Apparatus and method for controlling takeoff / landing pad structure by using hexapod mechanism

Abstract

Disclosed are an apparatus and a method for controlling a takeoff / landing pad structure by using a hexapod mechanism. The method for controlling a takeoff / landing pad structure by using a hexapod mechanism comprises the steps of: receiving eVTOL information from an eVTOL if the eVTOL prepares for landing; predicting the impact weight to be applied to the takeoff / landing pad structure if the eVTOL touches down, by using the received eVTOL information; calculating a first spring stiffness and a first damper damping required for the suspension according to the predicted impact weight; and controlling the suspension by setting the spring stiffness and the damper damping of the suspension with the calculated first spring stiffness and first damper damping.

Description

Control device and method for a take-off and landing pad structure using a hexapod mechanism

[0001] The present invention relates to a control device and method for a take-off and landing pad structure using a hexapod mechanism.

[0002]

[0003] With the recent growth of the Urban Air Mobility (UAM) market, interest in vertiports, the landing pads for electric vertical take-off and landing (eVTOL) aircraft, is increasing. Furthermore, given the popularity of UAM, vertiports are likely to be installed on rooftops in urban areas for convenience and accessibility. However, problems can arise during the takeoff and landing of eVTOLs on building rooftops.

[0004] Currently in use, helipads operate infrequently, with infrequent takeoffs and landings, and their operation is irregular. Consequently, fatigue loads are inevitably less considered during the design process. Consequently, even under loads of the same intensity, partial failures can occur depending on the frequency of load occurrence. If UAM is commercialized, it will operate regularly and have a very high frequency of takeoffs and landings, necessitating additional improvements to address fatigue load issues.

[0005] In addition, the Federal Aviation Administration (FAA)'s Advisory Bulletin AC 150 / 5390-2B requires that the design for dynamic loads be capable of withstanding loads exceeding 150% of the design helicopter takeoff weight for eVTOL takeoff and landing. However, the European Aviation Safety Agency (EASA) and the FAA currently lack designs for attenuating dynamic loads in vertiports. Furthermore, when an eVTOL lands due to unexpected variables such as shear wind, crosswind, or building wind, the vertiport experiences not only vertical loads but also horizontal loads and rotational moments in six degrees of freedom, which may result in unusual loads acting on the vertiport's architectural structure. Therefore, it is necessary to design and control structures to reduce the six degrees of freedom dynamic loads that occur during eVTOL takeoff and landing.

[0006] To address this, when applying suspension to a vertiport structure, the load transmitted to the structure varies depending on the characteristics of the suspension. This raises a new problem: the closer the vibration caused by the rotor drive of the eVTOL during takeoff and landing is to the natural frequency of the vertiport structure, the more the load value is amplified, which can cause a resonance phenomenon. In addition, since the dynamic load characteristics generated depending on self-weight, surrounding environment, etc. vary, it is difficult to perfectly implement the dynamic load reduction performance if the stiffness and damping of the suspension are fixed as one. Therefore, the design and control of a structure that adjusts the stiffness and damping of the suspension according to the situation is necessary.

[0007]

[0008] The present invention provides a control device and method for a take-off and landing pad structure using a hexapod mechanism that adjusts the size of the stiffness and damping of the suspension of the take-off and landing pad structure to minimize the shock load and vibration generated when an eVTOL (electric vertical take-off and landing) takes off and lands on the take-off and landing pad structure.

[0009]

[0010] According to one aspect of the present invention, a control method for a take-off and landing pad structure using a hexapod mechanism is disclosed, wherein the control device of the take-off and landing pad structure includes a superstructure on which an electric vertical take-off and landing (eVTOL) is mounted, a building connection portion, and six suspensions that separate the movement of the superstructure from the building connection portion.

[0011] A control method for a take-off and landing pad structure using a hexapod mechanism according to an embodiment of the present invention includes the steps of: receiving eVTOL information from the eVTOL when the eVTOL prepares for landing; predicting an impact weight applied to the take-off and landing pad structure when the eVTOL touches down using the received eVTOL information; calculating a first spring stiffness and a first damper damping required for the suspension according to the predicted impact weight; and controlling the suspension by setting the spring stiffness and damper damping of the suspension with the calculated first spring stiffness and first damper damping.

