-\uc624\ud504 \uc81c\uc5b4(Bang-Bang \ub610\ub294 ON-OFF \uc81c\uc5b4)\uac00 \ud754\ud788 \uc0ac\uc6a9\ub418\uc5c8\ub2e4. \uadf8\ub7ec\ub098 \uc774\ub7ec\ud55c \"\ud751\ubc31 \ub17c\ub9ac\"\uc758 \uc81c\uc5b4 \ubc29\uc2dd\uc740 \uc2ec\uac01\ud55c \uada4\uc801 \uc9c4\ub3d9, \ud070 \uae30\uacc4\uc801 \ub9c8\ubaa8\ub97c \uc720\ubc1c\ud558\uace0 \uace0\uc18d\uc5d0\uc11c \uc27d\uac8c \ud0c8\uc120\ud558\ub294 \uacbd\ud5a5\uc774 \uc788\ub2e4. \uc774\ub95c \ucc28\ub3d9 \uad6c\ub3d9 \ub85c\ubd07\uc740 \ud6a1\ubc29\ud5a5 \uc18d\ub3c4\uac00 \ud56d\uc0c1 0\uc778 \uc804\ud615\uc801\uc778 \ube44\ud640\ub85c\ub178\ubbf9 \uad6c\uc18d(Non-holonomic constraint) \uc2dc\uc2a4\ud15c\uc774\ubbc0\ub85c \uc694 \uac01\uc18d\ub3c4\ub97c \ud1b5\ud574\uc11c\ub9cc \ud6a1\ubc29\ud5a5 \ud3b8\ucc28\ub97c \uc870\uc815\ud560 \uc218 \uc788\uc5b4 \uc870\ud5a5 \uba85\ub839\uc758 \ubd80\ub4dc\ub7ec\uc6c0\uacfc \uc815\ubc00\ub3c4\uc5d0 \ub9e4\uc6b0 \ub192\uc740 \uc694\uad6c\uc0ac\ud56d\uc744 \uc81c\uae30\ud55c\ub2e4$^{[1]}$.<\/p>\n

\uc2dc\uc2a4\ud15c\uc758 \uac15\uac74\uc131\uacfc \ub3d9\uc801 \uc751\ub2f5 \ub2a5\ub825\uc744 \ud5a5\uc0c1\uc2dc\ud0a4\uae30 \uc704\ud574 \ubcf8 \ud504\ub85c\uc81d\ud2b8\ub294 \uc0b0\uc5c5\uacc4\uc5d0\uc11c \ub110\ub9ac \uc0ac\uc6a9\ub418\ub294 PID(\ube44\ub840-\uc801\ubd84-\ubbf8\ubd84) \ud3d0\ub8e8\ud504 \uc81c\uc5b4 \uc54c\uace0\ub9ac\uc998\uc744 \ub3c4\uc785\ud55c\ub2e4$^{[2]}$. PID \uc81c\uc5b4 \uc774\ub860\uc758 \uc5ed\uc0ac\ub294 1890\ub144\ub300\uc758 \uc870\uc18d\uae30 \uc124\uacc4\uae4c\uc9c0 \uac70\uc2ac\ub7ec \uc62c\ub77c\uac00\uba70, 1922\ub144 \ub7ec\uc2dc\uc544\uacc4 \ubbf8\uad6d\uc778 \uc5d4\uc9c0\ub2c8\uc5b4 \ub2c8\ucf5c\ub77c\uc2a4 \ubbf8\ub178\ub974\uc2a4\ud0a4(Nicolas Minorsky)\uac00 \ubbf8\uad6d \ud574\uad70\uc744 \uc704\ud55c \uc120\ubc15 \uc790\ub3d9 \uc870\ud5a5 \uc2dc\uc2a4\ud15c\uc744 \uc124\uacc4\ud558\uba74\uc11c \ucc98\uc74c\uc73c\ub85c \uc5c4\uaca9\ud55c \uc218\ud559\uc801 \uc774\ub860 \ubd84\uc11d\uc744 \uc218\ud589\ud588\ub2e4$^{[2]}$. \ubbf8\ub178\ub974\uc2a4\ud0a4\ub294 \uc870\ud0c0\uc218\uc758 \ub3d9\uc791\uc744 \uad00\ucc30\ud568\uc73c\ub85c\uc368 \uc6b0\uc218\ud55c \uc81c\uc5b4\ub97c \uc704\ud574\uc11c\ub294 \ud604\uc7ac\uc758 \uc624\ucc28\ubfd0\ub9cc \uc544\ub2c8\ub77c \uacfc\uac70\uc758 \ub204\uc801 \uc624\ucc28\uc640 \uc624\ucc28\uc758 \ubcc0\ud654 \ucd94\uc138\ub3c4 \uace0\ub824\ud574\uc57c \ud55c\ub2e4\ub294 \uac83\uc744 \ubc1c\uacac\ud588\ub2e4$^{[2]}$. \uc774 \uae30\ubc18 \uc704\uc5d0\uc11c \ubcf8 \uc5f0\uad6c\ub294 LEGO EV3\uc758 \ub2e4\uc911 \uad11\uc13c\uc11c \uc735\ud569 \uae30\uc220\uc744 \uacb0\ud569\ud558\uc5ec \uae30\uc874 PID\ub97c \uc774\uc0b0\ud654 \ubc0f \ucc28\uc6d0 \ucd95\uc18c \uac1c\uc120\ud558\uc5ec \uac00\uc774\ub4dc \ub77c\uc778\uc5d0 \ub300\ud55c \uc801\uc751\ud615 \ucd94\uc885\uc744 \uad6c\ud604\ud588\ub2e4. \uad00\ub828 \uc2e4\uc99d \uc5f0\uad6c\uc5d0 \ub530\ub974\uba74 LEGO EV3 \ub85c\ubd07\uc5d0 PID \uc81c\uc5b4\uae30\ub97c \ubc30\uce58\ud558\uba74 \uc100\uc2dc\uc758 \uace0\uc8fc\ud30c \uc9c4\ub3d9\uc744 \ud6a8\uacfc\uc801\uc73c\ub85c \uc81c\uac70\ud558\uace0 \ubcf5\uc7a1\ud55c \ud2b8\ub799\uc5d0\uc11c\uc758 \ub77c\uc778\ud2b8\ub798\ud0b9 \ud6a8\uc728\uc131\uacfc \uc548\uc815\uc131\uc744 \ud5a5\uc0c1\uc2dc\ud0ac \uc218 \uc788\ub2e4$^{[1]}$.<\/p>\n

LEGO MINDSTORMS EV3\ub294 LEGO\uac00 \ucd9c\uc2dc\ud55c 3\uc138\ub300 \ub85c\ubd07 \ud0a4\ud2b8\ub85c, \ud575\uc2ec \ud504\ub85c\uadf8\ub798\ubc0d \uac00\ub2a5 \ube0c\ub9ad\uc740 ARM9 \uc544\ud0a4\ud14d\ucc98\uc758 TI Sitara AM1808 \ud504\ub85c\uc138\uc11c(300 MHz)\ub97c \ud0d1\uc7ac\ud558\uace0 \uacbd\ub7c9 Linux \uc6b4\uc601\uccb4\uc81c\ub97c \uc2e4\ud589\ud55c\ub2e4$^{[3]}$. EV3\ub294 \ub2e4\uc591\ud55c \uc13c\uc11c(\uc0c9\uc0c1 \uc13c\uc11c, \ucd08\uc74c\ud30c \uc13c\uc11c, \uc790\uc774\ub85c\uc2a4\ucf54\ud504 \ub4f1)\uc640 \uc11c\ubcf4 \ubaa8\ud130\ub97c \uc9c0\uc6d0\ud558\uba70, LabVIEW \uadf8\ub798\ud53d \ud504\ub85c\uadf8\ub798\ubc0d \ud658\uacbd \ub610\ub294 MicroPython\uacfc \uac19\uc740 \uace0\uae09 \uc5b8\uc5b4\ub85c \ud504\ub85c\uadf8\ub798\ubc0d\ud560 \uc218 \uc788\ub2e4$^{[3]}$. \uc774\ub7ec\ud55c \ud558\ub4dc\uc6e8\uc5b4 \ud2b9\uc131\uc740 \uc81c\uc5b4 \uc54c\uace0\ub9ac\uc998 \ubc30\uce58\uc758 \uae30\ubc18\uc744 \uc81c\uacf5\ud55c\ub2e4.<\/p>\n

## 2. \ud575\uc2ec \ud558\uc704 \uc218\uc900 \uc54c\uace0\ub9ac\uc998: \ucc28\ub3d9 \uc6b4\ub3d9\ud559 \ubc0f \uac1c\uc120\ub41c PD \uc81c\uc5b4<\/p>\n

\ub77c\uc778\ud2b8\ub798\ud0b9 \uc81c\uc5b4\uc758 \ud575\uc2ec\uc740 \uc0c9\uc0c1 \uc13c\uc11c\uc758 \uad11\uc18d \ud53c\ub4dc\ubc31\uc744 \ud1b5\ud574 \ub85c\ubd07 \ubcf8\uccb4\uc758 \uac00\uc774\ub4dc \ub77c\uc778 \uc774\ud0c8\uc744 \uc2e4\uc2dc\uac04\uc73c\ub85c \uacc4\uc0b0\ud558\uace0 \uc774\ub97c \uc88c\uc6b0 \uad6c\ub3d9 \ud720\uc758 \ub3d9\uc801 \ucc28\uc18d\uc73c\ub85c \ubcc0\ud658\ud558\uc5ec \ubcf4\uc815 \ud1a0\ud06c\ub97c \uc0dd\uc131\ud558\ub294 \uac83\uc774\ub2e4. \ubcf8 \ud504\ub85c\uc81d\ud2b8\ub294 \ub450 \uac1c\uc758 \uc0c9\uc0c1 \uc13c\uc11c\ub97c \ub77c\uc778 \uc591\ucabd\uc5d0 \ubc30\uce58\ud558\ub294 \ud558\ub4dc\uc6e8\uc5b4 \uad6c\uc131\uc744 \ucc44\ud0dd\ud558\uace0 \uc784\ubca0\ub514\ub4dc \ub9c8\uc774\ud06c\ub85c\ud504\ub85c\uc138\uc11c\uc758 \uc0d8\ud50c\ub9c1 \ud2b9\uc131\uc5d0 \uc801\uc751\ud558\ub294 \ub514\uc9c0\ud138 PD \uc81c\uc5b4\uae30\ub97c \uad6c\ucd95\ud55c\ub2e4.<\/p>\n

### 2.1 \ucc28\ub3d9 \uad6c\ub3d9 \ub85c\ubd07\uc758 \uc6b4\ub3d9\ud559 \ubaa8\ub378<\/p>\n

\uc81c\uc5b4 \uc54c\uace0\ub9ac\uc998\uc744 \uc218\ub9bd\ud558\uae30 \uc804\uc5d0 \ub85c\ubd07\uc758 \uc6b4\ub3d9\ud559\uc801 \uc100\uc2dc \ud2b9\uc131\uc744 \uc81c\uc5b4 \ucd9c\ub825\uc758 \ubb3c\ub9ac\uc801 \uae30\ubc18\uc73c\ub85c \uba85\ud655\ud788 \ud574\uc57c \ud55c\ub2e4. \uc88c\uc6b0 \uad6c\ub3d9 \ud720\uc758 \uc120\uc18d\ub3c4\ub97c \uac01\uac01 $V_L$\uacfc $V_R$, \ub450 \ubc14\ud034 \uc911\uc2ec \uac04 \uac70\ub9ac(\uc724\uac70)\ub97c $d$, \uad6c\ub3d9 \ud720 \ubc18\uacbd\uc744 $r$\uc774\ub77c\uace0 \ud558\uc790. \ubc14\ud034\ud615 \uc774\ub3d9 \ub85c\ubd07(Wheeled Mobile Robot)\uc758 \ube44\ud640\ub85c\ub178\ubbf9 \uc6b4\ub3d9\ud559 \ubaa8\ub378\uc5d0 \ub530\ub974\uba74, \ub85c\ubd07 \uc9c8\ub7c9 \uc911\uc2ec\uc758 \uc804\uccb4 \uc120\uc18d\ub3c4 $V$\uc640 \uc694 \uac01\uc18d\ub3c4 $\\omega$\ub294 \ub2e4\uc74c \ubc29\uc815\uc2dd\uc73c\ub85c \uc720\ub3c4\ub41c\ub2e4$^{[2]}$:<\/p>\n

$$V(t) = \\frac{V_R(t) + V_L(t)}{2}$$<\/p>\n

$$\\omega(t) = \\frac{V_L(t) - V_R(t)}{d}$$<\/p>\n

\uc774 \uc218\ud559\uc801 \ubaa8\ub378\uc744 \ud1b5\ud574 \uc88c\uc6b0 \ubc14\ud034\uc5d0 \ud06c\uae30\uac00 \uac19\uace0 \ubc29\ud5a5\uc774 \ubc18\ub300\uc778 \ucc28\ub3d9 \ubcf4\uc0c1(\uc989, $V_L$\uacfc $V_R$\uc758 \uc0c1\ub300\uc801 \ud06c\uae30 \ubcc0\uacbd)\uc744 \uac00\ud568\uc73c\ub85c\uc368 \ub85c\ubd07\uc758 \uc694 \uac01\uc18d\ub3c4 $\\omega$\ub97c \uc120\ud615\uc801\uc73c\ub85c \uc81c\uc5b4\ud560 \uc218 \uc788\uc74c\uc744 \uc54c \uc218 \uc788\ub2e4. \uc774 \ucc28\ub3d9 \ubcf4\uc0c1\uc774 \ud544\uc694\ud55c \uc870\ud5a5 \ud1a0\ud06c\ub97c \uad6c\uc131\ud558\uba70, \ub85c\ubd07 \uc790\uc138 \ubcf4\uc815\uc758 \ub3d9\uc5ed\ud559\uc801 \uae30\ucd08\uac00 \ub41c\ub2e4.<\/p>\n

### 2.2 \uc774\uc0b0 \uc2dc\uac04 PID \uc81c\uc5b4 \uc54c\uace0\ub9ac\uc998\uc758 \uc218\ud559\uc801 \uc720\ub3c4<\/p>\n

\uc5f0\uc18d \uc2dc\uac04 \uc601\uc5ed\uc758 \uace0\uc804\uc801 PID \uc81c\uc5b4 \ubc29\uc815\uc2dd\uc740 \uc624\ucc28\uc5d0 \ub300\ud55c \ube44\ub840, \uc801\ubd84 \ubc0f \ubbf8\ubd84 \uc5f0\uc0b0\uc744 \ud1b5\ud574 \uc81c\uc5b4 \ucd9c\ub825\uc744 \uacc4\uc0b0\ud55c\ub2e4. \ud45c\uc900 \uacf5\uc2dd\uc740 \ub2e4\uc74c\uacfc \uac19\uc774 \ud45c\ud604\ub41c\ub2e4$^{[2]}$:<\/p>\n

$$u(t) = K_p e(t) + K_i \\int_{0}^{t} e(\\tau) d\\tau + K_d \\frac{de(t)}{dt}$$<\/p>\n

\uc5ec\uae30\uc11c $K_p, K_i, K_d$\ub294 \uac01\uac01 \ube44\ub840 \uac8c\uc778, \uc801\ubd84 \uac8c\uc778 \ubc0f \ubbf8\ubd84 \uac8c\uc778\uc774\uba70, $e(t)$\ub294 \uc2dc\uc2a4\ud15c \uc124\uc815\uac12\uacfc \ud53c\ub4dc\ubc31 \uac04\uc758 \uc624\ucc28\uc774\ub2e4$^{[2]}$.<\/p>\n

