2P2-C11 推力伝達ゲートシステムによる浮遊移動体の高精度制御の実現

概要

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In this paper, we propose Thrust Transfer Gate System (TTGS) as a new control system of floating mobile objects in free space, such as, in the atmosphere, in outer space, and underwater. To control floating mobile objects, the system needs position and velocity data. But position data of floating mobile object's sensors are low precision. And floating mobile objects receive hydrodynamic disturbance like wind or wave, and it cannot observe those disturbances. Those problems make control of floating mobile objects difficult. TTGS use acceleration information to control. And TTGS can sense those disturbances by Thrust transfer gate. TTGS can control floating mobile object high precision. To test the control ability of TTGS, we compared TTGS and PID-control by numerical simulation. We can confirm that the ability of TTGS is higher than the ability of PID-control.
一般社団法人日本機械学会の論文