{"id":720,"date":"2016-12-01T07:29:01","date_gmt":"2016-12-01T16:29:01","guid":{"rendered":"\/blog\/?p=720"},"modified":"2023-09-21T09:37:51","modified_gmt":"2023-09-21T00:37:51","slug":"%ea%b8%b0%ec%b2%b4-pid-%ec%85%8b%ed%8c%85-%eb%b0%a9%eb%b2%95","status":"publish","type":"post","link":"https:\/\/hasu0707.duckdns.org\/blog\/?p=720","title":{"rendered":"\uae30\uccb4 PID \uc14b\ud305 \ubc29\ubc95"},"content":{"rendered":"\n
\ucd9c\ucc98 : http:\/\/cafe.naver.com\/dronplay\/158596<\/span><\/font><\/div>

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'\ube44\ub840','\ubbf8\ubd84','\uc801\ubd84'... PID\ub97c \uac80\uc0c9\ud558\uac8c \ub418\uba74 \uba38\ub9ac\uc544\ud508 \ub0af\uc775\uc740 \uc6a9\uc5b4\ub4e4\uc744 \ub9cc\ub098\uac8c \ub429\ub2c8\ub2e4<\/span><\/font><\/div>
\uc774\ub7f0\uac74 \ub2e4 \ubc00\uc5b4\ubc84\ub9ac\uace0 \uba87\uac1c\uc6d4\uac04 \uc218\ub3c4\uc5c6\uc774 \ub9ce\uc740 \uc138\ud305\uc744 \ubc14\uafd4\ubcf4\uba74\uc11c \uc190\uc218 \uc775\ud78c PID\uc138\ud305\ubc95\uc744 \uc62c\ub824\ubd05\ub2c8\ub2e4.<\/span><\/font><\/div>

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\uc791\ub144..\ub808\uc774\uc2f1\ub4dc\ub860\uc744 \ucc98\uc74c \uc811\ud560\ub54c \ub9ce\uc740 \uace0\uc218\ubd84\ub4e4\uc5d0\uac8c PID\ub97c \ubb3c\uc5b4\ubcf4\uc558\uc9c0\ub9cc \uc2e4\uc81c\ub85c \uc81c\ub300\ub85c \uc544\ub294 \uc0ac\ub78c\ub4e4\ub3c4 \uba87\uba87 \uc5c6\uc5c8\uc73c\uba70<\/span><\/font><\/div>
\uc54c\uace0 \uc788\ub2e4\uace0 \ud558\ub354\ub77c\ub3c4 \uc0c1\ub2f9\ud55c \uacbd\uc7c1\ub825\uc744 \ud655\ubcf4\ud558\ub294 \ubd80\ubd84\uc774\ub77c \ubc1d\ud788\uae30 \uaebc\ub824\ud558\uc2dc\ub294 \ubd84\ub4e4\uc774 \ub9ce\uc73c\uc168\uae30\uc5d0.. \ub9ce\uc740 \uc5b4\ub824\uc6c0\uc774 \uc788\uc5c8\uc8e0 \u315c\u315c<\/span><\/font><\/div>

