可変迎角機構を有する飛行ロボットのシミュレーションモデルの構築(機械力学,計測,自動制御)

概要

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This paper presents construction of a simulation model of our developed flying robot (cyclogyro) with variable attack angle mechanism in order to rise the development efficienfy. A main feature of our robot is to be able to change angles of attack according to the wing positions (according to the rotational angles of the cyclogyro) without actuators. The constructed simulation model consists of three parts. The first part is the so-called attack angle model to compute the change of angle of attack. The second part is the so-called lift force model to compute lift force based on the computational result from the first part. The third part is the so-called power model to compute the electrical power of motors. The utility of the simulation model is verified by comparing simulation results with experimental results. As a result of optimizing design parameters through the simulation model, the double lift force generated from that of the flying robot optimized through some experiments.
2010-02-25