[0012] The above control method further includes a step of measuring vibration generated by rotation of a rotor of the eVTOL that has touched down when the eVTOL touches down, a step of calculating a second spring stiffness and a second damper damping required for the suspension based on the measured vibration, and a step of controlling the suspension by setting the spring stiffness and damper damping of the suspension with the calculated second spring stiffness and second damper damping.

[0013] The above control method further includes a step of initializing the suspension by setting the spring stiffness and damper damping set in the suspension to preset initial values ​​when the landing of the eVTOL is completed.

[0014] The control method further includes a step of receiving eVTOL information from the eVTOL when the eVTOL prepares for takeoff, a step of measuring vibration generated by rotation of the rotor of the eVTOL driven according to the takeoff preparation of the eVTOL, a step of calculating a third spring stiffness and a third damper damping required for the suspension according to the measured vibration, and a step of controlling the suspension by setting the spring stiffness and damper damping of the suspension with the calculated third spring stiffness and third damper damping.

[0015] The above control method further includes a step of initializing the suspension by setting the spring stiffness and damper damping set in the suspension to preset initial values ​​when the takeoff of the eVTOL is completed.

[0016] The above eVTOL information includes landing weight, number of rotor blades, number of motors, and driving frequency range.

[0017] According to another aspect of the present invention, a control device for a take-off and landing pad structure using a hexapod mechanism is disclosed, which includes a superstructure on which an electric vertical take-off and landing (eVTOL) is mounted, a building connection, and six suspensions that separate the movement of the superstructure from the building connection.

[0018] A control device for a take-off and landing pad structure using a hexapod mechanism according to an embodiment of the present invention includes a memory for storing a command and a processor for executing the command, wherein the command includes a step of receiving eVTOL information from the eVTOL when the eVTOL prepares for landing, a step of predicting an impact weight applied to the take-off and landing pad structure when the eVTOL touches down using the received eVTOL information, a step of calculating a first spring stiffness and a first damper damping required for the suspension according to the predicted impact weight, and a step of controlling the suspension by setting the spring stiffness and the damper damping of the suspension with the calculated first spring stiffness and the first damper damping.

[0019]

[0020] A control device and method for a take-off and landing pad structure using a hexapod mechanism according to an embodiment of the present invention can reduce the transmission of shock load and vibration caused by the take-off and landing of an eVTOL (electric vertical take-off and landing) to a building on which the take-off and landing pad structure is installed by adjusting the size of the stiffness and damping of the suspension of the take-off and landing pad structure to minimize the shock load and vibration generated when the eVTOL (electric vertical take-off and landing) takes off and lands on the take-off and landing pad structure.

[0021]

[0022] FIG. 1 and FIG. 2 are schematic drawings illustrating a perspective view and a front view of a takeoff and landing pad structure using a hexapod mechanism according to an embodiment of the present invention.

[0023] FIG. 3 is a schematic diagram illustrating a building to which a take-off and landing pad structure using a hexapod mechanism according to an embodiment of the present invention is applied.

[0024] FIGS. 4 to 7 are schematic drawings illustrating the movement of a take-off and landing pad structure using a hexapod mechanism according to an embodiment of the present invention.

[0025] FIG. 8 is a drawing schematically illustrating a dynamic model applied to a takeoff and landing pad structure using a hexapod mechanism according to an embodiment of the present invention.

[0026] FIG. 9 is a schematic diagram illustrating a controller of a takeoff and landing pad structure using a hexapod mechanism according to an embodiment of the present invention.

[0027] FIG. 10 is a flowchart schematically illustrating a control method of a takeoff and landing pad structure using a hexapod mechanism according to an embodiment of the present invention.

[0028] FIG. 11 is a flowchart schematically illustrating a control method of a takeoff and landing pad structure using a hexapod mechanism according to another embodiment of the present invention.