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\uc6b0\uc120 PID\uc138\ud305\uc744 \uc6d0\ud65c\ud558\uac8c \ud558\uae30\uc704\ud574\uc11c \ud544\uc694\ud55c \ubd80\ubd84\uc774 \uc788\uc2b5\ub2c8\ub2e4.<\/span><\/font><\/div>
\ub2e4\ub984 \uc544\ub2cc \uac1c\uc778\ub9c8\ub2e4 \ub290\uaef4\uc9c0\ub294 '\ub290\ub08c'\ubd80\ubd84\uc774\uba70 \uc774\ub294 \uc0ac\ub78c\ub9c8\ub2e4 \uae30\uc900\uc774 \ub2e4\ub974\uae30 \ub54c\ubb38\uc5d0<\/span><\/font><\/div>
\uc790\uc2e0\uc774 \uc5b4\ub5a4 \ub290\ub08c\uc77c\ub54c \uc5b4\ub5a4 \uac12\uc744 \uc190\uc744 \ub304\ub2e4~ \ub77c\ub294 \ubd80\ubd84\uc5d0\uc11c '\uc5b4\ub5a4 \ub290\ub08c'\uc744 \ub290\ub084\uc904 \uc54c\uc544\uc57c \ud558\ub294 \ubd80\ubd84\uc774 \uc0c1\ub2f9\ud788 \uc911\uc694\ud569\ub2c8\ub2e4.<\/span><\/font><\/div>
\u203b\uc800 \uac1c\uc778\uc801\uc778 '\uc5b4\ub5a4 \ub290\ub08c'\uc774 \ud45c\ud604\ub420\ub54c \ub9c8\ub2e4 '' \ub85c \ubb36\uc5b4\ub193\uaca0\uc2b5\ub2c8\ub2e4.<\/span><\/font><\/div>

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P\uac12 (Proportional)<\/span><\/font><\/div>

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  P\uac12\uc758 \uc5ed\ud65c\uc740 \uc785\ub825\ud55c \uc2a4\ud2f1\ub7c9\uc744 FC\uac00 \ubaa8\ud130\uc5d0 \ubc18\uc601\ud558\ub294 \uc591\uc744 \uc870\uc808\ud569\ub2c8\ub2e4.<\/span><\/font><\/div>
  \uac00\ub054 P\uac12\uc744 \uc62c\ub9ac\uba74 \ubc18\uc751\uc774 \ube68\ub77c\uc9c4\ub2e4\ub294 \uc598\uae30\ub3c4 \ud558\uc9c0\ub9cc \ub9de\ub294\uc598\uae30\uc8e0<\/span><\/font><\/div>
  \uc2a4\ud2f1\uc73c\ub85c \uc785\ub825\ud55c \uc591\uc744 \ub0ae\uc740P\uac12\ubcf4\ub2e4 \ub192\uc740P\uac12\uc774 \ubaa8\ud130\uc5d0 \ub354 \ub9ce\uc740 \ucd9c\ub825\uc744 \ubc18\uc601\ud558\uac8c \ud558\ub2c8\uae4c\uc694.<\/span><\/font><\/div>

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  \uc218\uce58\ubcc4 P\uac12\uc758 \ud2b9\uc9d5\uc73c\ub85c\ub294<\/span><\/font><\/div>
  \ub0ae\uc740 P\uac12 : \uc2a4\ud2f1\uc744 \ucce4\uc744\ub54c '\ud750\ub290\uc801\uac70\ub9bc'<\/span><\/font><\/div>
                 - I\uac12\uc73c\ub85c '\uc7a1\uc544\uc8fc\uc5b4' \uc6b0\uc544\ud55c \ube44\ud589\uc744 \ub9cc\ub4e4\uc5b4 \uc904\uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/span><\/font><\/div>
                   \uc5bc\ub9c8\uc804\uae4c\uc9c0\ub294 \ud504\ub9ac\ud50c\ub77c\uc789\uc2dc \ubd80\ub4dc\ub7ec\uc6b4 \uc601\uc0c1\uc744 \ub9cc\ub4dc\ub294\ub370 \ub3c4\uc6c0\uc774 \ub418\uac8c \ud558\uae30\uc704\ud574 \ub0ae\uc740 P\uac12\uacfc \ub192\uc740 \ub808\uc774\ud2b8\ub85c<\/span><\/font><\/div>
                   \uad6c\uc131\uc744\uc744 \ub9ce\uc774 \ud588\uc9c0\ub9cc, \uc694\uc998\uc740 \ub4c0\uc5bc\ub808\uc774\ud2b8\uc758 \ub4f1\uc7a5\uc73c\ub85c \uc2a4\ud2f1\uc911\uc559\uc758 \ub808\uc774\ud2b8\uc640 \ud50c\ub9bd\ub808\uc774\ud2b8 \uc18d\ub3c4\ub97c \uac01\uae30 \ubcf4\uc815\ud560\uc218<\/span><\/font><\/div>
                   \ub54c\ubb38\uc5d0 \ubd80\ub4dc\ub7ec\uc6c0\uc744 \uc704\ud574 \ub108\ubb34 \ub0ae\uc740 P\uac12\uc744 \uc120\ud0dd\ud560 \ud544\uc694\uc131\uc774 \ub9ce\uc774 \uc904\uc5b4\ub4e0 \uac83 \uac19\uc2b5\ub2c8\ub2e4.<\/span><\/font><\/div>

