1A2-P05 4つのロータを有するVTOL型飛行ロボット : 機体の設計,製作および飛行実験(飛行ロボット・メカトロニクス)

概要

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VTOL aerial robots called "X4-Flyer" has an advantage that the mobility and maneuverability are high, compared to other types of VTOL aerial robots. However, it is not easy for the X4-Flyer to design a controller in an underactuated system that controls six generalized coordinates with four inputs. Moreover, several parameters such as the airframe weight, the generated thrust, etc. are required to implement a dynamical control law. Therefore, it is necessary to design a desirable controller by actually constructing an X4-Flyer and obtaining main parameters through the measurement experiments. In the present study, an actual X4-Flyer is designed and produced, and it aims at developing the robot that is able to fly autonomously. In particular, thrust experiments of a rotor and take-off experiments of the airframe are reported.
一般社団法人日本機械学会の論文
2011-05-26