\uadf8\ub7ec\ub098 EV3\uc758 \uba54\uc778 \ud504\ub85c\uc138\uc11c(ARM9)\ub294 \uc774\uc0b0 \uc2dc\uac04 \uc0d8\ud50c\ub9c1 \uae30\ubc18\uc758 \ub514\uc9c0\ud138 \uc784\ubca0\ub514\ub4dc \uc2dc\uc2a4\ud15c\uc73c\ub85c, \uc5f0\uc18d \ubbf8\uc801\ubd84 \uc5f0\uc0b0\uc744 \uc9c1\uc811 \ucc98\ub9ac\ud560 \uc218 \uc5c6\ub2e4. \ub530\ub77c\uc11c \uc720\ud55c \ucc28\ubd84\ubc95\uc744 \uc0ac\uc6a9\ud558\uc5ec \uc704\uc758 \uc5f0\uc18d \ubc29\uc815\uc2dd\uc744 \uc774\uc0b0\ud654\ud574\uc57c \ud55c\ub2e4. \ub9c8\uc774\ud06c\ub85c\ud504\ub85c\uc138\uc11c\uc758 \uc77c\uc815\ud55c \uc0d8\ud50c\ub9c1 \uc8fc\uae30\ub97c $\\Delta t$\ub77c\uace0 \ud558\uace0, $k$\ubc88\uc9f8 \uc0d8\ud50c\ub9c1\uc758 \uc624\ucc28\ub97c $E(k)$\ub77c\uace0 \ud560 \ub54c, \ud6c4\ubc29 \uc720\ud55c \ucc28\ubd84 \uc6d0\ub9ac\uc5d0 \ub530\ub77c 1\ucc28 \ubbf8\ubd84\uc740 \ucc28\ubd84 \ubc29\uc815\uc2dd $\\frac{E(k) - E(k-1)}{\\Delta t}$\uc73c\ub85c \uadfc\uc0ac\ud654\ub420 \uc218 \uc788\uace0, \uc801\ubd84 \ud56d\uc740 \uc774\uc0b0 \ub204\uc801 \ud569 $\\sum_{j=0}^{k} E(j) \\Delta t$\uc73c\ub85c \uadfc\uc0ac\ud654\ub420 \uc218 \uc788\ub2e4. \uc774\ub97c \ud1b5\ud574 \uc704\uce58\uc2dd \ub514\uc9c0\ud138 PID \ubc29\uc815\uc2dd\uc744 \uc5bb\ub294\ub2e4$^{[2]}$:<\/p>\n

$$U(k) = K_p E(k) + K_i \\sum_{j=0}^{k} E(j) \\Delta t + K_d \\frac{E(k) - E(k-1)}{\\Delta t}$$<\/p>\n

\ub300\uce6d\ud615 \uc774\uc911 \uad11\uc13c\uc11c \ub77c\uc778\ud2b8\ub798\ud0b9 \uc2dc\ub098\ub9ac\uc624\uc5d0\uc11c \uac00\uc774\ub4dc \ub77c\uc778\uc758 \uace1\ub960\uc740 \ube60\ub974\uac8c \ubcc0\ud654\ud55c\ub2e4. \uc801\ubd84 \ud56d $I$\ub97c \uc720\uc9c0\ud558\uba74 \uc124\uc815\uac12\uc774 \ud06c\uac8c \ubcc0\ud560 \ub54c(\uc608: \uae09\uaca9\ud55c \ucee4\ube0c) \uc801\ubd84\uae30\uac00 \uacfc\ub3c4\ud55c \uc624\ucc28\ub97c \ub204\uc801\ud558\uac8c \ub41c\ub2e4. \uc774\ub85c \uc778\ud574 \uc81c\uc5b4 \ucd9c\ub825\uc774 \uc0c1\ud558\ud55c\uc5d0 \uc758\ud574 \uc808\ub2e8\ub418\ub294 \"\uc801\ubd84 \ud3ec\ud654(Integral Windup)\" \ud604\uc0c1\uc774 \ubc1c\uc0dd\ud560 \uc218 \uc788\uc73c\uba70, \uc774\ub294 \uc624\ucc28 \ubd80\ud638\uac00 \ubcc0\uacbd\ub418\uc5b4\ub3c4 \ucd9c\ub825\uc774 \ud3ec\ud654 \uc0c1\ud55c\uc5d0 \uba38\ubb3c\ub7ec \uc801\uc2dc\uc5d0 \uc751\ub2f5\ud558\uc9c0 \ubabb\ud558\uc5ec \uacb0\uad6d \ucc28\uccb4\uac00 \uc624\ubc84\uc288\ud2b8\ud558\uac70\ub098 \ud2b8\ub799\uc744 \uc774\ud0c8\ud558\uac8c \ub41c\ub2e4. \ub530\ub77c\uc11c \ubcf8 \ud504\ub85c\uc81d\ud2b8\ub294 \uae30\uc874 \ubaa8\ub378\uc744 \ucc28\uc6d0 \ucd95\uc18c \ucd5c\uc801\ud654\ud558\uc5ec \uc801\ubd84 \ud56d\uc744 \uc81c\uac70\ud558\uace0 \uc77c\uc815\ud55c \uc0d8\ud50c\ub9c1 \uc8fc\uae30 $\\Delta t$\ub97c \uacc4\uc218\uc5d0 \uc554\uc2dc\uc801\uc73c\ub85c \ud1b5\ud569\ud558\uc5ec \uc774\uc0b0 \ub514\uc9c0\ud138 PD \uc81c\uc5b4\uae30\ub97c \uc5bb\ub294\ub2e4$^{[2]}$:<\/p>\n

$$U(k) = K_p \\cdot E(k) + K_d \\cdot [E(k) - E(k-1)]$$<\/p>\n

### 2.3 \uc870\ud5a5 \ubcf4\uc0c1 \uc54c\uace0\ub9ac\uc998\uc758 \uc2dc\uc2a4\ud15c \uc218\uc900 \ub9e4\ud551 \ubc0f \ud30c\ub77c\ubbf8\ud130 \ubd84\uc11d<\/p>\n

\ud504\ub85c\uc81d\ud2b8\uc758 \uc2e4\uc81c \uc18c\ud504\ud2b8\uc6e8\uc5b4 \ucf54\ub4dc\uc5d0\uc11c\ub294 \uc911\ucca9\ub41c \uace0\uae09 \uc218\ud559 \ubaa8\ub4c8\uc744 \ud1b5\ud574 \ub2e4\uc74c\uacfc \uac19\uc740 \uc870\ud5a5 \ubcf4\uc0c1(Turn) \uc5f0\uc0b0 \ubc29\uc815\uc2dd\uc774 \uad6c\ud604\ub41c\ub2e4:<\/p>\n

$$Turn = (a-b) \\times 0.8 + ((a-b)-c) \\times 0.6$$<\/p>\n

\uc774 \ubc29\uc815\uc2dd\uc740 \uc704\uc5d0\uc11c \uc720\ub3c4\ub41c \uc774\uc0b0 \ub514\uc9c0\ud138 PD \ubc29\uc815\uc2dd\uacfc \ub300\uc751 \uad00\uacc4\uac00 \uc788\ub2e4. \uba3c\uc800 \uc624\ucc28 \uc2e0\ud638\uc758 \ud68d\ub4dd\uc5d0 \uc788\uc5b4\uc11c $a$\ub294 \uc67c\ucabd \uc13c\uc11c\uc758 \ubc18\uc0ac\uad11 \uac15\ub3c4 \ub514\uc9c0\ud138 \uac12\uc744, $b$\ub294 \uc624\ub978\ucabd \uc13c\uc11c\uc758 \uac12\uc744 \ub098\ud0c0\ub0b8\ub2e4. \uad11\ud559\uc801 \ub09c\ubc18\uc0ac \uc6d0\ub9ac\uc5d0 \uae30\ubc18\ud558\uc5ec \ud604\uc7ac \uc624\ucc28 \uc2e0\ud638\ub294 $E(k) = a - b$\uc774\ub2e4. \ucc28\uccb4\uac00 \uc911\uc559\uc5d0 \uc704\uce58\ud560 \ub54c \uc88c\uc6b0 \uc13c\uc11c\ub294 \ud751\ubc31 \uacbd\uacc4\uc120\uc5d0 \uc704\uce58\ud558\uc5ec \uad11\ud761\uc218\uc728\uc774 \ube44\uc2b7\ud558\ubbc0\ub85c $a-b \\approx 0$\uc774 \ub41c\ub2e4. \ucc28\uccb4\uac00 \uc624\ub978\ucabd\uc73c\ub85c \uc774\ud0c8\ud558\uba74 \uc67c\ucabd \uc13c\uc11c\ub294 \ud770\uc0c9 \uace0\ubc18\uc0ac \uc601\uc5ed\uc5d0, \uc624\ub978\ucabd \uc13c\uc11c\ub294 \uac80\uc740\uc0c9 \uc800\ubc18\uc0ac \uc601\uc5ed\uc5d0 \ub4e4\uc5b4\uac00\uac8c \ub418\uc5b4 \uc591\uc758 \uc624\ucc28 \uc2e0\ud638\uac00 \uc0dd\uc131\ub41c\ub2e4.<\/p>\n

\ub458\uc9f8, \ubc29\uc815\uc2dd\uc758 $(a-b) \\times 0.8$ \ud56d\uc740 \ube44\ub840 \uc81c\uc5b4 \ud56d(Proportional Term)\uc5d0 \ud574\ub2f9\ud55c\ub2e4. \ube44\ub840 \uc81c\uc5b4\ub294 \ud604\uc7ac \uc624\ucc28\ub9cc \uace0\ub824\ud558\uc5ec \ud604\uc7ac \ud3b8\ucc28\uc5d0 \ube44\ub840\ud558\ub294 \ubcf5\uc6d0 \ud1a0\ud06c\ub97c \uc0dd\uc131\ud55c\ub2e4. \ube44\ub840 \uac8c\uc778 $K_p = 0.8$\uc740 \uc678\ub780\uc5d0 \ub300\ud55c \uc2dc\uc2a4\ud15c\uc758 \uc751\ub2f5 \uac15\ub3c4\ub97c \uacb0\uc815\ud558\uba70, \ud3b8\ucc28\uac00 \ud074\uc218\ub85d \ucd9c\ub825 \ubcf4\uc815 \ud1a0\ud06c\uac00 \uac15\ud574\uc9c4\ub2e4.<\/p>\n

\ub9c8\uc9c0\ub9c9\uc73c\ub85c, \ubc29\uc815\uc2dd\uc758 $((a-b)-c) \\times 0.6$ \ud56d\uc740 \ubbf8\ubd84 \uc81c\uc5b4 \ud56d(Derivative Term)\uc5d0 \ub9e4\ud551\ub418\uba70, \uc5ec\uae30\uc11c $c$\ub294 \ub808\uc9c0\uc2a4\ud130\uc5d0 \uc800\uc7a5\ub41c \uc774\uc804 \uc8fc\uae30\uc758 \uc774\ub825 \uc624\ucc28 $E(k-1)$\uc744 \ub098\ud0c0\ub0b8\ub2e4. \ubbf8\ubd84 \uc81c\uc5b4 \ud56d\uc740 \uc2dc\uc2a4\ud15c\uc758 \ub310\ud37c \uc5ed\ud560\uc744 \ud558\uba70, \uc624\ucc28\uc758 1\ucc28 \ub3c4\ud568\uc218\ub97c \uacc4\uc0b0\ud558\uc5ec \ubbf8\ub798 \ucd94\uc138\ub97c \uc608\uce21\ud55c\ub2e4. \ube44\ub840 \uc81c\uc5b4\uc758 \uc791\uc6a9\uc73c\ub85c \ucc28\uccb4\uac00 \uc911\uc2ec\uc120\uc5d0 \uc811\uadfc\ud560 \ub54c, \ud604\uc7ac \uc704\uce58 \uc624\ucc28 $E(k)$\uac00 \uc5ec\uc804\ud788 0\ubcf4\ub2e4 \ud06c\ub354\ub77c\ub3c4 \uadf8 \ubcc0\ud654\uc728 $\\Delta E(k)$\uc740 \uc774\ubbf8 \uc74c\uc218\uac00 \ub41c\ub2e4. \uc774\ub54c \ubbf8\ubd84 \ud56d\uc740 \uc0ac\uc804\uc5d0 \ubc18\ub300 \ubc29\ud5a5\uc758 \uc81c\ub3d9 \ud1a0\ud06c\ub97c \uc0dd\uc131\ud558\uc5ec \ucd1d \uc81c\uc5b4\ub7c9\uc744 \uc904\uc784\uc73c\ub85c\uc368 \uc800\uac10\uc1e0 \uc2dc\uc2a4\ud15c\uc758 \uc624\ubc84\uc288\ud2b8(Overshoot)\uc640 \uc9c4\ub3d9 \ud604\uc0c1\uc744 \uc5b5\uc81c\ud55c\ub2e4. $K_d = 0.6$\uc740 \uc2dc\uc2a4\ud15c \ud29c\ub2dd \ud6c4 \uacb0\uc815\ub41c \ubbf8\ubd84 \uac10\uc1e0 \uacc4\uc218\uc774\ub2e4. \uc774\uc0c1\uc801\uc778 \ubbf8\ubd84\uae30\ub294 \uace0\uc8fc\ud30c \uc7a1\uc74c\uc5d0 \ubbfc\uac10\ud558\uc9c0\ub9cc, \ubcf8 \uc2dc\uc2a4\ud15c\uc758 \uc0d8\ud50c\ub9c1 \uc8fc\ud30c\uc218\uac00 \ube44\uad50\uc801 \ub192\uace0 \uc624\ucc28 \uc18c\uc2a4\uac00 \ub450 \uad11\ub7c9\uc758 \ucc28\uc774\ubfd0\uc774\ubbc0\ub85c \ucd94\uac00\uc801\uc778 \uc800\uc5ed \ud1b5\uacfc \ud544\ud130\ub294 \ub3c4\uc785\ud558\uc9c0 \uc54a\uc558\ub2e4.<\/p>\n

### 2.4 \ub3d9\uc801 \uc801\uc751\ud615 \uae30\ubcf8 \uc18d\ub3c4(Base Speed) \ube44\uc120\ud615 \ubaa8\ub378<\/p>\n

\uc804\ud1b5\uc801\uc778 \ub77c\uc778\ud2b8\ub798\ud0b9 \ub85c\ubd07\uc740 \ub300\ubd80\ubd84 \uc77c\uc815\ud55c \uae30\ubcf8 \uc18d\ub3c4\ub97c \uc0ac\uc6a9\ud55c\ub2e4. \uadf8\ub7ec\ub098 \uc9c1\uc120\uacfc \uace1\uc120\uc774 \ud63c\ud569\ub41c \ubcf5\ud569 \ud2b8\ub799\uc5d0\uc11c\ub294 \uacbd\ub85c \uace1\ub960\uc5d0 \ub530\ub77c \uae30\ubcf8 \uc18d\ub3c4\ub97c \ub3d9\uc801\uc73c\ub85c \uc870\uc815\ud574\uc57c \ud55c\ub2e4. \ubcf8 \ud504\ub85c\uc81d\ud2b8\ub294 \uc624\ucc28 \uc808\ub300\uac12 \uae30\ubc18\uc758 \uc801\uc751\ud615 \uc18d\ub3c4 \ud53c\ub4dc\ubc31 \uc870\uc808 \ubaa8\ub378\uc744 \ub3c4\uc785\ud55c\ub2e4:<\/p>\n

$$BaseSpeed = 100 - |a-b| \\times 0.6$$<\/p>\n

\uc774 \ubc29\uc815\uc2dd\uc740 \ube44\uc120\ud615 \uc74c\uc758 \ud53c\ub4dc\ubc31 \ub9e4\ud551 \ud568\uc218 $f(|e|)$\ub97c \uad6c\ucd95\ud55c\ub2e4. \uc0c1\uc218 $100$\uc740 \ud604\uc7ac \uacf5\uae09 \uc804\uc555\uc5d0\uc11c \uc100\uc2dc \ubaa8\ud130\uc5d0 \ud5c8\uc6a9\ub418\ub294 \ucd5c\ub300 PWM \ub4c0\ud2f0 \uc0ac\uc774\ud074\uc744 \ub098\ud0c0\ub0b8\ub2e4. \uc9c1\uc120 \uc815\uc0c1 \uc0c1\ud0dc\uc5d0\uc11c \ucc28\uccb4\uac00 \uc911\uc559\uc5d0 \uc704\uce58\ud558\uc5ec \uc704\uce58 \uc624\ucc28\uac00 \uc791\uc73c\uba74($|a-b| \\approx 0$) \uae30\ubcf8 \uc18d\ub3c4\ub294 \uc0c1\ud55c $100$\uc5d0 \uac00\uae4c\uc6cc\uc838 \ube60\ub978 \uc9c1\uc120 \uc8fc\ud589\uc774 \uac00\ub2a5\ud558\ub2e4. \uace1\uc120\uc744 \ub9cc\ub098\uba74 \uc624\ucc28 \uc808\ub300\uac12\uc774 \uc99d\uac00\ud558\uace0 \uc2dc\uc2a4\ud15c\uc740 \uc74c\uc758 \ud53c\ub4dc\ubc31\uc744 \ud1b5\ud574 \uae30\ubcf8 \uc18d\ub3c4\ub97c \uc790\ub3d9\uc73c\ub85c \ub0ae\ucd94\uc5b4 \ud68c\uc804\uc5d0 \ud544\uc694\ud55c \uad6c\uc2ec\ub825\uc744 \uc904\uc774\uace0 \uce21\uba74 \ubbf8\ub044\ub7ec\uc9d0 \uc704\ud5d8\uc744 \uac10\uc18c\uc2dc\ud0a8\ub2e4.<\/p>\n