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  \ub192\uc740 P\uac12 : \uae30\uccb4\ud5cc\ud305\uc774 \ubc1c\uc0dd\ud569\ub2c8\ub2e4. \ub192\uc740 i\uc758 \ud5cc\ud305\uacfc \ub192\uc740 p\uc758 \ud5cc\ud305\uc740 \uc57d\uac04 \uc131\uc9c8\uc774 \ub2e4\ub985\ub2c8\ub2e4\ub9cc<\/span><\/font><\/div>
                  P\uac12\uc774 \ub192\uc740 \ud5cc\ud305\uc774 \uc880\ub354 \uae54\ub054\ud558\uace0 \ud655\uc2e4\ud558\uace0 \ube60\ub978 \uba85\ud655\ud55c \ud5cc\ud305\uc774 \ubc1c\uc0dd\ub429\ub2c8\ub2e4.<\/span><\/font><\/div>
                  \ucd5c\uc18c\ud55c \ud480\ub85c \uc2a4\ub85c\ud2c0\uc744 \uccd0\ub3c4 \ud5cc\ud305\uc774 \uc548\ub420\ub54c \uae4c\uc9c0\ub294 \ub0b4\ub824\uc918\uc57c \ud569\ub2c8\ub2e4.<\/span><\/font><\/div>

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I\uac12 (Intergral)<\/span><\/font><\/div>

