1122 ホビー用小型無人ヘリコプタEagleのエンジン系モデリングと回転数制御(メカニカルシステム(1))

概要

論文の詳細を見る
Helicopters have the mobilities of vertical take-off and landing and hovering not possible with fixed-wing aircraft. And they have been used for disaster prevention extinguishing fire airborne photographing , rescue, pesticide spraying, news report and transportation. Unmanned small helicopters are more convenient than manned helicopters. But their flight is very difficult and usually limited to flight visible to the operator. So training take long time. Which is why autonomous flight control is indispensable to practical unmanned helicopter use. Now height control use governor which conserve revolution. And this appliance is switched by the hand. So revolution control behoove for autonomous flight. This thesis carry on research which is revolution control. We use system identification approach for revolution data and derived engine model. And we analytically derived resistance torque based on aerodynamics. So we combined them and derived control model. We designed controller based on derived model using Plcontrol theory and actualize revolution control.
社団法人日本機械学会の論文
2007-08-08