\uc774 \uacf5\uc2dd\uc758 \uc0c1\uc218 \ud56d(100)\uc740 \ucd08\uae30 \ubc84\uc804\uc758 \uc0c1\uc218(80)\uc640 \ub2e4\ub974\ub2e4\ub294 \uc810\uc5d0 \uc8fc\ubaa9\ud560 \ud544\uc694\uac00 \uc788\ub2e4. \uc5ec\ub7ec \ucc28\ub840\uc758 \ud604\uc7a5 \ud14c\uc2a4\ud2b8\uc640 \ud30c\ub77c\ubbf8\ud130 \ud29c\ub2dd\uc744 \ud1b5\ud574 \uae30\ubcf8 \uc18d\ub3c4 \uc0c1\ud55c\uc744 100\uc73c\ub85c \ub192\uc774\uba74 \uace1\uc120 \uc548\uc815\uc131\uc744 \ud76c\uc0dd\ud558\uc9c0 \uc54a\uc73c\uba74\uc11c \uc9c1\uc120 \uad6c\uac04\uc758 \ud3c9\uade0 \uc8fc\ud589 \uc18d\ub3c4\ub97c \ud5a5\uc0c1\uc2dc\ud0ac \uc218 \uc788\uc5c8\ub2e4. \uc624\ucc28 \uac10\uc1e0 \uacc4\uc218 $0.6$\uc740 \uc18d\ub3c4 \uac10\uc18c\uc640 \uc870\ud5a5 \uc694\uad6c \uc0ac\uc774\uc758 \uade0\ud615\uc744 \ub9de\ucd94\ub3c4\ub85d \uc870\uc815\ub418\uc5c8\ub2e4.<\/p>\n

### 2.5 \uc644\uc804 \uc81c\uc5b4 \ubc95\uce59\uc758 \ud1b5\ud569 \uc218\ud559\uc801 \ud45c\ud604 \ubc0f Python \uc2dc\ubbac\ub808\uc774\uc158 \uac80\uc99d<\/p>\n

\uc704\uc758 \ub450 \ud575\uc2ec \uacf5\uc2dd\uc744 \uacb0\ud569\ud558\uba74 \ubcf8 \ud504\ub85c\uc81d\ud2b8\uc5d0\uc11c \uc0ac\uc6a9\ub41c \uc644\uc804\ud55c \uc774\uc0b0 \uc2dc\uac04 PD \uc81c\uc5b4 \ubc95\uce59\uc744 \uc5bb\uc744 \uc218 \uc788\ub2e4:<\/p>\n

$$\\begin{aligned}
\nBaseSpeed(k) &= 100 - |E(k)| \\times 0.6 \\\\
\nTurn(k) &= E(k) \\times 0.8 + [E(k) - E(k-1)] \\times 0.6 \\\\
\nLeftPWM(k) &= BaseSpeed(k) - Turn(k) \\\\
\nRightPWM(k) &= BaseSpeed(k) + Turn(k)
\n\\end{aligned}$$<\/p>\n

\uc5ec\uae30\uc11c $E(k) = a(k) - b(k)$\ub294 \ud604\uc7ac \uc0d8\ud50c\ub9c1 \uc8fc\uae30\uc758 \uc624\ucc28 \uc2e0\ud638\uc774\uace0, $E(k-1)$\uc740 \uc774\uc804 \uc8fc\uae30\uc758 \uc774\ub825 \uc624\ucc28\uc774\ub2e4. \uc88c\uc6b0 \ud720 PWM \uba85\ub839\uc740 \uae30\ubcf8 \uc18d\ub3c4\uc640 \uc870\ud5a5 \ubcf4\uc0c1\uc758 \uc120\ud615 \uacb0\ud569\uc744 \ud1b5\ud574 \uc5bb\uc5b4\uc9c4\ub2e4. $Turn > 0$\uc77c \ub54c \uc67c\ucabd \ubc14\ud034\ub294 \uac10\uc18d\ud558\uace0 \uc624\ub978\ucabd \ubc14\ud034\ub294 \uac00\uc18d\ud558\uc5ec \uc88c\ud68c\uc804\uc744 \uad6c\ud604\ud558\uba70, \ubc18\ub300\uc758 \uacbd\uc6b0 \uc6b0\ud68c\uc804\uc744 \uad6c\ud604\ud55c\ub2e4.<\/p>\n

\uc774 \uc81c\uc5b4 \ubc95\uce59\uc758 \uc218\ub834 \ud2b9\uc131\uc744 \uac80\uc99d\ud558\uae30 \uc704\ud574 Python \uae30\ubc18\uc758 \uc774\uc0b0 \uc2dc\uac04 \uc2dc\ubbac\ub808\uc774\uc158 \uc2dc\uc2a4\ud15c\uc744 \uad6c\ucd95\ud588\ub2e4. \uc774 \uc2dc\ubbac\ub808\uc774\uc158 \uc2dc\uc2a4\ud15c\uc740 \ub2e4\uc74c\uacfc \uac19\uc740 \ubb3c\ub9ac\uc801 \uc694\uc18c\ub97c \ubaa8\ub378\ub9c1\ud55c\ub2e4:<\/p>\n

1. **\uc6d0\ud615 \uc13c\uc11c \ud0d0\uc9c0 \ubaa8\ub378**: \uac01 \uc0c9\uc0c1 \uc13c\uc11c\uc758 \ud0d0\uc9c0 \uc601\uc5ed\uc740 \uc9c1\uacbd 1.5 cm\uc758 \uc6d0\ud615 \uc601\uc5ed\uc73c\ub85c \ubaa8\ub378\ub9c1\ub41c\ub2e4. \uc774 \uc6d0\ud615 \uc601\uc5ed\uacfc \uac80\uc740\uc0c9 \uac00\uc774\ub4dc \ub77c\uc778(\ud3ed 2.0 cm)\uc758 \uc911\ucca9 \uba74\uc801\uc744 \uc218\uce58 \uc801\ubd84\uc744 \ud1b5\ud574 \uacc4\uc0b0\ud558\uc5ec \ubc18\uc0ac\uad11 \uac15\ub3c4 \ud310\ub3c5\uac12\uc744 \uc815\ud655\ud558\uac8c \uacc4\uc0b0\ud55c\ub2e4$^{[1]}$.
\n2. **\ucc28\ub3d9 \uad6c\ub3d9 \uc6b4\ub3d9\ud559**: EV3 \ud45c\uc900 \ud720 \uae30\ud558\ud559\uc801 \ud30c\ub77c\ubbf8\ud130(\uc724\uac70 12.0 cm, \ud720 \ubc18\uacbd 2.8 cm)\ub97c \uae30\ubc18\uc73c\ub85c PWM \uba85\ub839\uc744 \uc804\uc9c4 \uc18d\ub3c4\uc640 \uc694 \uac01\uc18d\ub3c4\ub85c \ub9e4\ud551\ud55c\ub2e4.
\n3. **\ud2b8\ub808\uc77c\ub9c1 \uc13c\uc11c \ubc30\uce58**: \uc13c\uc11c \ucd95\uc740 \uad6c\ub3d9 \ud720 \ucd95\uc5d0\uc11c 10.0 cm \uc55e\ucabd\uc5d0 \uc704\uce58\ud55c\ub2e4. \uc774 \"\ud2b8\ub808\uc77c\ub9c1\" \uad6c\uc131\uc740 \ub808\ubc84 \uc554 \ud6a8\uacfc\ub97c \ub3c4\uc785\ud558\uba70, \uc774\ub294 \uc9c4\ub3d9 \ub3d9\uc5ed\ud559\uc801 \uac70\ub3d9\uc758 \uc6d0\uc778 \uc911 \ud558\ub098\uc774\ub2e4.
\n4. **\uac00\uc6b0\uc2dc\uc548 \uce21\uc815 \uc7a1\uc74c**: \ud45c\uc900 \ud3b8\ucc28 0.3\uc758 \uac00\uc6b0\uc2dc\uc548 \ubc31\uc0c9 \uc7a1\uc74c\uc774 \uc13c\uc11c \ud310\ub3c5\uac12\uc5d0 \uc911\ucca9\ub418\uc5b4 \uc2e4\uc81c \ud658\uacbd\uc758 \uad11\ud559\uc801 \uac04\uc12d\uc744 \uc2dc\ubbac\ub808\uc774\uc158\ud55c\ub2e4.<\/p>\n

\uc2dc\ubbac\ub808\uc774\uc158 \ucd08\uae30 \uc870\uac74\uc740 \ub2e4\uc74c\uacfc \uac19\uc774 \uc124\uc815\ub41c\ub2e4: \ucd08\uae30 \uc694 \uac01\ub3c4 $+10^\\circ$(\uc624\ub978\ucabd\uc73c\ub85c \uae30\uc6b8\uc5b4\uc9d0), \uc67c\ucabd \uc13c\uc11c \ud310\ub3c5\uac12 $a=10$(\uac80\uc740\uc0c9 \ub77c\uc778 \uc704\uc5d0 \uc644\uc804\ud788 \ub36e\uc784), \uc624\ub978\ucabd \uc13c\uc11c \ud310\ub3c5\uac12 $b=50$(\uac80\uc740\uc0c9 \ub77c\uc778 \uac00\uc7a5\uc790\ub9ac\uc5d0 \ubc18\ucbe4 \ub36e\uc784). \uc2dc\ubbac\ub808\uc774\uc158 \uc2dc\uac04 \uac04\uaca9 $\\Delta t = 0.1$ s.<\/p>\n

\n\t\"EV3\n<\/div>\n

**\uadf8\ub9bc 1: EV3 \ub77c\uc778\ud2b8\ub798\ud0b9 \ub85c\ubd07 \u2014 \uc774\uc0b0 \uc2dc\uac04 PD \uc81c\uc5b4 \uc2dc\ubbac\ub808\uc774\uc158 \uacb0\uacfc**<\/p>\n

\uadf8\ub9bc 1\uc740 \ub124 \uac00\uc9c0 \uc8fc\uc694 \ubb3c\ub9ac\ub7c9\uc758 \uc2dc\uac04 \uc601\uc5ed \uc9c4\ud654 \uace1\uc120\uc744 \ubcf4\uc5ec\uc900\ub2e4:<\/p>\n

**\ud328\ub110 (a) \u2014 \uc13c\uc11c \ubc18\uc0ac\uc728 \ubc0f \uc624\ucc28 \uc2e0\ud638**: \uc67c\ucabd \uc13c\uc11c $a(t)$(\ube68\uac04\uc0c9)\uc640 \uc624\ub978\ucabd \uc13c\uc11c $b(t)$(\ud30c\ub780\uc0c9)\uc758 \uc2dc\uac04\uc5d0 \ub530\ub978 \ud310\ub3c5\uac12. \ucd08\uae30 \uc21c\uac04 $a=10$(\uc644\uc804 \uac80\uc815), $b=50$(\ubc18 \uac80\uc815 \ubc18 \ud770\uc0c9), \uc624\ucc28 $e(t)=a-b=-40$. PD \uc81c\uc5b4\uae30\uac00 \uac1c\uc785\ud568\uc5d0 \ub530\ub77c \uc624\ucc28 \uc2e0\ud638\ub294 \uc57d 5\ucd08 \uc774\ub0b4\uc5d0 \ube60\ub974\uac8c 0 \ubd80\uadfc\uc73c\ub85c \uc218\ub834\ud55c \ud6c4 0 \uc8fc\ubcc0\uc5d0\uc11c \uc791\uc740 \ubcc0\ub3d9\uc744 \ubcf4\uc778\ub2e4. \uc774\ub7ec\ud55c \uc218\ub834 \uac70\ub3d9\uc740 PD \uc81c\uc5b4 \ubc95\uce59\uc758 \uc815\uc0c1 \uc0c1\ud0dc \ucd94\uc885 \ub2a5\ub825\uc744 \uac80\uc99d\ud55c\ub2e4.<\/p>\n

**\ud328\ub110 (b) \u2014 PD \uc81c\uc5b4 \uc2e0\ud638**: \uae30\ubcf8 \uc18d\ub3c4 $BaseSpeed(t)$(\ub179\uc0c9)\uc640 \uc870\ud5a5 \ubcf4\uc0c1 $Turn(t)$(\ube68\uac04\uc0c9)\uc758 \uc2dc\uac04 \uc601\uc5ed \uace1\uc120. \ucd08\uae30 \ud070 \uc624\ucc28\ub85c \uc778\ud574 \uae30\ubcf8 \uc18d\ub3c4\ub294 $100 - 40 \\times 0.6 = 76$\uc73c\ub85c \ub5a8\uc5b4\uc9c0\uace0, \uc870\ud5a5 \ubcf4\uc0c1\uc740 \ud070 \uc74c\uc218 \uac12($Turn \\approx -40 \\times 0.8 + (-40-0) \\times 0.6 = -56$)\uc744 \uc0dd\uc131\ud558\uc5ec \uc624\ub978\ucabd \ubc14\ud034\ub97c \uac00\uc18d\ud558\uace0 \uc67c\ucabd \ubc14\ud034\ub97c \uac10\uc18d\uc2dc\ucf1c \uc67c\ucabd \ubcf4\uc815 \ud1a0\ud06c\ub97c \uc0dd\uc131\ud55c\ub2e4. \uc624\ucc28\uac00 \uc218\ub834\ud568\uc5d0 \ub530\ub77c \uae30\ubcf8 \uc18d\ub3c4\ub294 100\uc5d0 \uac00\uae5d\uac8c \ud68c\ubcf5\ub418\uace0 \uc870\ud5a5 \ubcf4\uc0c1\uc740 0\uc5d0 \uc811\uadfc\ud558\uba70 \uc2dc\uc2a4\ud15c\uc740 \uc815\uc0c1 \uc0c1\ud0dc \uc9c1\uc120 \uc8fc\ud589 \ubaa8\ub4dc\ub85c \uc9c4\uc785\ud55c\ub2e4.<\/p>\n

**\ud328\ub110 (c) \u2014 \ub85c\ubd07 \uc790\uc138 \ubc0f \uc9c4\ub3d9 \uc218\ub834**: \uc694 \uac01\ub3c4 $\\theta(t)$(\uc8fc\ud669\uc0c9), \ud6a1\ubc29\ud5a5 \uc624\ud504\uc14b $y(t)$(\ubcf4\ub77c\uc0c9) \ubc0f \uc694 \uac01\uc18d\ub3c4 $\\omega(t)$(\ud30c\ub780\uc0c9)\uc758 \uc2dc\uac04 \uc601\uc5ed \uace1\uc120. \uc774\ub294 PD \uc81c\uc5b4\uae30\uc758 \uac10\uc1e0 \ud2b9\uc131\uc744 \uac80\uc99d\ud558\ub294 \ud575\uc2ec \ud328\ub110\uc774\ub2e4. \ucd08\uae30 $+10^\\circ$\uc758 \uc694 \uac01\ub3c4\ub294 PD \uc81c\uc5b4 \ud558\uc5d0\uc11c \uc804\ud615\uc801\uc778 \uc800\uac10\uc1e0 2\ucc28 \uc2dc\uc2a4\ud15c \uc751\ub2f5 \ud2b9\uc131\uc744 \ub098\ud0c0\ub0b8\ub2e4 \u2014 \uc57d 2-3\ud68c\uc758 \uac10\uc1e0 \uc9c4\ub3d9 \ud6c4 0\uc73c\ub85c \uc218\ub834\ud55c\ub2e4. \ud6a1\ubc29\ud5a5 \uc624\ud504\uc14b $y(t)$\ub3c4 \uc9c4\ub3d9 \uc218\ub834 \ucd94\uc138\ub97c \ubcf4\uc774\uba70 \ucd5c\uc885\uc801\uc73c\ub85c \uac00\uc774\ub4dc \ub77c\uc778 \uc911\uc2ec \uadfc\ucc98\uc5d0\uc11c \uc548\uc815\ud654\ub41c\ub2e4. \uc694 \uac01\uc18d\ub3c4 $\\omega(t)$\uc758 \uc9c4\ud3ed\uc740 \uc2dc\uac04\uc774 \uc9c0\ub0a8\uc5d0 \ub530\ub77c \uac10\uc18c\ud558\uc5ec \uc2dc\uc2a4\ud15c\uc758 \uc6b4\ub3d9 \uc5d0\ub108\uc9c0\uac00 \ubbf8\ubd84 \uac10\uc1e0 \ud56d\uc5d0 \uc758\ud574 \ud6a8\uacfc\uc801\uc73c\ub85c \uc18c\uc0b0\ub428\uc744 \ub098\ud0c0\ub0b8\ub2e4.<\/p>\n

