ファン浮上機械のホバリング制御

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It is strongly desired to develop a flying robot which can travel in the air freely to do field works such as construction, agriculture, forestry or the maintenance of power lines. The multifan hovering machine tested here is a kind of such a flying robot. This hovering machine has four fans which are driven by DC motors controlled by changing rotational speed. The purpose of this study is to establish the hovering control scheme and is to investigate its control characteristics. The tested control system consists of a scale model with four fans, electric motors, angle sensors, A/D converter, D/A converter and a personal computer PC-9801RA. The results obtained can be summarized as follows : 1) The digital control system of a multifan hovering machine was constructed using a scale model and its system parameters were measured. 2) The mathematical model of the hovering machine was formulated and the fundamental equations were derived for hovering control. Based on these equations, the control method that pitch, roll and yaw angle were controlled independently, was proposed. 3) The attitude control of the machine can be realized by controlling three angles independently with PID control scheme. 4) The application of a fuzzy control scheme to the hovering control was tested. The fuzzy control showed good disturbance suppression as well as the high-gain PID control. On the other hand, it showed the disadvantage that control input had to be limited to stabilize the control system.
岡山理科大学の論文

ファン浮上機械のホバリング制御

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