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 I\uac12\uc758 \uc5ed\ud65c\uc740 \uae30\uccb4\ub97c '\uc7a1\uc544\uc8fc'\ub294 \uc5ed\ud560\uc744 \ud569\ub2c8\ub2e4. \uc678\ubd80\uc601\ud5a5\uc5d0 \uc800\ud56d\ub825\uc774 \uac15\ud574\uc9c0\ubbc0\ub85c \ud134 \ud560\ub54c '\ubc00\ub9bc'\uc774 \uc904\uc5b4\ub4e4\uba70<\/span><\/font><\/div>
 \ubc14\ub78c\ub4f1\uc758 \uc601\ud5a5\uc5d0 \uc800\ud56d\ub825\uc774 \uac15\ud574\uc9d1\ub2c8\ub2e4. '\uc9c1\uc9c4\uc131'\uc774 \uac15\ud574\uc9c4\ub2e4\uace0 \uc774\uc57c\uae30 \ud558\ub294 \uacbd\uc6b0\ub3c4 \ub9ce\uc740\ub300 \uc774\uac83\ub3c4 \ub9de\ub294 \ub9d0\uc785\ub2c8\ub2e4.<\/span><\/font><\/div>
 '\ubc00\ub9ac\ub294'\ub290\ub08c\uc774 \uc801\uc5b4\uc9c0\uae30\ub54c\ubb38\uc5d0 \uc9c1\uc9c4\uc131\uc774 \uac15\ud574\uc84c\ub2e4\uace0 \ub290\uaef4\uc9c0\uaca0\uc8e0~\ub808\uc774\uc2f1\ub4dc\ub860\uc740 \uc55e\uc73c\ub85c \ub098\uc544\uac00\ub2c8\uae50\uc694<\/span><\/font><\/div>
 \ud558\uc9c0\ub9cc \ub192\uc740 I\uac12\ubcf4\ub2e4 \ub0ae\uc740 I\uac12\uc740 \ubc29\ud5a5\uc804\ud658\uc774 \uc218\uc6d4\ud574\uc9d1\ub2c8\ub2e4. \ud134\ud560\ub54c \ub354 \ube60\ub974\uac8c \ubc29\ud5a5\uc804\ud658\uc774 \ub429\ub2c8\ub2e4. \ub2f9\uc5f0\ud55c \uc598\uae30\uaca0\uc8e0?<\/span><\/font><\/div>
 '\uc9c1\uc9c4\uc131'\uacfc '\uc7a1\uc544\uc90c'\uc744 \ub9e1\uace0 \uc788\ub294 I\uc758 \uc218\uce58\uac00 \ub0ae\uc544\uc9c0\ub2c8 \ubc29\ud5a5\uc804\ud658\uc774 \uad49\uc7a5\ud788 \uc218\uc6d4\ud574 \uc9d1\ub2c8\ub2e4\ub9cc... \uadf8 \uc774\ud6c4\uc5d0 \ubc00\ub9bd\ub2c8\ub2e4..\u314b\u314b<\/span><\/font><\/div>
 \ub192\uc740P\uac12\uc774 \uc8fc\ub294 '\ube60\ub978\uc2a4\ud2f1\ubc18\uc601\ub7c9'\uc758 \ub290\ub08c\uacfc I\uac00 \ub0ae\uc544\uc9c8\uc218\ub85d \ud134\uc774 \uc218\uc6d4\ud574\uc9c0\ub294 \uadf8 \uc2a4\ud2f1\ubc18\uc601\ub7c9'\uc758 \ub290\ub08c\uc740<\/span><\/font><\/div>
 \uc5b4\ub5bb\uac8c \ubcf4\uba74 \ube44\uc2b7\ud569\ub2c8\ub2e4. \uc5ec\uae30\uc11c P\uc640 I\uc758 \uc0c1\uad00\uad00\uacc4\ub3c4 \ud615\uc131\ub418\uad6c\uc694.. \ud5c9\ud5c9..<\/span><\/font><\/div>

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 \uc774 '\ubc00\ub9b0\ub2e4'\uc758 \ub290\ub08c\uc5d0\uc11c \uc0c1\ub2f9\ud788 \uc2dc\uac04\uc744 \ub9ce\uc774 \uae4c\uba39\uc5c8\uc5c8\ub294\ub370\uc694..<\/span><\/font><\/div>
 \ub0ae\uc740 I\uac12\uc744 \uc0ac\uc6a9\ud558\ub2e4\uac00(\uc0c1\ub2f9\ud788 \ub0ae\uc740 I\uac12\uc774\uc5c8\uc74c)\uc190\uac00\ub77d\uc774 \ucc38 \ud53c\uace4\ud588\uc5c8\ub294\ub300..<\/span><\/font><\/div>
 PID\uba54\ub274\uc5bc\uc5d0 \ubc00\ub9b4\uacbd\uc6b0 I\uac12\uc744 \uc62c\ub9ac\ub77c\uace0 \uc368\uc788\ub294\uac78 \ubcf4\uace0\ub294 \uac12\uc744 \uc62c\ub838\ub354\ub2c8.. \ub354 '\ubc00\ub9ac\ub294' \ub290\ub08c\uc744 \ubc1b\uc558\uc2b5\ub2c8\ub2e4.<\/span><\/font><\/div>
 \ub0ae\uc740 I\uac12\uc744 \uc4f0\ub2e4\uac00 \ub192\uc740 I\ub97c \uc4f0\ub2c8 \ud134\uc744 \ud30d \ud558\uace0 \ucce4\uc744\ub54c \ub0ae\uc740 I\uac12\ubcf4\ub2e4 \ub2a6\uac8c \uba38\ub9ac\uac00 \ub3cc\uc544\uac00\uae30\ub54c\ubb38\uc5d0 '\ubc00\ub9b0\ub2e4\ub294'\ub290\ub08c\uc744 \ubc1b\uc544\uc11c<\/span><\/font><\/div>
 \uacc4\uc18d..I\ub97c \ub0ae\ucd94\ub2e4\uac00 \ub9dd\ud588\uc5c8\uc8e0 \u314b\u314b<\/span><\/font><\/div>