**\ud328\ub110 (d) \u2014 \uc694 \uac01\ub3c4 \uc9c4\ub3d9 \ud655\ub300 \ubcf4\uae30(\ucc98\uc74c 10\ucd08)**: \uc774 \ud328\ub110\uc740 \uac01 \uc774\uc0b0 \uc0d8\ud50c\ub9c1 \uc21c\uac04\uc758 \uc694 \uac01\ub3c4\ub97c \uc0b0\uc810\ub3c4 \ud615\ud0dc\ub85c \ud45c\uc2dc\ud558\uc5ec \uac01 \uc2dc\uac04 \ub2e8\uacc4\uc5d0\uc11c PD \uc81c\uc5b4\uae30\uc758 \ub2e8\uacc4\ubcc4 \ubcf4\uc815 \uacfc\uc815\uc744 \uba85\ud655\ud788 \ubcf4\uc5ec\uc900\ub2e4. \uc774\ub7ec\ud55c \"\ub2e8\uacc4\uc801\" \ubcf4\uc815 \uada4\uc801\uc740 \uc774\uc0b0 \uc2dc\uac04 \uc81c\uc5b4 \uc2dc\uc2a4\ud15c\uc758 \uc804\ud615\uc801\uc778 \ud2b9\uc9d5\uc774\ub2e4 \u2014 \uc81c\uc5b4\uae30\ub294 \uac01 \uc0d8\ud50c\ub9c1 \uc8fc\uae30\uc5d0\uc11c \ud604\uc7ac \uc624\ucc28\uc5d0 \ub530\ub77c \uc0c8\ub85c\uc6b4 PWM \uba85\ub839\uc744 \uacc4\uc0b0\ud558\uc5ec \ub85c\ubd07 \uc790\uc138\ub97c \uc810\uc9c4\uc801\uc73c\ub85c \ubaa9\ud45c\uc5d0 \uc811\uadfc\uc2dc\ud0a8\ub2e4.<\/p>\n

**\ud328\ub110 (e) \u2014 \ud3c9\uba74 \uada4\uc801**: 2\ucc28\uc6d0 \ud3c9\uba74\uc5d0\uc11c \ubc14\ud034 \ucd95 \uc911\uc2ec\uc758 \uada4\uc801. \ubc18\ud22c\uba85 \uac80\uc740\uc0c9 \ub760\ub294 \ud3ed 2.0 cm\uc758 \uac00\uc774\ub4dc \ub77c\uc778\uc744 \ub098\ud0c0\ub0b8\ub2e4. \uada4\uc801 \uace1\uc120\uc740 \ub85c\ubd07\uc774 \uc2dc\uc791\uc810(\ub179\uc0c9 \uc0ac\uac01\ud615)\uc5d0\uc11c \ucd9c\ubc1c\ud55c \ud6c4 S\uc790\ud615 \uacbd\ub85c\ub97c \ud1b5\ud574 \ube60\ub974\uac8c \uac00\uc774\ub4dc \ub77c\uc778\uc73c\ub85c \uc218\ub834\ud55c \ub2e4\uc74c \uc9c1\uc120\uc744 \ub530\ub77c \uc548\uc815\uc801\uc73c\ub85c \uc885\uc810(\ube68\uac04\uc0c9 \uc0ac\uac01\ud615)\uae4c\uc9c0 \uc9c4\ud589\ud568\uc744 \ubcf4\uc5ec\uc900\ub2e4. \uada4\uc801\uc758 \ubd80\ub4dc\ub7ec\uc6c0\uc740 PD \uc81c\uc5b4\uae30\uc758 \ucd94\uc885 \uc815\ubc00\ub3c4\ub97c \uc9c1\uad00\uc801\uc73c\ub85c \ubc18\uc601\ud55c\ub2e4.<\/p>\n

\uc774 \uc2dc\ubbac\ub808\uc774\uc158 \uacb0\uacfc\ub294 \ubcf8 \ud504\ub85c\uc81d\ud2b8\uc758 PD \uc81c\uc5b4 \ubc95\uce59\uc774 \ucd08\uae30 $+10^\\circ$\uc758 \uc694 \uac01\ub3c4 \uc624\ucc28\ub97c \uc57d 5\ucd08 \uc774\ub0b4\uc5d0 0\uc73c\ub85c \uc218\ub834\uc2dc\ud0a4\uace0 \uc815\uc0c1 \uc0c1\ud0dc \uc624\ucc28\ub97c $\\pm 0.5^\\circ$ \uc774\ub0b4\ub85c \uc81c\uc5b4\ud560 \uc218 \uc788\uc74c\uc744 \uc774\ub860\uc801\uc73c\ub85c \uac80\uc99d\ud55c\ub2e4. \uc774 \uc218\ub834 \uc18d\ub3c4\uc640 \uc815\ubc00\ub3c4\ub294 \ud6c4\uc18d \ud604\uc7a5 \ud14c\uc2a4\ud2b8\uc758 \uc774\ub860\uc801 \uae30\ubc18\uc744 \uc81c\uacf5\ud55c\ub2e4.<\/p>\n

## 3. \uc0c1\uc704 \uacbd\ub85c \uacc4\ud68d: \uc720\ud55c \uc0c1\ud0dc \uae30\uacc4\uc640 \uacb0\uc815 \ud2b8\ub9ac \uc54c\uace0\ub9ac\uc998<\/p>\n

\uae30\uacc4 \ud559\uc2b5 \ubc0f \uc758\uc0ac \uacb0\uc815 \ubd84\uc11d \uc774\ub860\uc5d0\uc11c \uacb0\uc815 \ud2b8\ub9ac(Decision Tree)\ub294 \uac1d\uccb4 \uc18d\uc131\uacfc \uac1d\uccb4 \uac12 \uac04\uc758 \ub9e4\ud551 \uad00\uacc4\ub97c \ub098\ud0c0\ub0b4\ub294 \ud2b9\ubcc4\ud55c \ud2b8\ub9ac \uad6c\uc870 \uc608\uce21 \ubaa8\ub378\ub85c, \uc870\uac74\ubd80 \ud655\ub960\uc744 \uacc4\uc0b0\ud558\uac70\ub098 \ud310\uc815 \uaddc\uce59\uc744 \uc124\uc815\ud558\uc5ec \ubaa9\ud45c\uc5d0 \ub3c4\ub2ec\ud558\uae30 \uc704\ud55c \ucd5c\uc801\uc758 \uacc4\ud68d\uc744 \uc0dd\uc131\ud55c\ub2e4$^{[4]}$. \ud558\uc704 \uc218\uc900\uc758 PD \uc54c\uace0\ub9ac\uc998\uc774 \uae30\ubcf8 \uada4\uc801 \uc5f0\uc18d\uc131\uc744 \ubcf4\uc7a5\ud558\ub294 \uae30\ubc18 \uc704\uc5d0\uc11c, \ub85c\ubd07\uc740 \ubcf5\uc7a1\ud55c \ubbf8\ub85c \ud1a0\ud3f4\ub85c\uc9c0 \ubc0f \ud2b9\uc815 \uc0c1\ud638\uc791\uc6a9 \uc791\uc5c5\uc744 \ucc98\ub9ac\ud558\uae30 \uc704\ud55c \uace0\uae09 \ub17c\ub9ac \ub2a5\ub825\uc744 \uac16\ucd94\uc5b4\uc57c \ud55c\ub2e4. \ubcf8 \ud504\ub85c\uc81d\ud2b8\ub294 \uc911\ucca9 \ubd84\uae30(Nested Switches)\ub97c \uc0ac\uc6a9\ud558\uc5ec \uc0c1\ud0dc \uc804\uc774 \uae30\ubc18\uc758 \uacb0\uc815\uc801 \uacb0\uc815 \ud2b8\ub9ac\ub97c \uad6c\ucd95\ud558\uc5ec \ub17c\ub9ac\uc758 \uc5c4\ubc00\uc131\uacfc \uac15\uac74\uc131\uc744 \ubcf4\uc7a5\ud55c\ub2e4.<\/p>\n

\uc2e4\ud5d8\uc5d0\uc11c \ubb3c\ub958 \ucc98\ub9ac\uc640 \uad00\ub828\ub41c \uc804\ub7b5\uc744 \uba85\ud655\ud788 \ud558\uae30 \uc704\ud574, \ud504\ub85c\uadf8\ub7a8\uc740 \ucd08\uae30\ud654 \ub2e8\uacc4\uc5d0\uc11c \uac04\ub2e8\ud55c \ubb34\uc791\uc704\ud654 \ubc0f \uce74\uc6b4\ud305 \ubcc0\uc218\ub97c \ub3c4\uc785\ud55c\ub2e4: \ucd1d 2\uac1c\uc758 \ud1b5\uc744 \ubc30\uce58\ud558\uba70, \ud1b5\uc758 \uc704\uce58\ub294 4\uac1c\uc758 \ud6c4\ubcf4 \uc704\uce58\uc5d0\uc11c 1, 2, 3, 4\ub85c \ubc88\ud638\uac00 \ub9e4\uaca8\uc9c4\ub2e4. \ucd08\uae30\ud654 \uc2dc \uac01\uac01 \uc9d1\ud569 {1,2}\uc640 {3,4}\uc5d0\uc11c \ud558\ub098\uc529 \ubb34\uc791\uc704\ub85c \uc120\ud0dd\ud558\uc5ec \uc7a1\uc744 \ub450 \uac1c\uc758 \ud1b5\uc758 \uc704\uce58\ub97c \uacb0\uc815\ud55c\ub2e4(\ub450 \ud1b5\uc774 \uac19\uc740 \ucabd\uc5d0 \uc704\uce58\ud558\ub294 \uace0\uc815 \ud328\ud134 \ubc29\uc9c0). \ud504\ub85c\uadf8\ub7a8 \uc2e4\ud589 \uc911 \ubd80\uc6b8 \ubcc0\uc218 `HasBarrel`\uc740 \ud604\uc7ac \ud1b5\uc744 \ubcf4\uc720\ud558\uace0 \uc788\ub294\uc9c0 \uc5ec\ubd80\ub97c \ub098\ud0c0\ub0b4\uace0, \uc815\uc218 \ubcc0\uc218 `BarrelNum`(\ucd08\uae30\uac12 0)\uc740 \uc7a1\uc740 \ud1b5\uc758 \uac1c\uc218\ub97c \uae30\ub85d\ud558\uba70 \ud1b5\uc744 \uc7a1\uc744 \ub54c\ub9c8\ub2e4 `BarrelNum += 1`\uc774 \uc218\ud589\ub41c\ub2e4. \uc815\uc218 \ubcc0\uc218 `CheckNum`(\ucd08\uae30\uac12 0)\uc740 \ud1b5\uacfc\ud55c \ube68\uac04\uc0c9 \uccb4\ud06c\ud3ec\uc778\ud2b8\uc758 \uac1c\uc218\ub97c \uae30\ub85d\ud558\uba70, \uccb4\ud06c\ud3ec\uc778\ud2b8\ub97c \ud1b5\uacfc\ud560 \ub54c\ub9c8\ub2e4 \ud574\ub2f9 \uccb4\ud06c\ud3ec\uc778\ud2b8\uc758 \uc18c\uc694 \uc2dc\uac04\uc774 \ud654\uba74\uc758 \ud574\ub2f9 \uc904\uc5d0 \ucd9c\ub825\ub41c\ub2e4.<\/p>\n

### 3.1 \ubd80\uc6b8 \ub17c\ub9ac \uae30\ubc18 \uc720\ud55c \uc0c1\ud0dc \uae30\uacc4\uc640 \uc13c\uc11c \ube14\ub77c\uc778\ub529 \ubc29\uc9c0<\/p>\n

\uc790\ub3d9 \ubb3c\ub958 \uc6b4\ubc18 \uc791\uc5c5\uc5d0\uc11c \ub85c\ubd07\uc740 \ucd08\uc74c\ud30c \uc13c\uc11c\ub97c \uc0ac\uc6a9\ud558\uc5ec \ubaa9\ud45c \ud1b5\uc744 \uac10\uc9c0\ud558\uace0 \ud30c\uc9c0\ub97c \uc2e4\ud589\ud55c\ub2e4. \ud30c\uc9c0 \ub3d9\uc791\uc774 \uc644\ub8cc\ub41c \ud6c4 \ubb3c\uccb4\ub294 \uc77c\ubc18\uc801\uc73c\ub85c \uc13c\uc11c \uc55e\uc5d0 \ub0a8\uc544 \uc788\uc5b4 \ucd08\uc74c\ud30c \uac70\ub9ac \uce21\uc815\uac12\uc774 \uc9c0\uc18d\uc801\uc73c\ub85c \ud2b8\ub9ac\uac70 \uc870\uac74\uc744 \ucda9\uc871\uc2dc\ucf1c \ubc18\ubcf5 \ud30c\uc9c0\uc758 \"\uc13c\uc11c \ube14\ub77c\uc778\ub529\" \ubb38\uc81c\ub97c \uc720\ubc1c\ud560 \uc218 \uc788\ub2e4. \uc774 \ubb38\uc81c\ub97c \ud574\uacb0\ud558\uace0 \uc2e4\ud5d8 \uc694\uad6c\uc0ac\ud56d\uc778 \ub450 \ud1b5 \ubc30\uce58 \uc804\ub7b5\uc744 \ucda9\uc871\uc2dc\ud0a4\uae30 \uc704\ud574 \ubcf8 \ud504\ub85c\uc81d\ud2b8\ub294 \uc720\ud55c \uc0c1\ud0dc \uae30\uacc4\uc5d0 \ub2e4\uc74c \ubcc0\uc218\ub97c \ub3c4\uc785\ud55c\ub2e4: \ubd80\uc6b8 \ubcc0\uc218 `HasBarrel`(\ud604\uc7ac \ud1b5 \ubcf4\uc720 \uc5ec\ubd80), \uc815\uc218 \uce74\uc6b4\ud130 `BarrelNum`(\uc7a1\uc740 \ud1b5 \uac1c\uc218, \ucd08\uae30\uac12 0), \uc815\uc218 \uce74\uc6b4\ud130 `CheckNum`(\ud1b5\uacfc\ud55c \ube68\uac04\uc0c9 \uccb4\ud06c\ud3ec\uc778\ud2b8 \uac1c\uc218, \ucd08\uae30\uac12 0).<\/p>\n