[0029] Figures 12 to 17 are drawings showing a method for reducing the load transfer rate.

[0030] FIG. 18 is a drawing schematically illustrating the configuration of a control device for a take-off and landing pad structure using a hexapod mechanism according to an embodiment of the present invention.

[0031]

[0032] As used herein, singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as "consist of" or "include" should not be construed to necessarily include all components or steps described in the specification, and should be construed to mean that some of the components or steps may not be included, or that additional components or steps may be included. In addition, terms such as "part" and "module" described in the specification mean a unit that processes at least one function or operation, which may be implemented by hardware or software, or by a combination of hardware and software.

[0033]

[0034] Hereinafter, various embodiments of the present invention will be described in detail with reference to the attached drawings.

[0035] FIG. 1 and FIG. 2 are schematic perspective views and front views of a take-off and landing pad structure using a hexapod mechanism according to an embodiment of the present invention, FIG. 3 is a schematic view of a building to which a take-off and landing pad structure using a hexapod mechanism according to an embodiment of the present invention is applied, FIGS. 4 to 7 are schematic views illustrating the movement of a take-off and landing pad structure using a hexapod mechanism according to an embodiment of the present invention, FIG. 8 is a schematic view illustrating a dynamic model applied to a take-off and landing pad structure using a hexapod mechanism according to an embodiment of the present invention, and FIG. 9 is a schematic view illustrating a controller of a take-off and landing pad structure using a hexapod mechanism according to an embodiment of the present invention. Hereinafter, a take-off and landing pad structure using a hexapod mechanism according to an embodiment of the present invention will be described with reference to FIGS. 1 to 9.

[0036] First, referring to FIGS. 1 and 2, a takeoff and landing pad structure using a hexapod mechanism according to an embodiment of the present invention may be configured to include an upper structure (TLOF: Touch down Lift off area) (111) on which an eVTOL (electric vertical take-off and landing) is mounted, a hinge (112), six suspensions (113), and a building connection (114).

[0037] When the eVTOL lands on the superstructure (111), the vibration generated by the rotor drive of the eVTOL begins to be transmitted after an impact load occurs. The impact load and vibration transmitted by the eVTOL to the superstructure (111) are transmitted to the building connection (114) through the hinge (112) and six suspensions (113). Since the hexapod mechanism composed of the hinge (112) and six suspensions (113) can separate the six degrees of freedom movement of the superstructure (111) and the building connection (114), the magnitude of the impact load and vibration transmitted from the superstructure (111) to the building connection (114) can be reduced.

[0038] FIG. 3 is an example of a takeoff and landing pad structure using a hexapod mechanism according to an embodiment of the present invention and a building to which the TLOF, flight path, and lighting indications of the design guidelines (Engineering Brief #105) presented by the Federal Aviation Administration of the United States are applied.

[0039] The advantage of the takeoff and landing pad structure using the hexapod mechanism according to the embodiment of the present invention is that the shock load and vibration caused by the eVTOL can be minimized from being transmitted to the building based on the fact that the movement in the six degrees of freedom directions can be separated and the load can be absorbed using six suspensions (113).

[0040] Figure 4 illustrates the overall shape of the takeoff and landing pad structure when the eVTOL applies a vertical downward load to the superstructure (111). The displacement of the superstructure (111) occurs in the vertical direction, and since the vertical movement of the superstructure (111) and the building connection (114) is separated, the length of the six suspensions (113) is reduced.

[0041] Fig. 5 illustrates the overall shape of the landing pad structure when the eVTOL lands at a horizontal speed and applies a horizontal load to the superstructure (111). Since the horizontal movement of the superstructure (111) and the building connection (114) is separated, among the six suspensions (113) in Fig. 5, the suspension on the left decreases in length, and the suspension on the right increases in length.

[0042] Figure 6 illustrates the overall shape of the landing pad structure when the upper structure (111) is subjected to a tilting moment due to an eccentric landing of the eVTOL. Since the upper structure (111) is separated from the rotational movement of the building connection (114), the length of each suspension (113) increases or decreases.