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 \uc218\uce58\ubcc4 I\uac12\uc758 \ud2b9\uc9d5\uc73c\ub85c\ub294<\/span><\/font><\/div>
  \ub0ae\uc740 I \uac12 : \ud134\ud560\uacbd\uc6b0 \ube60\ub978 \ubc18\uc751\ub825\uc744 \ubcf4\uc785\ub2c8\ub2e4. \uae43\ubc1c\uc744 \ub193\uace0 \uc720\ud134\uc744 \ud560\uacbd\uc6b0 \ub108\ubb34 \uba40\uac8c \ub3cc\uc544\uc9c4\ub2e4\uba74 I\uac12\uc744 \uc0b4\uc9dd \ub0b4\ub824\ub3c4 \uc88b\uc2b5\ub2c8\ub2e4.<\/span><\/font><\/div>
             \ud558\uc9c0\ub9cc \ud134 \uc774\ud6c4 \uc790\uc138\ub97c \uc7a1\uc744\ub54c \ubc00\ub9bc\uc774 \ubc1c\uc0dd\uc744 \ud558\uba70, \uc9c1\uc9c4\uc744 \ud558\uace0 \uc788\uc9c0\ub9cc \uba38\ub9ac\uac00 \uc0b4\uc9dd \uc606\uc73c\ub85c \ub3cc\uc544\uac00\ub294\uacbd\uc6b0\ub3c4 \uc0dd\uae41\ub2c8\ub2e4.<\/span><\/font><\/div>

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  \ub192\uc740 I \uac12 : \ubbf8\uc138\ud55c \uc9c4\ub3d9\uc774 \uc0dd\uae41\ub2c8\ub2e4. '\ub4dc\ub974\ub974\ub974' \ud558\uad6c\uc694.. \ub192\uc740 P \uac12\uc758 \ud5cc\ud305\uc740 \ube44\ud589\ud558\uae30\uac00 \ud798\ub4e4\uace0 \ud655\uc2e4\ud55c \ud5cc\ud305\uc774\uc9c0\ub9cc<\/span><\/font><\/div>
                 \ub192\uc740 I\uc5d0 \uc758\ud55c \uc9c4\ub3d9\uc740 \ubb54\uac00 \ube44\ud589\uc740 \uac00\ub2a5\ud569\ub2c8\ub2e4\ub9cc,, \ub0a0\ub9ac\uace0\ub098\uba74 \uae30\ubd84\uc774 \ub354\ub7fd\uc2b5\ub2c8\ub2e4.. \u314b\u314b<\/span><\/font><\/div>