\ud30c\uc9c0 \ub17c\ub9ac\uc758 \ud2b8\ub9ac\uac70 \uc870\uac74\uc740 \uc5ec\uc804\ud788 \ucd08\uc74c\ud30c \uac70\ub9ac\ub97c \uae30\ubcf8\uc73c\ub85c \ud55c\ub2e4:<\/p>\n

$$Trigger = (d_{ultrasonic} < 15) \\land \\neg HasBarrel$$\n\n\ud30c\uc9c0 \ub3d9\uc791\uc774 \uc2e4\ud589\ub418\uace0 \uc131\uacf5\uc801\uc73c\ub85c \ud655\uc778\ub418\uba74 \ud504\ub85c\uadf8\ub7a8\uc740 `HasBarrel = True` \ubc0f `BarrelNum += 1`\uc744 \uc2e4\ud589\ud55c\ub2e4. \uadf8\ub8f9 \ub0b4 \ud569\uc758\ub41c \ubc30\uce58 \uc804\ub7b5\uc5d0 \ub530\ub974\uba74: \uccab \ubc88\uc9f8\ub85c \uc7a1\uc740 \ud1b5(`BarrelNum == 1`)\uc740 \uc774\ud6c4 \ub9cc\ub098\ub294 \uccab \ubc88\uc9f8 \ube68\uac04\uc0c9 \uccb4\ud06c\ud3ec\uc778\ud2b8\uc5d0 \ub193\uc544\uc57c \ud558\uace0, \ub450 \ubc88\uc9f8\ub85c \uc7a1\uc740 \ud1b5(`BarrelNum == 2`)\uc740 \uc885\uc810\uae4c\uc9c0 \uacc4\uc18d \uc6b4\ubc18\ud55c \ud6c4 \ub0b4\ub824\ub193\ub294\ub2e4. \ub530\ub77c\uc11c \uccb4\ud06c\ud3ec\uc778\ud2b8\uc5d0 \ub3c4\ub2ec\ud588\uc744 \ub54c \ud1b5\uc744 \ub0b4\ub824\ub193\ub294 \uc870\uac74\uc740 `HasBarrel == True && BarrelNum == 1`\uc774\ub2e4. `HasBarrel == True`\uc774\uc9c0\ub9cc `BarrelNum != 1`\uc778 \uacbd\uc6b0\uc5d0\ub294 \ud1b5\uc744 \ub0b4\ub824\ub193\uc9c0 \uc54a\uace0 \ud68c\uc804 \ub610\ub294 \ud574\ub2f9 \uad50\ucc28\ub85c \ub3d9\uc791\ub9cc \uc218\ud589\ud55c\ub2e4. \ud1b5\uc744 \ub0b4\ub824\ub193\uc740 \ud6c4 `HasBarrel`\uc740 False\ub85c \ub9ac\uc14b\ub41c\ub2e4.\n\n### 3.2 \uc720\ud55c \uc0c1\ud0dc \uae30\uacc4 \uae30\ubc18 \uad50\ucc28\ub85c \uacb0\uc815 \uc54c\uace0\ub9ac\uc998\n\n\ubd84\uae30 \ud2b8\ub799(T\uc790\ud615 \ub610\ub294 \uc2ed\uc790\ud615 \uad50\ucc28\ub85c)\uc5d0 \uc9c1\uba74\ud588\uc744 \ub54c, \uc2dc\uc2a4\ud15c\uc740 \uacbd\ub85c \uc120\ud0dd\uc744 \uc704\ud574 \uc720\ud55c \uc0c1\ud0dc \uae30\uacc4 \uae30\ubc18\uc758 \uacb0\uc815\uc801 \uacb0\uc815 \ud2b8\ub9ac\ub97c \ucc44\ud0dd\ud55c\ub2e4. \uc774 \uacb0\uc815 \ud2b8\ub9ac\ub294 \uc911\ucca9 \uc870\uac74 \ubd84\uae30\ub97c \ud1b5\ud574 \uad6c\ud604\ub418\uba70, \uadf8 \ub0b4\ubd80 \ub17c\ub9ac\ub294 \uc815\ubc00\ud558\uac8c \ud14c\uc2a4\ud2b8\ub418\uace0 \uac80\uc99d\ub420 \uc218 \uc788\ub2e4. \uad6c\uccb4\uc801\uc778 \uc2e4\ud589 \ud750\ub984\uc740 \ub2e4\uc74c\uacfc \uac19\ub2e4:\n\n\uc88c\uc6b0 \uc13c\uc11c\uac00 \ubc18\uc0ac\uad11 \uac15\ub3c4\uac00 \uc784\uacc4\uac12 \ubbf8\ub9cc(< 15)\uc784\uc744 \uac10\uc9c0\ud558\uba74 \uc2dc\uc2a4\ud15c\uc740 \uad50\ucc28\ub85c \uc601\uc5ed\uc5d0 \uc9c4\uc785\ud588\uc744 \uac00\ub2a5\uc131\uc774 \uc788\ub2e4\uace0 \ud310\ub2e8\ud55c\ub2e4. \uc2dc\uc2a4\ud15c\uc740 \uba3c\uc800 \ud504\ub85c\ube0c \uac80\uc99d\uc744 \uc218\ud589\ud55c\ub2e4: \uc624\ub978\ucabd \uc13c\uc11c\uac00 \ud2b8\ub9ac\uac70\ub41c \uacbd\uc6b0, \ubaa8\ud130\ub294 \ud30c\uc6cc 30\uc73c\ub85c 0.55\ucd08 \ub3d9\uc548 \uc804\uc9c4\ud558\uc5ec \uc704\uce58\ub97c \uc870\uc815\ud55c \ud6c4 30\/-30 \ud30c\uc6cc\ub85c 0.3\ucd08 \ub3d9\uc548 \uc6b0\ud68c\uc804\uc744 \uc2e4\ud589\ud558\uace0, \uc911\uac04 \uc13c\uc11c\uac00 \uac80\uc740\uc0c9 \ub77c\uc778\uc744 \uac10\uc9c0\ud560 \ub54c\uae4c\uc9c0(\ubc18\uc0ac\uad11 \uac15\ub3c4 < 15) \uc774 \ucc28\uc18d\uc744 \uc720\uc9c0\ud55c \ud6c4 \ucd5c\uc885\uc801\uc73c\ub85c \ubaa8\ud130\ub97c \uc815\uc9c0\ud558\uace0 0.02\ucd08 \ub3d9\uc548 \uc548\uc815\ud654\ub97c \uae30\ub2e4\ub9b0\ub2e4. \uc67c\ucabd \uc13c\uc11c\uac00 \ud2b8\ub9ac\uac70\ub41c \uacbd\uc6b0, \ubaa8\ud130\ub294 \uba3c\uc800 \ud30c\uc6cc 30\uc73c\ub85c 0.5\ucd08 \ub3d9\uc548 \uc804\uc9c4\ud55c \ud6c4 -30\/30 \ud30c\uc6cc\ub85c 0.3\ucd08 \ub3d9\uc548 \uc88c\ud68c\uc804\uc744 \uc2e4\ud589\ud558\uace0, \uc911\uac04 \uc13c\uc11c\uac00 \uac80\uc740\uc0c9 \ub77c\uc778\uc744 \uac10\uc9c0\ud560 \ub54c\uae4c\uc9c0 \uc774 \ucc28\uc18d\uc744 \uc720\uc9c0\ud55c\ub2e4. \uc88c\uc6b0 \uc13c\uc11c\uac00 \ubaa8\ub450 \ud2b8\ub9ac\uac70\ub418\uc9c0 \uc54a\uc558\uc9c0\ub9cc \uc911\uac04 \uc13c\uc11c\uac00 \uac80\uc740\uc0c9 \ub77c\uc778\uc744 \uac10\uc9c0\ud558\uba74 \uc2dc\uc2a4\ud15c\uc740 \uae30\ubcf8 PID \uc9c1\uc9c4 \ub17c\ub9ac\ub85c \uc9c4\uc785\ud55c\ub2e4. \uc911\uac04 \uc13c\uc11c\uac00 \ube68\uac04\uc0c9 \ub9c8\ucee4\ub97c \uac10\uc9c0\ud558\uba74 180\ub3c4 \ud68c\uc804 \ub3d9\uc791\uc774 \uc2e4\ud589\ub41c\ub2e4.\n\n### 3.2.1 \ucd5c\uc885 \ubc84\uc804 \uad50\ucc28\ub85c \uacb0\uc815 \ubc0f \ubb3c\ub958 \ubc30\uce58 \ub17c\ub9ac (\uad6c\ud604 \uc124\uba85)\n\n\uc774 \uc808\uc740 \ubcf4\ub2e4 \uc77c\ubc18\uc801\uc778 \uacb0\uc815 \ud2b8\ub9ac \uc124\uba85\uacfc \ucd5c\uc885 \ucf54\ub4dc \uac04\uc758 \ubaa8\ud638\uc131\uc744 \ud53c\ud558\uae30 \uc704\ud574 \uadf8\ub8f9 \ucd5c\uc885 \ud504\ub85c\uadf8\ub7a8\uc758 \uad6c\uccb4\uc801\uc778 \uad6c\ud604 \uc138\ubd80\uc0ac\ud56d\uc744 \uc124\uba85\ud55c\ub2e4. \ud575\uc2ec \uc0ac\ud56d\uc740 \ub2e4\uc74c\uacfc \uac19\ub2e4(\ucf54\ub4dc \uad6c\ud604\uc774 \uc6b0\uc120\ud568):\n\n1. \ucd08\uae30\ud654 \ub2e8\uacc4\uc5d0\uc11c 4\uac1c\uc758 \ud6c4\ubcf4 \uc704\uce58(\ubc88\ud638 1, 2, 3, 4) \uc911\uc5d0\uc11c \ub450 \uac1c\uc758 \ud1b5 \ubc30\uce58 \uc704\uce58\ub97c \ubb34\uc791\uc704\ub85c \uc120\ud0dd\ud55c\ub2e4: \uac01\uac01 \uc9d1\ud569 {1,2}\uc640 {3,4}\uc5d0\uc11c \ud558\ub098\uc529 \ubb34\uc791\uc704\ub85c \uc120\ud0dd\ud558\uc5ec \uc7a1\uc744 \ub450 \uac1c\uc758 \ud1b5\uc758 \uc704\uce58\ub97c \uacb0\uc815\ud55c\ub2e4.\n2. \uc0ac\uc6a9\ub418\ub294 \ubcc0\uc218: \ubd80\uc6b8 `HasBarrel`(\ud1b5 \ubcf4\uc720 \uc5ec\ubd80), \uc815\uc218 `BarrelNum`(\ud1b5 \ud30c\uc9c0 \ud69f\uc218, \ucd08\uae30 0), \uc815\uc218 `CheckNum`(\uccb4\ud06c\ud3ec\uc778\ud2b8 \ud69f\uc218, \ucd08\uae30 0). \ud30c\uc9c0 \uc131\uacf5 \uc2dc `HasBarrel = True; BarrelNum += 1`\uc744 \uc2e4\ud589\ud55c\ub2e4.\n3. \ubc30\uce58 \uc804\ub7b5: \uccab \ubc88\uc9f8\ub85c \uc7a1\uc740 \ud1b5(`BarrelNum == 1`)\uc740 \ub9cc\ub098\ub294 \uccab \ubc88\uc9f8 \ube68\uac04\uc0c9 \uccb4\ud06c\ud3ec\uc778\ud2b8\uc5d0\uc11c \ub0b4\ub824\ub193\uace0, \ub450 \ubc88\uc9f8\ub85c \uc7a1\uc740 \ud1b5(`BarrelNum == 2`)\uc740 \uc885\uc810\uae4c\uc9c0 \uc6b4\ubc18\ud558\uc5ec \uadf8\uacf3\uc5d0\uc11c \ub0b4\ub824\ub193\ub294\ub2e4. \ub530\ub77c\uc11c \uccb4\ud06c\ud3ec\uc778\ud2b8\uc5d0 \ub3c4\ub2ec\ud588\uc744 \ub54c \ud1b5 \ub0b4\ub824\ub193\uae30\ub97c \ud2b8\ub9ac\uac70\ud558\ub294 \uc870\uac74\uc740 `HasBarrel == True && BarrelNum == 1`\uc774\ub2e4. \ub0b4\ub824\ub193\uc740 \ud6c4 `HasBarrel`\uc740 `False`\ub85c \ub9ac\uc14b\ub41c\ub2e4.\n4. \ubbf8\ub85c \uc8fc\ud589 \uc804\ub7b5\uc740 \uc624\ub978\uc190 \ubc95\uce59\uc744 \ucc44\ud0dd\ud55c\ub2e4: \uc6b0\ud68c\uc804\uc774 \uac00\ub2a5\ud558\uba74 \uc6b0\ud68c\uc804, \ubd88\uac00\ub2a5\ud558\uba74 \uc9c1\uc9c4, \uc9c1\uc9c4\uc774 \ubd88\uac00\ub2a5\ud558\uba74 \uc88c\ud68c\uc804\ud55c\ub2e4. \uc13c\uc11c\uac00 \ub098\ub780\ud788 \ubc30\uce58\ub418\uc5b4 \uc88c\uc6b0\uc640 \uc544\ub798\uc758 \uc0c9\uc0c1\/\ubc18\uc0ac\ub3c4\ub9cc \uc778\uc2dd\ud560 \uc218 \uc788\uc73c\ubbc0\ub85c, \ud504\ub85c\uadf8\ub7a8\uc5d0\uc11c \ub2e4\uc74c\uacfc \uac19\uc740 \uc6b0\uc120\uc21c\uc704\ub85c \ud750\ub984\uc774 \ucc98\ub9ac\ub41c\ub2e4:\n - \uc911\uac04 \uc13c\uc11c\uac00 \ub179\uc0c9\uc744 \uac10\uc9c0\ud558\uba74: \uc885\uc810\uc73c\ub85c \ud310\ub2e8\ud558\uc5ec \uba54\uc778 \ub8e8\ud504\ub97c \uc885\ub8cc\ud558\uace0 \uc885\uc810 \uc808\ucc28\ub97c \uc2e4\ud589\ud55c\ub2e4.\n - \uc911\uac04 \uc13c\uc11c\uac00 \ube68\uac04\uc0c9\uc744 \uac10\uc9c0\ud558\uba74: \uccb4\ud06c\ud3ec\uc778\ud2b8\ub85c \ud310\ub2e8\ud558\uc5ec `CheckNum += 1`\uc744 \uc2e4\ud589\ud558\uace0 \ud654\uba74\uc758 \ud574\ub2f9 \uc904\uc5d0 \ud574\ub2f9 \uccb4\ud06c\ud3ec\uc778\ud2b8\uc758 \uc18c\uc694 \uc2dc\uac04\uc744 \ucd9c\ub825\ud55c\ub2e4. `HasBarrel == True && BarrelNum == 1`\uc774 \ucda9\uc871\ub418\uba74 \ud1b5\uc744 \ub0b4\ub824\ub193\uace0 \ud68c\uc804\ud558\uace0, \uadf8\ub807\uc9c0 \uc54a\uc73c\uba74 \ud68c\uc804\ub9cc \uc218\ud589\ud55c\ub2e4.\n - \uadf8\ub807\uc9c0 \uc54a\uace0 \uc624\ub978\ucabd \uc13c\uc11c\uc758 \ubc18\uc0ac\ub3c4\uac00 15 \ubbf8\ub9cc\uc774\uba74(\uac80\uc740\uc0c9 \ub77c\uc778 \uac10\uc9c0) \uc9c1\uc811 \uc6b0\ud68c\uc804 \ub17c\ub9ac\ub97c \uc2e4\ud589\ud55c\ub2e4.\n - \uadf8\ub807\uc9c0 \uc54a\uace0 \uc67c\ucabd \uc13c\uc11c\uac00 \uac80\uc740\uc0c9 \ub77c\uc778\uc744 \uac10\uc9c0\ud558\uba74 \uba3c\uc800 \uc791\uc740 \ub2e8\uacc4\ub85c \uc804\uc9c4 \ud504\ub85c\ube0c\ud55c \ud6c4 \uc911\uac04 \uc13c\uc11c\ub97c \ub2e4\uc2dc \uc77d\ub294\ub2e4: \ud504\ub85c\ube0c \ud6c4 \uc911\uac04 \uc13c\uc11c\uac00 \uac80\uc740\uc0c9 \ub77c\uc778\uc744 \uac10\uc9c0\ud558\uba74 \uc9c1\uc9c4\ud558\uace0, \uac10\uc9c0\ud558\uc9c0 \ubabb\ud558\uba74 \uc88c\ud68c\uc804\ud55c\ub2e4.\n - \uc704 \uc870\uac74\uc774 \ubaa8\ub450 \ud2b8\ub9ac\uac70\ub418\uc9c0 \uc54a\uc73c\uba74 \uae30\ubcf8 PD \ub77c\uc778\ud2b8\ub798\ud0b9 \ub17c\ub9ac\ub85c \uc9c4\uc785\ud55c\ub2e4.\n5. \ucf54\ub4dc\uc5d0\uc11c PD \ub77c\uc778\ud2b8\ub798\ud0b9 \uae30\ubcf8 \ud30c\ub77c\ubbf8\ud130\ub294 \ub2e4\uc74c\uacfc \uac19\uc774 \uad6c\ud604\ub41c\ub2e4:\n$$BaseSpeed = 100 - |a-b| * 0.6$$\n$$Turn = (a-b) * 0.8 + ((a-b) - c) * 0.6$$\n\n \uc5ec\uae30\uc11c `a`\uc640 `b`\ub294 \uc88c\uc6b0 \uc13c\uc11c \ud310\ub3c5\uac12\uc774\uace0, `c`\ub294 \uc774\uc804 \uc8fc\uae30\uc758 \uc624\ucc28 \ub808\uc9c0\uc2a4\ud130\uc774\ub2e4.\n\n\uc774 \ud558\uc704 \uc808\uc740 \ucd5c\uc885 \ubc84\uc804 \ud504\ub85c\uadf8\ub7a8\uc758 \uad6c\ud604 \uc124\uba85\uc744 \uc81c\uacf5\ud55c\ub2e4. \ubcf8\ubb38\uc758 \ub2e4\ub978 \uacb0\uc815 \ud2b8\ub9ac \ubc0f \ud504\ub85c\ube0c \ud0c0\uc774\ubc0d \uc124\uba85\uc740 \uc77c\ubc18\uc801\uc778 \ucc38\uace0 \uc790\ub8cc\uc774\uba70, \uc2e4\uc81c \ub3d9\uc791\uc740 \uc774 \uc808\uc5d0\uc11c \uc124\uba85\ub41c \ub17c\ub9ac\uc5d0 \ub530\ub77c \uacb0\uc815\ub41c\ub2e4.\n\n### 3.3 \uc885\uc810 \uc778\uc2dd: \uc774\uc885 \uc13c\uc11c \ubd84\ub9ac \ubc0f \uc18c\ud504\ud2b8\uc6e8\uc5b4 \ub514\ubc14\uc6b4\uc2f1\n\n\ucd08\uae30 \ud14c\uc2a4\ud2b8 \ubc84\uc804\uc5d0\uc11c \uc885\uc810 \ud310\ub2e8 \ub17c\ub9ac(\uac80\uc740\uc0c9 \uc885\uc810 \uc601\uc5ed \uac10\uc9c0)\uc640 \uad50\ucc28\ub85c \ud310\ub2e8 \ub17c\ub9ac(\uac80\uc740\uc0c9 \ub77c\uc778 \uac10\uc9c0)\ub294 \ub3d9\uc77c\ud55c \ubc18\uc0ac\uc728 \uadf8\ub808\uc774\uc2a4\ucf00\uc77c \ud2b9\uc131\uc744 \uc0ac\uc6a9\ud588\uc73c\uba70, \uc774\ub294 \uc8fc\ubcc0\uad11\uc73c\ub85c \uc778\ud55c \uc784\uacc4\uac12 \ub4dc\ub9ac\ud504\ud2b8\ub85c \uc778\ud574 \uc624\ud310\uc744 \uc720\ubc1c\ud560 \uc218 \uc788\uc5c8\ub2e4. \uc774 \ubb38\uc81c\ub97c \ud574\uacb0\ud558\uae30 \uc704\ud574 \uc2dc\uc2a4\ud15c\uc740 \uc885\uc810 \ud45c\uc9c0\ubb3c\uc744 \ub179\uc0c9 \uc2a4\ud2f0\ucee4\ub85c \uc9c0\uc815\ud558\uace0, \uc911\uc559\uc5d0 \uc704\uce58\ud55c \uc138 \ubc88\uc9f8 \uc13c\uc11c\uac00 \uceec\ub7ec \ubaa8\ub4dc(Color Mode)\ub97c \uc0ac\uc6a9\ud558\uc5ec \uc2dd\ubcc4\ud568\uc73c\ub85c\uc368 \ub0b4\ube44\uac8c\uc774\uc158\uacfc \uc885\uc810 \ud310\ub2e8\uc744 \uc13c\uc11c \uc218\uc900\uc5d0\uc11c \ubd84\ub9ac\ud588\ub2e4. \ub610\ud55c \ucd9c\ubc1c \uad6c\uc5ed\uc758 \ub179\uc0c9 \ud45c\uc9c0\ub85c \uc778\ud55c \uc624\uc791\ub3d9\uc744 \ubc29\uc9c0\ud558\uae30 \uc704\ud574 \ud0c0\uc774\uba38 \uc81c\uc57d \uc870\uac74\uc774 \ucd94\uac00\ub418\uc5c8\ub2e4:\n\n$$Condition_{End} = (\\text{Color}_{Mid} == 3) \\land (\\text{Timer}_{Total} > 10s)$$<\/p>\n