[0043] Figure 7 illustrates the overall shape of the takeoff and landing pad structure when the upper structure (111) receives a moment in the direction of horizontal rotation due to the rotor drive torque of the eVTOL. The rotational movement of the upper structure (111) and the building connection part (114) is separated, and for this purpose, the length of each suspension (113) is increased.

[0044] In this way, it can be seen through FIGS. 4 to 7 that the six degrees of freedom movement of the superstructure (111) according to the direction of the load applied to the superstructure (111) by the eVTOL is separated from the building connection portion (114). At this time, the movement of the superstructure (111) and the magnitude of the load and vibration transmitted from the superstructure (111) to the building connection portion (114) may vary depending on the magnitude of the stiffness and damping of the six suspensions (113). Therefore, it is necessary to set the stiffness and damping of the suspension (113) appropriate for various situations occurring during the takeoff and landing process of the eVTOL.

[0045] Referring to Fig. 8, the suspension (113) of the take-off and landing pad structure using the hexapod mechanism according to an embodiment of the present invention can be modeled with a spring (k), a damper (c), and an active suspension (u). The active suspension (u) can adjust the overall spring stiffness (k) and damper damping (c) of the suspension (113) through a controller.

[0046] Figure 9 illustrates the structure of a proportional-differential controller that can be utilized as a controller for an active suspension. The equation of motion of a one-degree-of-freedom system to which the proportional-differential controller illustrated in Figure 9 is applied can be expressed by the following mathematical equation.

[0047]

[0048] k in mathematical formula 1 p is the stiffness of the passive spring, c p is the damping coefficient of the passive spring. Also, the proportional-differential controller constant u is the proportional control gain (K a ) and differential control gain (C a ) leads to changes in the overall stiffness and damping of the one-degree-of-freedom system. e is the displacement and x ref is the initial state, x represents the displacement. x refSince the initial state is not moving, it becomes 0, and if e is substituted into the equation of motion after being substituted into the expression for u, the equation of motion can be expressed in terms of the stiffness of the active and passive springs. k and c are the sum of the stiffness and damping of the active and passive springs, representing all stiffness and damping acting on the takeoff and landing pad structure. Therefore, by changing the control gain of the controller, the optimal stiffness and damping for each situation can be created during the takeoff and landing process of the eVTOL.

[0049]

[0050] Mathematical expression 2 is a formula for calculating the velocity at the point of contact with the landing pad structure through the velocity at the point of free fall from the control error height of the eVTOL. h e is the altitude control error, m1 is the weight of the eVTOL, and m2 is the weight of the pad structure. At this time, V0 is the speed after the aircraft has completely stopped, so if 0 is substituted, the landing speed (V1) of the aircraft before landing can be obtained.

[0051]

[0052] Mathematical expression 3 is an equation for estimating the velocity immediately after the eVTOL touches the landing pad structure. It can be used to obtain the velocity V2 when the weight (m1) and the weight of the eVTOL (m2) are assumed to act as one object after contact.

[0053]

[0054] Fig. 10 is a flowchart schematically illustrating a control method for a takeoff and landing pad structure using a hexapod mechanism according to an embodiment of the present invention. In Fig. 10, a control method for a takeoff and landing pad structure performed during landing of an eVTOL will be described.

[0055] At step S1010, the control device determines whether the eVTOL is ready for landing.

[0056] At step S1015, the control unit receives eVTOL information from the eVTOL when the eVTOL prepares for landing.

[0057] That is, the eVTOL can transmit eVTOL information to the control unit of the landing pad structure during the preparation process for landing on the landing pad structure. Here, the eVTOL information may include landing weight, number of rotor blades, number of motors, driving frequency range, etc.

[0058] At step S1020, the control unit uses the received eVTOL information to predict the impact weight applied to the landing pad structure when the eVTOL touches down.

[0059] At step S1025, the control device calculates the spring stiffness and damper damping required for the suspension of the landing pad structure based on the predicted impact weight.

