1A2-D07 小型ヘリコプタ搭載用オートパイロットシステムの構築

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概要

• 論文の詳細を見る

• In this paper, we propose an autopilot system which can be applied any single rotor helicopters. First, we construct the hardware of the autopilot system based on FPGA (Field Programmable Gate Array). In the case of small helicopter, payload limitation of them is tight. Therefore, we have to use only light weight sensors and computer for the control. All sensors we use are light weight, then the total weight of autopilot device with box is about 300g. Next, nonlinear adaptive attitude controller is designed by using adaptive backstepping method. We guarantee that the attitude of helicopter can follow any time varying reference attitude even if the helicopter has unknown model parameters, such as inertia moment or aerodynamic uncertainties. Finally, the effectiveness of the autopilot system is verified by flight experiments of multiple helicopters

• 一般社団法人日本機械学会の論文

著者

• 鈴木 智

  信州大

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