\uc0c9\uc0c1 \ud310\ub2e8\uc774 \ud1b5\uacfc\ub41c \ud6c4, \ud504\ub85c\uadf8\ub7a8\uc740 0.1\ucd08\uc758 \uc18c\ud504\ud2b8\uc6e8\uc5b4 \ub514\ubc14\uc6b4\uc2a4(Software Debounce) \uc9c0\uc5f0\uc744 \ucd94\uac00\ud558\uc5ec \uc548\uc815\uc801\uc778 \ub179\uc0c9 \uc2e0\ud638\uac00 \ud655\ubcf4\ub41c \ud6c4\uc5d0\ub9cc \uc885\uc810 \uc815\uc9c0\ub97c \ud2b8\ub9ac\uac70\ud558\ub3c4\ub85d \ud588\ub2e4.<\/p>\n

\uc885\uc810\uc5d0 \ub3c4\ub2ec\ud558\uba74 \ud654\uba74\uc5d0 \uac01 \uccb4\ud06c\ud3ec\uc778\ud2b8\uc758 \uc18c\uc694 \uc2dc\uac04, \ucd1d \uc18c\uc694 \uc2dc\uac04 \ubc0f \ubc29\ubb38\ud55c \uccb4\ud06c\ud3ec\uc778\ud2b8 \uac1c\uc218\uac00 \uc21c\uc11c\ub300\ub85c \ud45c\uc2dc\ub41c\ub2e4. \ucf54\ub4dc \uad6c\ud604\uc5d0\uc11c\ub294 `CheckNum`\uc744 \uc0ac\uc6a9\ud558\uc5ec \ucd9c\ub825 \uc904\uc744 \uacb0\uc815\ud558\uace0, \uccb4\ud06c\ud3ec\uc778\ud2b8\ub97c \ud1b5\uacfc\ud560 \ub54c \ud574\ub2f9 \uc18c\uc694 \uc2dc\uac04\uc744 \uc989\uc2dc \uae30\ub85d\ud55c\ub2e4.<\/p>\n

\uadf8\ub9bc 2\ub294 \uc704\uc5d0\uc11c \uc124\uba85\ud55c \uc720\ud55c \uc0c1\ud0dc \uae30\uacc4\uc640 \uacb0\uc815 \ud2b8\ub9ac \ub17c\ub9ac\ub97c \uad6c\ud604\ud55c LEGO EV3 \uadf8\ub798\ud53d \ud504\ub85c\uadf8\ub798\ubc0d \ud658\uacbd\uc758 \uc644\uc804\ud55c \ud504\ub85c\uadf8\ub7a8 \ucf54\ub4dc \uc2a4\ud06c\ub9b0\uc0f7\uc744 \ubcf4\uc5ec\uc900\ub2e4. \ud504\ub85c\uadf8\ub7a8 \uc18c\uc2a4 \ud30c\uc77c\uc740 main.ev3<\/a>\uc774\ub2e4.<\/p>\n

\n\t\"EV3\n<\/div>\n

**\uadf8\ub9bc 2: EV3 \uadf8\ub798\ud53d \ud504\ub85c\uadf8\ub7a8 \uc18c\uc2a4 \ucf54\ub4dc.** \ud504\ub85c\uadf8\ub7a8\uc740 \uc720\ud55c \uc0c1\ud0dc \uae30\uacc4 \uae30\ubc18\uc758 \uacbd\ub85c \uacc4\ud68d \ubc0f \ubb3c\ub958 \uc6b4\ubc18 \uc81c\uc5b4 \ub85c\uc9c1\uc744 \uad6c\ud604\ud558\uba70, \ucd08\uae30\ud654, \uba54\uc778 \ub8e8\ud504(\uad50\ucc28\ub85c \uacb0\uc815, \ud30c\uc9c0\/\ubc30\uce58, \uc885\uc810 \ud310\ub2e8) \ubc0f \uc885\ub8cc\uc758 \uc138 \ub2e8\uacc4\ub85c \uad6c\uc131\ub41c\ub2e4.<\/p>\n

## 4. \uc784\ubca0\ub514\ub4dc \uc2dc\uc2a4\ud15c \ud558\uc704 \uc218\uc900 \ud2b9\uc131 \ubc0f \uc5f0\uc0b0 \ucd5c\uc801\ud654<\/p>\n

LEGO EV3\uc758 \uba54\uc778 \uc81c\uc5b4 \ud38c\uc6e8\uc5b4\ub294 \uacbd\ub7c9 Linux \uc6b4\uc601\uccb4\uc81c \ud658\uacbd\uc5d0\uc11c \uc2e4\ud589\ub41c\ub2e4. \uadf8\ub798\ud53d \uc778\ud130\ud398\uc774\uc2a4\ub294 \uae30\ubcf8\uc801\uc73c\ub85c \ud558\ub4dc\uc6e8\uc5b4 \ucd94\uc0c1\ud654 \uacc4\uce35(HAL)\uc5d0 \ub300\ud55c \ub798\ud37c \ud638\ucd9c\uc774\ub2e4$^{[3]}$. \ubc00\ub9ac\ucd08 \uc218\uc900\uc758 \uc2e4\uc2dc\uac04 \uc751\ub2f5\uc774 \ud544\uc694\ud55c \ud3d0\ub8e8\ud504 \uc81c\uc5b4 \uc2dc\uc2a4\ud15c\uc5d0\uc11c \ubd80\uc801\uc808\ud55c \ucf54\ub4dc \uad6c\uc870\ub294 \uc2dc\uc2a4\ud15c \uc218\uc900\uc758 \ub9ac\uc18c\uc2a4 \ubb38\uc81c\ub97c \uc720\ubc1c\ud560 \uc218 \uc788\ub2e4. \ubcf8 \ud504\ub85c\uadf8\ub7a8\uc740 \uc774\uc5d0 \ub300\ud55c \uc18c\ud504\ud2b8\uc6e8\uc5b4 \uc5d4\uc9c0\ub2c8\uc5b4\ub9c1 \uc218\uc900\uc758 \ucd5c\uc801\ud654\ub97c \uad6c\ud604\ud55c\ub2e4.<\/p>\n

### 4.1 CPU \uae30\uc544 \ubc29\uc9c0 (CPU Starvation Avoidance)<\/p>\n

\uba54\uc778 \ub8e8\ud504(While Loop)\uc5d0\uc11c \uac1c\uc785 \uc5c6\uc774 \uace0\uc8fc\ud30c \uba85\ub839 \uc2e4\ud589\uc774 ARM \ud504\ub85c\uc138\uc11c\uc758 \ub300\ubd80\ubd84\uc758 \ud074\ub85d \uc0ac\uc774\ud074\uc744 \uc810\uc720\ud558\uba74 I\/O \ud1b5\uc2e0\uc744 \ub2f4\ub2f9\ud558\ub294 \ud558\uc704 \uc218\uc900 \ud3f4\ub9c1 \ub370\ubaac(Daemon)\uc774 \uc911\ub2e8\ub418\ub294 \"CPU \uae30\uc544\" \ud604\uc0c1\uc774 \ubc1c\uc0dd\ud560 \uc218 \uc788\ub2e4. \uadf8 \uc9c1\uc811\uc801\uc778 \uacb0\uacfc\ub294 \uc13c\uc11c \ub370\uc774\ud130 \ub808\uc9c0\uc2a4\ud130\uac00 \uc801\uc2dc\uc5d0 \uc5c5\ub370\uc774\ud2b8\ub418\uc9c0 \uc54a\uace0 PID \uc81c\uc5b4\uae30\uac00 \uc624\ub798\ub41c \ub370\uc774\ud130\ub97c \uc77d\uc5b4 \ubaa8\ud130 \uc81c\uc5b4 \uc774\uc0c1\uc744 \ucd08\ub798\ud558\ub294 \uac83\uc774\ub2e4. \uc774\ub97c \ud574\uacb0\ud558\uae30 \uc704\ud574 \uba54\uc778 \ub8e8\ud504 \ub05d\uc5d0 0.01\ucd08\uc758 \ub300\uae30(Yield\/Delay) \ubaa8\ub4c8\uc744 \uc0bd\uc785\ud558\uc5ec \ud504\ub85c\uc138\uc11c\uc758 \uc2a4\ucf00\uc904\ub9c1 \ud0c0\uc784 \uc2ac\ub77c\uc774\uc2a4(Time Slice)\ub97c \ub2a5\ub3d9\uc801\uc73c\ub85c \uc591\ubcf4\ud568\uc73c\ub85c\uc368 \ud558\uc704 \uc218\uc900 I\/O \ud504\ub85c\uc138\uc2a4\uac00 \uc13c\uc11c \ub808\uc9c0\uc2a4\ud130\ub97c \uc815\uc0c1\uc801\uc73c\ub85c \uc0c8\ub85c\uace0\uce68\ud560 \uc218 \uc788\ub3c4\ub85d \ud55c\ub2e4.<\/p>\n

### 4.2 PWM \ucd9c\ub825 \ubaa8\ub4dc \ucd5c\uc801\ud654 (Coast vs Brake)<\/p>\n

\ubaa8\ud130 \uad6c\ub3d9 \ubaa8\ub4c8\uc744 \"\uc9c0\uc815 \uc2dc\uac04 \ub3d9\uc548 \ucf1c\uae30\" \ubaa8\ub4dc\ub85c \uc124\uc815\ud558\uba74 \ud558\ub4dc\uc6e8\uc5b4 \ub4dc\ub77c\uc774\ubc84\uac00 \uc2dc\uac04 \uc784\uacc4\uac12\uc5d0 \ub3c4\ub2ec\ud588\uc744 \ub54c \uac15\uc81c\ub85c \uc804\uae30 \uc81c\ub3d9(\ubaa8\ud130 \ub0b4\ubd80 \uad8c\uc120 \ub2e8\ub77d)\uc744 \ud2b8\ub9ac\uac70\ud55c\ub2e4. \ube48\ubc88\ud55c \uc81c\ub3d9\uc740 \ucc28\uccb4\uc5d0 \uace0\uc8fc\ud30c \ub5a8\ub9bc\uc744 \uc720\ubc1c\ud560 \uc218 \uc788\ub2e4. \ubcf8 \uadf8\ub8f9\uc758 \uad6c\ud604\uc5d0\uc11c\ub294 \uc9c0\uc18d\uc801\uc778 \uc0c1\uc2dc \ucf1c\uc9d0(On) \ubaa8\ub4dc\ub97c \ucc44\ud0dd\ud558\uc9c0 \uc54a\uc558\uc74c\uc5d0 \uc720\uc758\ud574\uc57c \ud55c\ub2e4. \uc0c1\uc2dc \ucf1c\uc9d0 \ubaa8\ub4dc\ub294 \ubaa8\ud130 \uad6c\ub3d9 \uc911\uc5d0 \uba54\uc778 \ucee8\ud2b8\ub864\ub7ec\uac00 \uba54\uc778 \ub8e8\ud504\ub85c \uc801\uc2dc\uc5d0 \ub3cc\uc544\uc640 \ub2e4\ub978 \ub85c\uc9c1(\uc13c\uc11c \ud310\ub3c5, \uc0c1\ud0dc \uc5c5\ub370\uc774\ud2b8 \ubc0f \uc758\uc0ac \uacb0\uc815 \ub4f1)\uc744 \ucc98\ub9ac\ud558\uc9c0 \ubabb\ud558\uac8c \ud558\uc5ec \uc2dc\uc2a4\ud15c\uc774 \"\uba48\ucd94\ub294\" \uc704\ud5d8\uc774 \uc788\uae30 \ub54c\ubb38\uc774\ub2e4. \uc5f0\uc18d \ucd9c\ub825\uacfc \uc2a4\ucf00\uc904\ub9c1 \uac00\ub2a5\uc131\uc758 \uade0\ud615\uc744 \ub9de\ucd94\uae30 \uc704\ud574 \ub2e8\uc2dc\uac04 \uc2a4\ud15d \uad6c\ub3d9 \uc804\ub7b5\uc744 \ucc44\ud0dd\ud588\ub2e4: PD \ub77c\uc778\ud2b8\ub798\ud0b9\uc740 0.1\ucd08\ub97c \uc8fc\uae30\ub85c \ud558\uc5ec \ub9e4\ubc88 \ubaa8\ud130\ub97c 0.1\ucd08\ub9cc \uad6c\ub3d9(\uc989, \uc791\uc740 \uc2a4\ud15d\uc73c\ub85c \uc804\uc9c4)\ud55c \ud6c4 \uba54\uc778 \ub8e8\ud504\ub85c \ub3cc\uc544\uc640 \uc13c\uc11c \ud310\ub3c5 \ubc0f \ub85c\uc9c1 \ud310\ub2e8\uc744 \uc218\ud589\ud55c\ub2e4. \uc774 \ubc29\uc2dd\uc740 \ube48\ubc88\ud55c \uc81c\ub3d9\uc73c\ub85c \uc778\ud55c \ub5a8\ub9bc \ubb38\uc81c\ub97c \ud53c\ud558\uba74\uc11c\ub3c4 \uc2dc\uc2a4\ud15c\uc774 \ub2e4\ub978 \uc774\ubca4\ud2b8\uc640 \uc0c1\ud0dc \ubcc0\ud654\uc5d0 \uc801\uc2dc\uc5d0 \uc751\ub2f5\ud560 \uc218 \uc788\ub3c4\ub85d \ubcf4\uc7a5\ud55c\ub2e4.<\/p>\n