[0060]

[0061] Mathematical Equation 4 is a formula for calculating the elastic coefficient k and the deformation height Δh of the landing pad. Assuming that the sum of kinetic energy and potential energy is completely converted into elastic energy, Δh is the height change after the landing pad structure comes to a complete stop after the eVTOL lands.

[0062] By substituting the result of Equation 3 into Equation 4, the relationship between Δh and k can be derived. Since the maximum displacement is determined for each damping control device, the corresponding stiffness can be roughly inferred. Furthermore, assuming that the mass and velocity values ​​in Equation 3 are values ​​for uniformly accelerated motion, the predicted impact weight can be calculated using the following mathematical equation.

[0063]

[0064] As in Equation 5, the impact weight can be predicted from the landing speed, deformation, and mass of the eVTOL and landing pad structures.

[0065] Based on the impact weight predicted in this way, the impact weight can be reduced by adjusting the proportional and differential controller of mathematical expression 1.

[0066] At step S1030, the control unit controls the suspension by setting the spring stiffness and damper damping of the suspension using the calculated spring stiffness and damper damping. This allows the suspension to reduce the shock load generated by the eVTOL touching down and physically contacting the landing pad structure.

[0067] At step S1035, the control device determines whether the eVTOL has touched down.

[0068] At step S1040, the control unit measures the vibration caused by the rotation of the rotor of the eVTOL that has touched down when the eVTOL touches down.

[0069] For this purpose, the control device may be equipped with a vibration measurement sensor, which can be used to continuously perform vibration measurements until the rotation of the rotor completely stops.

[0070] At step S1045, the control device calculates the spring stiffness and damper damping required for the suspension of the landing pad structure based on the measured vibration.

[0071]

[0072] Mathematical expression 6 represents the force F1 obtained from the previous impact weight and the force transfer rate transmitted to the lower structure of the take-off and landing pad structure. In Mathematical expression 6, w is the frequency caused by the rotor, and c, k, and m are the damping, elasticity, and mass of the entire take-off and landing pad structure, respectively. As can be seen in Mathematical expression 6, the load generated increases rapidly as the vibration caused by the rotor approaches the natural frequency. Therefore, since the load transfer rate varies depending on the stiffness, damping, and mass of the take-off and landing pad structure, there is a need to reduce the load transfer rate through a damping controller.

[0073] Figures 12 to 17 are drawings showing a method for reducing the load transfer rate.

[0074] In Figures 12 to 15, the red line represents a graph according to mathematical equation 6, and the pink line is the natural frequency. The frequency generated by the rotor of the eVTOL, represented by the black line, gradually decreases from Figures 12 to 15. This indicates that as the generated frequency approaches the natural frequency, the transfer rate of the generated load also gradually increases. Therefore, just before the frequency generated in the rotor gradually decreases and becomes higher than the load due to its own weight, as shown in Figure 16, K a Wow C a By changing the value, the natural frequency can be changed to a very high value. And, as shown in Fig. 16, K a Wow C a Since resonance can occur momentarily when the value is changed, the damping ratio can be greatly increased as shown in Figure 17, thereby greatly reducing the size of the load generated by resonance even while moving the natural frequency.

[0075] However, referring to Fig. 18, K a and C aEven if the resonance is quickly avoided, the resonance phenomenon can occur momentarily. In Fig. 18, the red line, green line, and blue line represent the transfer coefficients of the landing pad structures with high, medium, and low damping ratios, respectively. As shown in Fig. 18, when the stiffness is high, a low load transfer coefficient occurs at frequencies other than the occurrence of resonance, but a high transfer coefficient occurs at the natural frequency. However, if the damping ratio is continuously reduced only for the natural frequency, a high load transfer coefficient occurs at frequencies other than the natural frequency, as shown in the red line in Fig. 18. Therefore, there is a need to continuously adjust the damping ratio according to the vibration frequency caused by the rotor.

[0076] At step S1050, the control unit controls the suspension by setting the spring stiffness and damper damping of the suspension using the calculated spring stiffness and damper damping. This allows the suspension to reduce vibrations caused by the rotation of the rotor of the eVTOL that has touched down on the landing pad structure.