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D\uac12(Derivative)<\/span><\/font><\/div>
 'D'\uac12\uc758 \uc6d0\ucd08\uc801 \uc5ed\ud560\uc740 \uc2a4\ud2f1\uc758 \ubc18\ub3d9\uac12\uc774\ud6c4 \ub9c8\uac10\ud558\ub294 \uc218\uce58\uc778\uac78\ub85c \uc54c\uace0 \uc788\uc9c0\ub9cc..;; \uc560\ub9e4\ud569\ub2c8\ub2e4.<\/span><\/font><\/div>
  \uc81c\uac00D\uac12\uc744 \uc190\ub300\ub294 2\uac00\uc9c0 \uacbd\uc6b0\ub294 \uc2a4\ub85c\ud2c0\uc758 \ubc18\uc601\ub7c9\uacfc \uae09\ud134\uc2dc \uc7a0\uc2dc \uc0dd\uae30\ub294 \ud5cc\ud305 \uc785\ub2c8\ub2e4.<\/span><\/font><\/div>
 \uc2a4\ub85c\ud2c0 \ubc18\uc601\ub7c9\uc740 \ub9ce\uc740 \ubd84\ub4e4\uc774 \ubaa8\ub974\uc2dc\ub294 \ubd80\ubd84\uac19\uc2b5\ub2c8\ub2e4. \uac00\uc18d\uc131\uacfc \uc815\ubc00\uc131\uacfc\ub3c4 \uc5f0\uad00\uc774 \uc788\uc2b5\ub2c8\ub2e4.<\/span><\/font><\/div>
 \uc9d1\uc548\uc5d0\uc11c \ud638\ubc84\ub9c1\uc2dc\uc5d0 \uc2a4\ub85c\ud2c0\uc744 \ud30d\ud30d \uba87\ubc88 \uccd0\ubcf4\ub294\uac83\ub9cc\uc73c\ub85c \ub0ae\uc740 D\uc640 \ub192\uc740D\uc758 \uc190\ub9db\ucc28\uc774\ub97c \ub290\ub084\uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/span><\/font><\/div>

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\uc218\uce58\ubcc4 D\uac12\uc758 \ud2b9\uc9d5\uc73c\ub85c\ub294<\/span><\/font><\/div>
  \ub0ae\uc740 D\uac12 : \uc6b0\uc120 I\uac12\uc5d0\ube44\ud558\uc5ec \ub0ae\uc740 D\uac12\uc744 \uc0ac\uc6a9\ud560\uacbd\uc6b0 \uae09\ud134\uc774\ub098 \uae09\ud558\uac15\uc2dc \uac11\uc790\uae30 \uc2a4\ub85c\ud2c0\uc744 \uc62c\ub9ac\uac8c \ub418\uba74 \uc790\uc138\ub97c \uc7a1\uc744\ub54c \ud5cc\ud305\uc774<\/span><\/font><\/div>
                 \uc7a0\uc2dc \ubc1c\uc0dd\ud569\ub2c8\ub2e4. \uc774\uac83\uc740 \uc2a4\ub85c\ud2c0 \uc591\uc5d0 \ub530\ub77c PID\uc758 \uc801\uc6a9\ub418\ub294 \uc218\uce58\uac00 \ub2e4\ub974\uac8c \ubc18\uc601\ub418\ub294\ub300 \uc774\ub7f0 \ud5cc\ud305\uc740 TPA\ub85c<\/span><\/font><\/div>
                 \uc7a1\ub294\ub2e4\uae30\ubcf4\ub2e4 D\uac12\uc744 \uc62c\ub824\uc90d\ub2c8\ub2e4. (TPA\ub97c \uc801\uc6a9\ud558\ub294 \uae30\uc900\uc740 \uc800,\uc911 \uc2a4\ub85c\ud2c0\uc77c\ub54c \uc548\ub290\uaef4\uc9c0\ub358 \uc704\uc758 P,I\uc758 \ud5cc\ud305\uc774 \ubc1c\uc0dd<\/span><\/font><\/div>
                 \uc2dc\uc5d0 TPA\ub97c \uc801\uc6a9\uc2dc\ucf1c\uc8fc\ub294\uac8c \ub9de\ub294\uac83 \uac19\uc2b5\ub2c8\ub2e4... \uc774\ubd80\ubd84\uc740 \uac1c\uc778\uc801\uc778 \uacac\ud574..^^)<\/span><\/font><\/div>
                 \ub610\ud55c \ub0ae\uc740 D\uac12\uc73c\ub85c\ub294 '\uc774\uc05c'\ucc29\ub959\uc774 \uc5b4\ub835\uc2b5\ub2c8\ub2e4. \uc0ac\ubfd0\ud788 \uace0\ub3c4\ub97c \uc815\ubc00\ud558\uac8c \uc870\uc885\ud558\uba74\uc11c \uc0ac\ubfd0\ud788 \ub0b4\ub824\uc549\uc544\uc9c0\uc9c0\uac00 \uc54a\uace0<\/span><\/font><\/div>
                 \ud6c5\ud6c5 \ub5a8\uc5b4\uc9c0\uac70\ub098 \ub192\uc544\uc9c0\uac70\ub098 \ud558\uba74 D\uac12\uc774 \ub0ae\uc740\uacbd\uc6b0\uac00 \ub9ce\uc2b5\ub2c8\ub2e4.<\/span><\/font><\/div>