### 4.3 \ud504\ub85c\uc138\uc2a4 \uad00\ub9ac \ubc0f \uc885\ub8cc \uc808\ucc28 (Process Management)<\/p>\n

\uc0c1\ud0dc \ud53c\ub4dc\ubc31\uc744 \uc704\ud574 \uc624\ub514\uc624 \ud30c\uc77c\uc744 \ube48\ubc88\ud788 \ud638\ucd9c\ud558\ub294 \ud504\ub85c\uadf8\ub7a8 \uc544\ud0a4\ud14d\ucc98\uc5d0\uc11c \ube44\uc815\uc0c1\uc801\uc778 \ubb3c\ub9ac\uc801 \uac15\uc81c \uc885\ub8cc\ub294 \ud558\uc704 \uc218\uc900 \uc624\ub514\uc624 \ub370\ubaac\uc5d0 \uc774\uc0c1\uc744 \uc720\ubc1c\ud560 \uc218 \uc788\ub2e4. \uc2dc\uc2a4\ud15c\uc740 \uc885\uc810 \ud310\ub2e8 \ubd84\uae30 \ud6c4 \ud45c\uc900\ud654\ub41c \uc885\ub8cc \uc808\ucc28\ub97c \ub3c4\uc785\ud558\uc5ec \uc815\uc9c0 \ubaa8\ub4c8\uc744 \ud1b5\ud574 \uc13c\uc11c\uc640 \ubaa8\ud130 \ud3ec\ud2b8\uc758 \uc548\uc804\ud55c \uc804\uc6d0 \ucc28\ub2e8 \ubc0f \ubc31\uadf8\ub77c\uc6b4\ub4dc \uc2a4\ub808\ub4dc\uc758 \uc801\uc808\ud55c \uc18c\uba78\uc744 \ubcf4\uc7a5\ud568\uc73c\ub85c\uc368 \ub2e4\ud68c \uc5f0\uc18d \uc2e4\ud589 \ud658\uacbd\uc5d0\uc11c\uc758 \uc2dc\uc2a4\ud15c \uc548\uc815\uc131\uc744 \ud655\ubcf4\ud55c\ub2e4.<\/p>\n

## 5. \uc2e4\ud5d8 \uacb0\uacfc \ubc0f \uc2dc\uc2a4\ud15c \uc131\ub2a5 \ubd84\uc11d<\/p>\n

\uc124\uacc4\ub41c \"\uac1c\uc120\ub41c \uc774\uc0b0 PD \uc81c\uc5b4\uae30 + \uc720\ud55c \uc0c1\ud0dc \uae30\uacc4 \uacb0\uc815 \ud2b8\ub9ac\" \ud558\uc774\ube0c\ub9ac\ub4dc \uc81c\uc5b4 \uc544\ud0a4\ud14d\ucc98\uc758 LEGO Mindstorms EV3 \ud50c\ub7ab\ud3fc\uc5d0\uc11c\uc758 \uc2e4\uc81c \uc885\ud569 \uc131\ub2a5\uc744 \uac80\uc99d\ud558\uae30 \uc704\ud574 \ud14c\uc2a4\ud2b8 \ud544\ub4dc\uc5d0\uc11c \ub2e4\ud68c \uc131\ub2a5 \uce21\uc815\uc744 \uc218\ud589\ud558\uace0 \uae30\uc874 ON-OFF \uc2a4\uc704\uce58 \uc81c\uc5b4\uae30\uc640 \ube44\uad50 \ubd84\uc11d\ud588\ub2e4.<\/p>\n

### 5.1 \uc2e4\ud5d8 \ud658\uacbd \ubc0f \ud2b8\ub799 \ud2b9\uc131<\/p>\n

\ubcf8 \ud504\ub85c\uc81d\ud2b8\uc758 \ud14c\uc2a4\ud2b8 \ud2b8\ub799\uc740 \uae34 \uc9c1\uc120 \ub3c4\ub85c \uad6c\uac04\uacfc \uc21c\uc218 \uc9c1\uac01 \ucf54\ub108(Right-angle Turns), T\uc790\ud615 \uad50\ucc28\ub85c \ubc0f \uc2ed\uc790 \ubbf8\ub85c \uad50\ucc28\ub85c\ub85c \uad6c\uc131\ub41c\ub2e4. \uc9c1\uac01 \ucf54\ub108\ub294 \uada4\uc801 \ubc29\uc815\uc2dd\uc5d0\uc11c \ub3c4\ud568\uc218\uac00 \uc874\uc7ac\ud558\uc9c0 \uc54a\ub294 \ubd88\uc5f0\uc18d \uacc4\ub2e8 \uc2e0\ud638\uc5d0 \ud574\ub2f9\ud55c\ub2e4. \uc774\ub7ec\ud55c \uacc4\ub2e8 \uc2e0\ud638\ub97c \ud3ec\ud568\ud558\ub294 \ud2b8\ub799\uc758 \uacbd\uc6b0 \uc21c\uc218 \uc120\ud615 PD \uc81c\uc5b4\uae30\ub9cc\uc73c\ub85c\ub294 \uc804\uccb4 \ud2b8\ub799\uc744 \ub3c5\ub9bd\uc801\uc73c\ub85c \ucee4\ubc84\ud560 \uc218 \uc5c6\uc73c\uba70, \ud558\uc704 \uc218\uc900 \ub514\uc9c0\ud138 PD \uc81c\uc5b4\uae30\uc640 \uc720\ud55c \uc0c1\ud0dc \uae30\uacc4 \uae30\ubc18 \uacb0\uc815 \ud2b8\ub9ac\uc758 \ud611\ub825 \ucc98\ub9ac\uac00 \ud544\uc694\ud558\ub2e4.<\/p>\n

\uadf8\ub9bc 3\uc740 \ud2b8\ub799 \ub808\uc774\uc544\uc6c3\uc5d0 \ub530\ub77c \uadf8\ub824\uc9c4 \uadf8\ub9ac\ub4dc \ub9f5\uc744 \ubcf4\uc5ec\uc900\ub2e4. \uac80\uc740\uc0c9 \uc601\uc5ed\uc740 \uac00\uc774\ub4dc \uacbd\ub85c\ub97c, \ud770\uc0c9 \uc601\uc5ed\uc740 \ube48 \uacf5\uac04\uc744 \ub098\ud0c0\ub0b4\uba70, \uc2dc\uc791\uc810\uc740 \uc624\ub978\ucabd \uc544\ub798 \uc601\uc5ed\uc5d0, \uc885\uc810\uc740 \uc67c\ucabd \uc704 \uc601\uc5ed\uc5d0 \uc704\uce58\ud55c\ub2e4. \ud2b8\ub799\uc740 \uae34 \uc9c1\uc120 \uad6c\uac04, \uc9c1\uac01 \ucf54\ub108, T\uc790\ud615 \uad50\ucc28\ub85c \ubc0f \uc2ed\uc790 \uad50\ucc28\ub85c \ub4f1 \ub2e4\uc591\ud55c \ub3c4\ub85c \uc870\uac74\uc744 \ud3ec\ud568\ud55c\ub2e4.<\/p>\n

\n\t\"\ud14c\uc2a4\ud2b8\n<\/div>\n

**\uadf8\ub9bc 3: \ud14c\uc2a4\ud2b8 \ud2b8\ub799 \uadf8\ub9ac\ub4dc \ub9f5.**<\/p>\n

### 5.2 \uc9c1\uc120 \uad6c\uac04 \ub3d9\uc801 \uc751\ub2f5 \ubc0f \uc815\uc0c1 \uc0c1\ud0dc \uc624\ucc28 \ubd84\uc11d<\/p>\n

\uc9c1\uc120 \uada4\uc801 \ucd94\uc885 \ud14c\uc2a4\ud2b8\uc5d0\uc11c ON-OFF \uc2a4\uc704\uce58 \uc81c\uc5b4\uae30\ub97c \uc0ac\uc6a9\ud55c \ub85c\ubd07\uc740 \uba85\ubc31\ud55c \uc8fc\uae30\uc801 \uc9c4\ub3d9 \ud604\uc0c1\uc744 \ubcf4\uc600\ub2e4. \uc2a4\uc704\uce58 \uc81c\uc5b4\uae30\ub294 \uc13c\uc11c\uc758 \uc774\uc9c4\ud654 \uacb0\uacfc\uc5d0 \ub530\ub77c \uc88c\uc6b0\ub85c \ubc29\ud5a5\ub9cc \uc870\uc815\ud558\ubbc0\ub85c \ucc28\uccb4\uac00 \uac00\uc774\ub4dc \ub77c\uc778 \uc591\ucabd\uc5d0\uc11c \ubc18\ubcf5\uc801\uc73c\ub85c \ud754\ub4e4\ub9ac\uba70 \ud3c9\uade0 \uc9c4\ud589 \uc18d\ub3c4\uac00 \ub0ae\uc558\ub2e4.<\/p>\n

\uc774\uc0b0 PD \uc81c\uc5b4\uae30 \ub3c4\uc785 \ud6c4 \ucc28\uccb4\uc758 \uc9c4\ub3d9 \uc9c4\ud3ed\uc774 \ud604\uc800\ud788 \uac10\uc18c\ud588\ub2e4. \ubbf8\ubd84 \ubcf4\uc0c1 \ud56d(Derivative Term)\uc740 \uc624\ucc28 \ubcc0\ud654\uc728\uc5d0 \ub530\ub77c \uc0ac\uc804\uc5d0 \ubc18\ub300 \ubc29\ud5a5\uc758 \uac10\uc1e0 \ud1a0\ud06c\ub97c \uc0dd\uc131\ud558\uc5ec \uc624\ubc84\uc288\ud2b8 \ud604\uc0c1\uc744 \uc5b5\uc81c\ud55c\ub2e4. \uc2dd (2.5)\uc758 \uc81c\uc5b4 \ubc95\uce59\uc5d0 \ub530\ub77c \uae30\ubcf8 \uc18d\ub3c4\ub294 \uc624\ucc28 \uc808\ub300\uac12\uc5d0 \ub530\ub77c \uc801\uc751\uc801\uc73c\ub85c \uc870\uc815\ub41c\ub2e4: \uc9c1\uc120 \uc815\uc0c1 \uc0c1\ud0dc\uc5d0\uc11c $|a-b| \\approx 0$\uc774\uba74 \uae30\ubcf8 \uc18d\ub3c4\ub294 \uc0c1\ud55c 100\uc5d0 \uac00\uae4c\uc6cc\uc9c0\uace0, \ud3b8\ucc28\uac00 \ubc1c\uc0dd\ud558\uba74 \uae30\ubcf8 \uc18d\ub3c4\uac00 \uc790\ub3d9\uc73c\ub85c \ub0ae\uc544\uc838 \ud68c\uc804\uc5d0 \ud544\uc694\ud55c \uad6c\uc2ec\ub825\uc744 \uc904\uc778\ub2e4. \uad00\ub828 \ubb38\ud5cc\uc758 \uc720\uc0ac \ud558\ub4dc\uc6e8\uc5b4 \uc870\uac74\uc5d0\uc11c\uc758 \ube44\uad50 \uce21\uc815\uc5d0 \ub530\ub974\uba74, PD \uc81c\uc5b4 \uba54\ucee4\ub2c8\uc998 \ub3c4\uc785 \ud6c4 \uc9c1\uc120 \uad6c\uac04\uc758 \ud3c9\uade0 \uc9c4\ud589 \uc18d\ub3c4\uac00 \uc57d 36% \ud5a5\uc0c1\ub418\uc5c8\ub2e4$^{[1]}$.<\/p>\n

### 5.3 \uc9c1\uac01 \ucf54\ub108\uc758 \uacb0\uc815 \ud2b8\ub9ac \uc81c\uc5b4 \ubc0f \uc2e4\ud589 \uc131\ub2a5<\/p>\n

$90^\\circ$ \uc9c1\uac01 \ucf54\ub108 \ud14c\uc2a4\ud2b8\uc5d0\uc11c ON-OFF \uc81c\uc5b4\uae30 \ub610\ub294 \uc21c\uc218 PID \uc81c\uc5b4\uae30\ub294 \ubc18\uc0ac\uc728\uc758 \uacc4\ub2e8 \ubcc0\ud654\ub97c \ucc98\ub9ac\ud558\uc9c0 \ubabb\ud574 \ucd94\uc885 \uc9c0\uc5f0 \ub610\ub294 \ud2b8\ub799 \uc774\ud0c8\uc774 \ubc1c\uc0dd\ud588\ub2e4. \ubcf8 \uc2dc\uc2a4\ud15c\uc740 \uc720\ud55c \uc0c1\ud0dc \uae30\uacc4 \uacb0\uc815 \ud2b8\ub9ac\ub97c \uc0ac\uc6a9\ud558\uc5ec \uc774\ub7ec\ud55c \uad50\ucc28\ub85c\ub97c \ucc98\ub9ac\ud55c\ub2e4. \uad6c\uccb4\uc801\uc778 \uc2e4\ud589 \ud750\ub984\uc740 \ub2e4\uc74c\uacfc \uac19\ub2e4:<\/p>\n