[0077] At step S1055, the control device determines whether the landing of the eVTOL has been completed by stopping the rotation of the eVTOL's rotor. For example, the control device may determine that the landing has been completed if vibrations generated by the rotation of the eVTOL's rotor are not measured.

[0078] As a result of the judgment, if the landing of the eVTOL is not completed, by entering the S1040 stage, the control device can measure the vibration and control the suspension according to the measured vibration until the rotation of the rotor completely stops.

[0079] At step S1060, the control device initializes the suspension by setting the spring stiffness and damper damping set in the suspension to preset initial values ​​when the landing of the eVTOL is completed.

[0080]

[0081] Fig. 11 is a flowchart schematically illustrating a control method for a takeoff and landing pad structure using a hexapod mechanism according to another embodiment of the present invention. In Fig. 11, a control method for a takeoff and landing pad structure performed during takeoff of an eVTOL will be described.

[0082] At step S1110, the control device determines whether the eVTOL is ready for takeoff.

[0083] At step S1120, the control unit receives eVTOL information from the eVTOL when the eVTOL prepares for takeoff.

[0084] That is, the eVTOL can transmit eVTOL information to the control unit of the landing pad structure during the preparation process for takeoff from the landing pad structure. Here, the eVTOL information may include landing weight, number of rotor blades, number of motors, driving frequency range, etc.

[0085] At step S1130, the control device measures the vibration caused by the rotation of the rotor of the eVTOL driven in preparation for takeoff of the eVTOL.

[0086] To this end, the control device may be equipped with a vibration measurement sensor, which may be used to continuously measure vibration until the rotational speed of the rotor reaches a takeoff speed and the eVTOL completes takeoff.

[0087] At step S1140, the control device calculates the spring stiffness and damper damping required for the suspension of the landing pad structure based on the measured vibration.

[0088] When taking off from an eVTOL, the landing process from FIG. 12 to FIG. 15 can be performed in reverse order.

[0089] At step S1150, the control unit controls the suspension by setting the spring stiffness and damper damping of the suspension using the calculated spring stiffness and damper damping. This allows the suspension to reduce vibrations generated by the rotor rotation of the eVTOL preparing for takeoff from the landing pad structure.

[0090] At step S1160, the control device determines whether the rotation speed of the rotor of the eVTOL has reached a takeoff speed and the takeoff of the eVTOL is complete.

[0091] For example, the control device may determine that takeoff is complete when vibrations caused by the rotation of the eVTOL's rotors are not measured.

[0092] As a result of the judgment, if the eVTOL has not completed takeoff, by entering step S1130, the control device can measure the vibration and control the suspension according to the measured vibration until the rotation speed of the rotor reaches a takeoff-capable rotation speed and the eVTOL completes takeoff.

[0093] At step S1170, the control device initializes the suspension by setting the spring stiffness and damper damping set in the suspension to preset initial values ​​when the eVTOL takes off is completed.

[0094]

[0095] FIG. 18 is a drawing schematically illustrating the configuration of a control device for a takeoff and landing pad structure using a hexapod mechanism according to an embodiment of the present invention.

[0096] Referring to FIG. 18, a control device for a takeoff and landing pad structure using a hexapod mechanism according to an embodiment of the present invention includes a processor (10), a memory (20), a communication unit (30), and an interface unit (40).

[0097] The processor (10) may be a CPU or semiconductor device that executes processing instructions stored in memory (20).

[0098] The memory (20) may include various types of volatile or non-volatile memory media. For example, the memory (20) may include ROM, RAM, etc.

[0099] For example, the memory (20) can store commands for performing a control method of a take-off and landing pad structure using a hexapod mechanism according to an embodiment of the present invention.

[0100] The communication unit (30) is a means for transmitting and receiving data with other devices through a communication network.

[0101] The interface unit (40) may include a network interface and a user interface for connecting to a network.

[0102]

[0103] Meanwhile, the components of the aforementioned embodiments can be easily understood from a process perspective. That is, each component can be understood as a separate process. Furthermore, the processes of the aforementioned embodiments can be easily understood from the perspective of the device components.