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  \ub192\uc740 D\uac12 : \uc2a4\ud2f1\uac10\uc774 \ubb34\uac70\uc6cc\uc9d1\ub2c8\ub2e4.. \ubb3c\ub860 P\uac12\uacfc I\uac12\uacfc \uc5f0\uacc4\ud558\uc5ec D\uac12\uc774 \ub192\uc544\uc9c0\uba74 \uc2a4\ud2f1\uac10\uc774 \ubb34\uac70\uc6cc\uc9d1\ub2c8\ub2e4.<\/span><\/font><\/div>
                 \ub0ae\uc740 D\ub85c \uc778\ud574\uc0dd\uae34 \ud5cc\ud305\uc744 \uc7a1\ub294\ub2e4\uace0 D\uac12\uc744 \uacc4\uc18d \uc62c\ub9ac\uba74 \ubb34\uac81\uace0 \ud55c\ubc15\uc790 \ub290\ub824\uc9c0\ub294 \uc2a4\ud2f1\ub9db\uc744 \ubcf4\uac8c \ub420\uac83\uc785\ub2c8\ub2e4.<\/span><\/font><\/div>

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\ucd9c\ucc98 : http:\/\/cafe.naver.com\/dronplay\/158596 ‘\ube44\ub840’,’\ubbf8\ubd84’,’\uc801\ubd84’… PID\ub97c \uac80\uc0c9\ud558\uac8c \ub418\uba74 \uba38\ub9ac\uc544\ud508 \ub0af\uc775\uc740 \uc6a9\uc5b4\ub4e4\uc744 \ub9cc\ub098\uac8c \ub429\ub2c8\ub2e4 \uc774\ub7f0\uac74 \ub2e4 \ubc00\uc5b4\ubc84\ub9ac\uace0 \uba87\uac1c\uc6d4\uac04 \uc218\ub3c4\uc5c6\uc774 \ub9ce\uc740 \uc138\ud305\uc744 \ubc14\uafd4\ubcf4\uba74\uc11c \uc190\uc218 \uc775\ud78c PID\uc138\ud305\ubc95\uc744 \uc62c\ub824\ubd05\ub2c8\ub2e4. \uc791\ub144..\ub808\uc774\uc2f1\ub4dc\ub860\uc744 \ucc98\uc74c \uc811\ud560\ub54c \ub9ce\uc740 \uace0\uc218\ubd84\ub4e4\uc5d0\uac8c PID\ub97c \ubb3c\uc5b4\ubcf4\uc558\uc9c0\ub9cc \uc2e4\uc81c\ub85c \uc81c\ub300\ub85c \uc544\ub294 \uc0ac\ub78c\ub4e4\ub3c4 \uba87\uba87 \uc5c6\uc5c8\uc73c\uba70 \uc54c\uace0 \uc788\ub2e4\uace0 \ud558\ub354\ub77c\ub3c4 \uc0c1\ub2f9\ud55c \uacbd\uc7c1\ub825\uc744 \ud655\ubcf4\ud558\ub294 \ubd80\ubd84\uc774\ub77c \ubc1d\ud788\uae30 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