OS0215 複合センサシステムを用いた姿勢角検出に関する設計検討(OS2-3 制御・ロボティクス)

概要

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Attitude control for navigating several vehicles which are space craft, plane on air and robot, cars on ground is needed to achieve stable movement. Attitude control system for stable moving vehicles can be constructed by using feedback system with accurately detectors. In this paper, we propose multi sensor system for stable attitude control of moving vehicles which consist of two sensors and calculation algorithm. One sensor is gyro sensor which is available for environment needed high response, however it has drift component of attitude angle with time increment. The other sensor is attitude measurement sensor which does not have drift error, but which has noise and low response. And if shock is given for attitude measurement sensor, its output data would have heavy disturbance. There we try to combine each sensor's merits, and this system can be had abilities of high response and high accuracy for the all time. To confirm multi sensor system ability, we examine sine response test and evaluate about experimental data.
一般社団法人日本機械学会の論文
2009-09-26