[0104] In addition, the technical contents described above may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program commands, data files, data structures, etc., alone or in combination. The program commands recorded on the medium may be those specially designed and configured for the embodiments or may be known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands, such as ROMs, RAMs, and flash memories. Examples of program commands include not only machine language codes generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc. The hardware devices may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

[0105]

[0106] The above-described embodiments of the present invention are disclosed for the purpose of illustration, and those skilled in the art with common knowledge of the present invention will be able to make various modifications, changes, and additions within the spirit and scope of the present invention, and such modifications, changes, and additions should be considered to fall within the scope of the following patent claims.

Claims

1. A method for controlling a take-off and landing pad structure using a hexapod mechanism, the control device of the take-off and landing pad structure including a superstructure on which an electric vertical take-off and landing (eVTOL) is installed, a building connection, and six suspensions that separate the movement of the superstructure from the building connection, When the eVTOL prepares for landing, a step of receiving eVTOL information from the eVTOL; A step of predicting the impact weight applied to the landing pad structure when the eVTOL touches down using the received eVTOL information; A step of calculating the first spring stiffness and the first damper damping required for the suspension according to the predicted impact weight; and A method for controlling a landing pad structure using a hexapod mechanism, comprising the step of controlling the suspension by setting the spring stiffness and damper damping of the suspension with the first spring stiffness and the first damper damping calculated above.

2. In paragraph 1, The above control method is, When the eVTOL touches down, a step of measuring vibration generated by the rotation of the rotor of the eVTOL that has touched down; A step of calculating the second spring stiffness and the second damper damping required for the suspension according to the measured vibration; and A method for controlling a landing pad structure using a hexapod mechanism, characterized in that it further comprises a step of controlling the suspension by setting the spring stiffness and damper damping of the suspension with the calculated second spring stiffness and second damper damping.

3. In paragraph 2, The above control method is, A control method for a take-off and landing pad structure using a hexapod mechanism, characterized in that it further includes a step of initializing the suspension by setting the spring stiffness and damper damping set in the suspension to preset initial values ​​when the landing of the eVTOL is completed.

4. In paragraph 1, The above control method is, When the eVTOL prepares for takeoff, a step of receiving eVTOL information from the eVTOL; A step of measuring vibration generated by the rotation of the rotor of the eVTOL driven in preparation for takeoff of the eVTOL; A step of calculating the third spring stiffness and third damper damping required for the suspension according to the measured vibration; and A method for controlling a landing pad structure using a hexapod mechanism, characterized in that it further comprises a step of controlling the suspension by setting the spring stiffness and damper damping of the suspension with the calculated third spring stiffness and third damper damping.

5. In paragraph 4, The above control method is, A control method for a take-off and landing pad structure using a hexapod mechanism, characterized in that it further includes a step of initializing the suspension by setting the spring stiffness and damper damping set in the suspension to preset initial values ​​when the take-off of the eVTOL is completed.

6. In paragraph 1, A control method for a take-off and landing pad structure using a hexapod mechanism, wherein the eVTOL information includes landing weight, number of rotor blades, number of motors, and driving frequency range.

7. A control device for a take-off and landing pad structure using a hexapod mechanism including a superstructure on which an electric vertical take-off and landing (eVTOL) is installed, a building connection, and six suspensions that separate the movement of the superstructure from the building connection, memory for storing instructions; and Including a processor that executes the above instructions, The above command is, When the eVTOL prepares for landing, a step of receiving eVTOL information from the eVTOL; A step of predicting the impact weight applied to the landing pad structure when the eVTOL touches down using the received eVTOL information; A step of calculating the first spring stiffness and the first damper damping required for the suspension according to the predicted impact weight; and A control device for a landing pad structure using a hexapod mechanism, characterized in that it performs a method for controlling a landing pad structure using a hexapod mechanism, including a step of controlling the suspension by setting the spring stiffness and damper damping of the suspension with the calculated first spring stiffness and first damper damping.

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