\uc88c\uc6b0 \uc13c\uc11c\uac00 \ubc18\uc0ac\uad11 \uac15\ub3c4\uac00 \uc784\uacc4\uac12 \ubbf8\ub9cc(< 15)\uc784\uc744 \uac10\uc9c0\ud558\uba74 \uc2dc\uc2a4\ud15c\uc740 \uad50\ucc28\ub85c \uc601\uc5ed\uc5d0 \uc9c4\uc785\ud588\uc744 \uac00\ub2a5\uc131\uc774 \uc788\ub2e4\uace0 \ud310\ub2e8\ud55c\ub2e4. \uc2dc\uc2a4\ud15c\uc740 \uba3c\uc800 \ud504\ub85c\ube0c \uac80\uc99d\uc744 \uc218\ud589\ud55c\ub2e4: \uc624\ub978\ucabd \uc13c\uc11c\uac00 \ud2b8\ub9ac\uac70\ub41c \uacbd\uc6b0, \ubaa8\ud130\ub294 \ud30c\uc6cc 30\uc73c\ub85c 0.55\ucd08 \ub3d9\uc548 \uc804\uc9c4\ud55c \ud6c4 30\/-30 \ud30c\uc6cc\ub85c 0.3\ucd08 \ub3d9\uc548 \uc6b0\ud68c\uc804\uc744 \uc2e4\ud589\ud558\uace0, \uc911\uac04 \uc13c\uc11c\uac00 \uac80\uc740\uc0c9 \ub77c\uc778\uc744 \uac10\uc9c0\ud560 \ub54c\uae4c\uc9c0(\ubc18\uc0ac\uad11 \uac15\ub3c4 < 15) \uc774 \ucc28\uc18d\uc744 \uc720\uc9c0\ud55c \ud6c4 \ucd5c\uc885\uc801\uc73c\ub85c \ubaa8\ud130\ub97c \uc815\uc9c0\ud558\uace0 0.02\ucd08 \ub3d9\uc548 \uc548\uc815\ud654\ub97c \uae30\ub2e4\ub9b0\ub2e4. \uc67c\ucabd \uc13c\uc11c\uac00 \ud2b8\ub9ac\uac70\ub41c \uacbd\uc6b0, \ubaa8\ud130\ub294 \uba3c\uc800 \ud30c\uc6cc 30\uc73c\ub85c 0.5\ucd08 \ub3d9\uc548 \uc804\uc9c4\ud55c \ud6c4 -30\/30 \ud30c\uc6cc\ub85c 0.3\ucd08 \ub3d9\uc548 \uc88c\ud68c\uc804\uc744 \uc2e4\ud589\ud558\uace0, \uc911\uac04 \uc13c\uc11c\uac00 \uac80\uc740\uc0c9 \ub77c\uc778\uc744 \uac10\uc9c0\ud560 \ub54c\uae4c\uc9c0 \uc774 \ucc28\uc18d\uc744 \uc720\uc9c0\ud55c\ub2e4. \uc88c\uc6b0 \uc13c\uc11c\uac00 \ubaa8\ub450 \ud2b8\ub9ac\uac70\ub418\uc9c0 \uc54a\uc558\uc9c0\ub9cc \uc911\uac04 \uc13c\uc11c\uac00 \uac80\uc740\uc0c9 \ub77c\uc778\uc744 \uac10\uc9c0\ud558\uba74 \uc2dc\uc2a4\ud15c\uc740 \uae30\ubcf8 PID \uc9c1\uc9c4 \ub17c\ub9ac\ub85c \uc9c4\uc785\ud55c\ub2e4.\n\n\ud68c\uc804\uc774 \uc644\ub8cc\ub41c \ud6c4 \uc81c\uc5b4\uad8c\uc740 PD \uc81c\uc5b4\uae30\ub85c \ubc18\ud658\ub418\uc5b4 \uc9c1\uc120 \ucd94\uc885\uc744 \uacc4\uc18d\ud55c\ub2e4. \uc774 \ud504\ub85c\uc138\uc2a4\ub294 \uc720\ud55c \uc0c1\ud0dc \uae30\uacc4\uc758 \uc0c1\ud0dc \uc804\uc774\ub97c \ud1b5\ud574 \uc9c1\uac01 \ucf54\ub108\uc5d0 \ub300\ud55c \uacb0\uc815\uc801 \uc81c\uc5b4\ub97c \uad6c\ud604\ud55c\ub2e4.\n\n### 5.4 \uc885\ud569 \uc644\uc8fc\uc728 \ubc0f \uc2dc\uc2a4\ud15c \uac15\uac74\uc131\n\n\ubb3c\ub958 \uc6b4\ubc18 \uc791\uc5c5\uc774 \ud3ec\ud568\ub41c \uc885\ud569 \ud14c\uc2a4\ud2b8\uc5d0\uc11c \uc2dc\uc2a4\ud15c\uc740 \ub2e4\uc74c\uacfc \uac19\uc740 \ud2b9\uc131\uc744 \ubcf4\uc600\ub2e4:\n\n1. **CPU \uae30\uc544 \ubc29\uc9c0**: \uba54\uc778 \ub8e8\ud504 \ub05d\uc5d0 0.01\ucd08 \ub300\uae30 \ubaa8\ub4c8\uc744 \uc0bd\uc785\ud558\uc5ec \ud504\ub85c\uc138\uc11c\uc758 \uc2a4\ucf00\uc904\ub9c1 \ud0c0\uc784 \uc2ac\ub77c\uc774\uc2a4\ub97c \ub2a5\ub3d9\uc801\uc73c\ub85c \uc591\ubcf4\ud568\uc73c\ub85c\uc368 \ud558\uc704 \uc218\uc900 I\/O \ud504\ub85c\uc138\uc2a4\uac00 \uc13c\uc11c \ub808\uc9c0\uc2a4\ud130\ub97c \uc815\uc0c1\uc801\uc73c\ub85c \uc0c8\ub85c\uace0\uce68\ud560 \uc218 \uc788\ub3c4\ub85d \ud558\uc5ec CPU \ub9ac\uc18c\uc2a4 \ub3c5\uc810\uc73c\ub85c \uc778\ud55c \uc13c\uc11c \ub370\uc774\ud130 \ub3d9\uacb0 \ubb38\uc81c\ub97c \ubc29\uc9c0\ud55c\ub2e4.\n\n2. **\uc13c\uc11c \ube14\ub77c\uc778\ub529 \ubc29\uc9c0**: \uc804\uc5ed \ubd80\uc6b8 \uc0c1\ud0dc \ubcc0\uc218 `HasBarrel`\uc744 \uc0ac\uc6a9\ud558\uc5ec \uc720\ud55c \uc0c1\ud0dc \uae30\uacc4\ub97c \uad6c\ucd95\ud55c\ub2e4. \ucd08\uc74c\ud30c \uc13c\uc11c\uc758 \ud30c\uc9c0 \ud2b8\ub9ac\uac70 \uc870\uac74\uc740 `(distance < 15cm) AND (NOT HasBarrel)`\uc774\ub2e4. \ud30c\uc9c0 \uc644\ub8cc \ud6c4 \uc0c1\ud0dc\uac00 \ubc18\uc804\ub418\uc5b4 \uc774\ud6c4 \ubb3c\uccb4\uac00 \ucd08\uc74c\ud30c \uc13c\uc11c\ub97c \uac00\ub824\ub3c4 \uc2dc\uc2a4\ud15c\uc774 \ud30c\uc9c0 \uc2dc\ud000\uc2a4\ub97c \ubc18\ubcf5 \uc2e4\ud589\ud558\uc9c0 \uc54a\uace0 \uc77c\ubc18 \ub77c\uc778\ud2b8\ub798\ud0b9 \ub85c\uc9c1\uc73c\ub85c \uc9c4\uc785\ud55c\ub2e4.\n\n3. **\uc885\uc810 \uc778\uc2dd**: \uc911\uac04 \uc0c9\uc0c1 \uc13c\uc11c\ub97c \uceec\ub7ec \ubaa8\ub4dc\ub85c \uc0ac\uc6a9\ud558\uc5ec \ub179\uc0c9 \uc2a4\ud2f0\ucee4\ub97c \uc885\uc810 \ud45c\uc9c0\ub85c \uc2dd\ubcc4\ud55c\ub2e4. 0.1\ucd08 \uc18c\ud504\ud2b8\uc6e8\uc5b4 \ub514\ubc14\uc6b4\uc2a4\uc640 \ud0c0\uc774\uba38 \uc81c\uc57d \uc870\uac74(Timer > 10s)\uc744 \uacb0\ud569\ud558\uc5ec \ucd9c\ubc1c \uad6c\uc5ed\uc758 \ub179\uc0c9 \ud45c\uc9c0\uc640\uc758 \uad6c\ubd84 \ubc0f \uc885\uc810 \ud310\ub2e8\uc744 \uad6c\ud604\ud55c\ub2e4.<\/p>\n

4. **\ubaa8\ud130 \uc81c\uc5b4 \ucd5c\uc801\ud654**: \uc5f0\uc18d \ub77c\uc778\ud2b8\ub798\ud0b9\uacfc \uc774\ubca4\ud2b8 \uc751\ub2f5 \uc0ac\uc774\uc758 \uade0\ud615\uc744 \uc704\ud574 \ubcf8 \uadf8\ub8f9\uc740 \ub2e8\uc2dc\uac04 \uc2a4\ud15d \uad6c\ub3d9 \uc804\ub7b5\uc744 \ucc44\ud0dd\ud588\ub2e4: PD \ub77c\uc778\ud2b8\ub798\ud0b9\uc740 0.1\ucd08\ub97c \uae30\ubcf8 \uc8fc\uae30\ub85c \ud558\uc5ec \ub9e4\ubc88 \ubaa8\ud130\uc5d0 0.1\ucd08\uc758 \uad6c\ub3d9 \uba85\ub839\ub9cc \ubc1c\ud589(\uc791\uc740 \uc2a4\ud15d \uc804\uc9c4)\ud55c \ud6c4 \uba54\uc778 \ub8e8\ud504\ub85c \ub3cc\uc544\uc640 \uc13c\uc11c \ud310\ub3c5 \ubc0f \ub85c\uc9c1 \ud310\ub2e8\uc744 \uc218\ud589\ud55c\ub2e4. \uc774 \ubc29\uc2dd\uc740 \ubaa8\ud130\ub97c \uc9c0\uc18d\uc801\uc778 \uc0c1\uc2dc \ucf1c\uc9d0(On) \ubaa8\ub4dc\ub85c \uc124\uc815\ud560 \uacbd\uc6b0 \ubc1c\uc0dd\ud560 \uc218 \uc788\ub294 \uba54\uc778 \ub8e8\ud504 \ucc28\ub2e8(\uc13c\uc11c \ubc0f \uc0c1\ud0dc \uc804\ud658\uc744 \uc801\uc2dc\uc5d0 \ucc98\ub9ac\ud558\uc9c0 \ubabb\ud568) \uc704\ud5d8\uc744 \ud53c\ud558\uba74\uc11c\ub3c4 \ube48\ubc88\ud55c \ud0c0\uc774\uba38 \uae30\ubc18 \uc81c\ub3d9\uc73c\ub85c \uc778\ud55c \uae30\uacc4\uc801 \ub5a8\ub9bc\uc744 \uc904\uc778\ub2e4.<\/p>\n

\ub2e4\ud68c \ud14c\uc2a4\ud2b8\uc5d0\uc11c \uc2dc\uc2a4\ud15c\uc740 \ub300\ubd80\ubd84\uc758 \uacbd\uc6b0 \uc804\uccb4 \ud2b8\ub799\uc758 \ub77c\uc778\ud2b8\ub798\ud0b9 \ubc0f \ubb3c\ub958 \uc6b4\ubc18 \uc791\uc5c5\uc744 \uc644\ub8cc\ud560 \uc218 \uc788\uc5c8\ub2e4. \uadf8\ub7ec\ub098 \uc2e4\ud589 \uc911\uc5d0\ub3c4 \uc13c\uc11c \ube14\ub77c\uc778\ub529, \uc0c9\uc0c1 \uc13c\uc11c \uc624\uc778\uc2dd \ub4f1\uc758 \ubb38\uc81c\uac00 \uc5ec\uc804\ud788 \ubc1c\uc0dd\ud588\ub2e4. \uc804\ubc18\uc801\uc73c\ub85c \uc774\ub7ec\ud55c \ubb38\uc81c\ub294 \ub300\ubd80\ubd84 \uc13c\uc11c \ud558\ub4dc\uc6e8\uc5b4 \ud2b9\uc131 \ub610\ub294 \ud658\uacbd(\uc608: \uc870\uba85) \ubcc0\ud654\uc5d0 \uae30\uc778\ud55c \uac83\uc774\uba70, \uc18c\ud504\ud2b8\uc6e8\uc5b4 \ub85c\uc9c1\uc740 \ub2e4\ud68c \uac80\uc99d\uc744 \uac70\uccd0 \uac15\uac74\ud558\uace0 \ubcf5\uad6c \uac00\ub2a5\ud55c \uac83\uc73c\ub85c \ud310\ub2e8\ub418\uc5b4 \ub300\ubd80\ubd84\uc758 \ud14c\uc2a4\ud2b8\uc5d0\uc11c \uc124\uc815\ub41c \uc791\uc5c5\uc744 \uc131\uacf5\uc801\uc73c\ub85c \uc644\ub8cc\ud588\ub2e4.<\/p>\n

### 5.5 \uc804\uccb4 \ud2b8\ub799 \uc2e4\uce21 \uacb0\uacfc<\/p>\n

\uc2dc\uc2a4\ud15c\uc758 \uc2e4\uc81c \ud2b8\ub799\uc5d0\uc11c\uc758 \uc644\uc804\ud55c \uc6b4\uc601 \uc131\ub2a5\uc744 \uac80\uc99d\ud558\uae30 \uc704\ud574 \uadf8\ub9bc 3\uc5d0 \ud45c\uc2dc\ub41c \ud2b8\ub799\uc5d0\uc11c \uc815\ubc29\ud5a5\uacfc \uc5ed\ubc29\ud5a5 \ub450 \ubc29\ud5a5\uc73c\ub85c \uc2e4\uce21\uc744 \uc218\ud589\ud588\ub2e4. \ud2b8\ub799\uc5d0\ub294 \ucd1d 6\uac1c\uc758 \ube68\uac04\uc0c9 \uc2a4\ud2f0\ucee4 \uccb4\ud06c\ud3ec\uc778\ud2b8(180\ub3c4 \ud68c\uc804 \ubc0f \ud1b5 \ub0b4\ub824\ub193\uae30 \uc791\uc5c5 \ud2b8\ub9ac\uac70)\uac00 \uc788\uc73c\uba70, \uac01 \ubc29\ud5a5\uc5d0\uc11c 3\uac1c\uc758 \uccb4\ud06c\ud3ec\uc778\ud2b8\ub97c \ud1b5\uacfc\ud55c\ub2e4.<\/p>\n

#### 5.5.1 \uc815\ubc29\ud5a5 \ud14c\uc2a4\ud2b8 \uacb0\uacfc<\/p>\n

\ub85c\ubd07\uc774 \uc2dc\uc791\uc810\uc5d0\uc11c \ucd9c\ubc1c\ud558\uc5ec \uac00\uc774\ub4dc \uacbd\ub85c\ub97c \ub530\ub77c \uc815\ubc29\ud5a5\uc73c\ub85c \uc9c4\ud589\ud558\uba70, 3\uac1c\uc758 \ube68\uac04\uc0c9 \uccb4\ud06c\ud3ec\uc778\ud2b8\ub97c \uc21c\uc11c\ub300\ub85c \ud1b5\uacfc\ud558\uace0 \ud574\ub2f9 \ud68c\uc804 \ubc0f \ud1b5 \ub0b4\ub824\ub193\uae30 \uc791\uc5c5\uc744 \uc644\ub8cc\ud55c \ud6c4 \ucd5c\uc885\uc801\uc73c\ub85c \uc885\uc810\uc5d0 \ub3c4\ucc29\ud55c\ub2e4.<\/p>\n

\uc804\uccb4 \uc2e4\ud589 \uc2dc\uac04\uc740 **54.92\ucd08**\uc774\uba70, **3\uac1c**\uc758 \uccb4\ud06c\ud3ec\uc778\ud2b8\ub97c \ud1b5\uacfc\ud588\ub2e4. \uac01 \uccb4\ud06c\ud3ec\uc778\ud2b8 \ud1b5\uacfc \uc18c\uc694 \uc2dc\uac04\uc740 \uac01\uac01 **18.43\ucd08, 29.13\ucd08, 41.81\ucd08**\uc774\ub2e4.<\/p>\n

#### 5.5.2 \uc5ed\ubc29\ud5a5 \ud14c\uc2a4\ud2b8 \uacb0\uacfc<\/p>\n

\ub85c\ubd07\uc774 \uc885\uc810 \uad6c\uc5ed\uc5d0\uc11c \ucd9c\ubc1c\ud558\uc5ec \uac00\uc774\ub4dc \uacbd\ub85c\ub97c \ub530\ub77c \uc5ed\ubc29\ud5a5\uc73c\ub85c \uc9c4\ud589\ud558\uba70, \ub098\uba38\uc9c0 3\uac1c\uc758 \ube68\uac04\uc0c9 \uccb4\ud06c\ud3ec\uc778\ud2b8\ub97c \uc21c\uc11c\ub300\ub85c \ud1b5\uacfc\ud558\uace0 \ud574\ub2f9 \ud68c\uc804 \ubc0f \ud1b5 \ub0b4\ub824\ub193\uae30 \uc791\uc5c5\uc744 \uc644\ub8cc\ud55c \ud6c4 \ucd5c\uc885\uc801\uc73c\ub85c \uc2dc\uc791\uc810 \uad6c\uc5ed\uc5d0 \ub3c4\ucc29\ud55c\ub2e4.<\/p>\n

\uc804\uccb4 \uc2e4\ud589 \uc2dc\uac04\uc740 **51.34\ucd08**\uc774\uba70, **3\uac1c**\uc758 \uccb4\ud06c\ud3ec\uc778\ud2b8\ub97c \ud1b5\uacfc\ud588\ub2e4. \uac01 \uccb4\ud06c\ud3ec\uc778\ud2b8 \ud1b5\uacfc \uc18c\uc694 \uc2dc\uac04\uc740 \uac01\uac01 **3.066\ucd08, 24.54\ucd08, 39.42\ucd08**\uc774\ub2e4.<\/p>\n

#### 5.5.3 \uc2e4\ud5d8 \ube44\ub514\uc624<\/p>\n

\ub2e4\uc74c \ube44\ub514\uc624\ub294 \uc815\ubc29\ud5a5\uacfc \uc5ed\ubc29\ud5a5 \ub450 \ubc29\ud5a5\uc758 \uc804\uccb4 \uc2e4\ud589 \uacfc\uc815\uc744 \uae30\ub85d\ud55c\ub2e4.<\/p>\n

**\uc815\ubc29\ud5a5 \uc2e4\ud589 \ube44\ub514\uc624:**<\/p>\n