JP2007261414A - Device, method and program for automatic posture control - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device, a method and a program for automatic posture control which are rapidly responsive to an abrupt change of the thrust, the disturbance of a gust or the like, and capable of reliably controlling the posture of an airframe even when the air speed is insufficient. <P>SOLUTION: A control unit 9 acquires information on the present position of the center of gravity from a storage unit 11, detects the present rotational speed of a thrust motor 21; calculates adequate information on the position of the center of gravity corresponding to the present rotational speed based on the relationship between the rotational speed of the thrust motor 21 corresponding to the known thrust and the adequate position of the center of gravity corresponding to an adequate pitch angle; obtains the necessary displacement of a battery 26 along the longitudinal direction based on the adequate position of the center of gravity and the present position of the center of gravity; obtains the rotation of the motor for fluctuation of the corresponding position of the center of gravity; and gives the control signal corresponding to the required rotation to a motor drive unit 19. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an automatic attitude control device, an automatic attitude control method, and an automatic attitude control program. For example, the invention is used by being mounted on a flying object or a moving object such as a small unmanned airplane that drives a propeller by a motor to generate thrust. The present invention relates to an automatic attitude control device, an automatic attitude control method, and an automatic attitude control program.

Conventionally, an unmanned airplane that is controlled by a radio signal transmitted from the ground, drives a propeller by a motor, and controls the attitude by an elevator, a ladder, and an aileron (for example, a small and light unmanned aircraft having a wing length of 1 m or less) ) Has been put into practical use (see, for example, Patent Document 1 and Patent Document 2).
As shown in FIG. 7, the unmanned airplane attitude control device 101 stores a control unit 102 that controls each component of the attitude control device main body, a processing program executed by the control unit 102, various data, and the like. Storage section 103, an elevator 104 as an elevator provided at the trailing edge of the horizontal tail, a ladder provided at the trailing edge of the vertical tail, an aileron provided at the trailing edge of the main wing, and an elevator servo A motor 105, a ladder servo motor, an aileron servo motor, a motor drive unit 106 for driving each servo motor, and an air speed detection unit 107 including a pressure sensor are provided.

The control unit 102 obtains a change in the airspeed detection signal q1 sent from the airspeed detection unit 107, and adjusts the flight altitude of the unmanned airplane, and attitude control for ensuring airframe stability against disturbances such as gusts. It is carried out.
For example, when the control unit 102 receives the airspeed detection signal q1 from the airspeed detection unit 107 as shown in FIG. The trim angle of the elevator 104 is obtained according to the air speed, and a predetermined control signal (elevator drive command signal) q2 is given to the motor drive unit 106 based on the obtained trim angle of the elevator 104.

As a result, the motor drive unit 106 gives an elevator drive signal q 3 corresponding to the servo motor 105.
In this way, the attitude control device 101 drives the elevator 104 and adjusts the trim angle of the elevator 104 so that the pitch angle of the unmanned airplane becomes an appropriate value for stable flight at the current air speed. It is adjusted. Here, the control unit 102 sets the trim angle of the elevator 104 corresponding to the current air speed as an initial value (target value).

In addition, with attitude control for an airship as a flying object, a payload (load) is installed in the airship and this payload is moved along the front-rear direction to move the center of gravity of the hull and move the hull back and forth. A technique for controlling the pitch angle simply and quickly without causing aerodynamic loss has been proposed (for example, see Patent Document 3).
JP 2005-028935 A Japanese Patent Laying-Open No. 2005-067398 Japanese Patent Laid-Open No. 11-278391 (7th page, FIG. 3)

The first problem to be solved is that, for example, in the above-described prior art, the response of the elevator may be delayed, and the stability of the aircraft cannot be ensured.
For example, in the techniques described in Patent Document 1 and Patent Document 2, because of depending on the measurement performance of the pressure sensor of the airspeed detection unit, the responsiveness of an elevator servo motor, etc., sudden thrust fluctuations, Inability to respond reliably and quickly to environmental disturbances. Further, when the technique described in Patent Document 3 is applied to an airplane flying at a relatively high speed, for example, control is performed based on a detection signal from a pressure sensor of an airspeed detection unit. If the accuracy and responsiveness of the pressure sensor are low, the response of the elevator may not be in time.

The second problem is that, in the above-described prior art, when the airspeed is insufficient, the pitch angle of the airframe cannot be controlled by adjusting the trim angle of the elevator.
For example, in the techniques described in Patent Document 1 and Patent Document 2, when the airspeed is insufficient such as when taking off or landing, the trimming angle of the elevator cannot be adjusted by changing the steering angle.

The present invention has been made in view of the above-described circumstances. For example, an automatic attitude control device that can respond quickly and ensure the stability of the fuselage in response to a sudden change in thrust or a disturbance such as a gust of wind. A first object is to provide an automatic attitude control method and an automatic attitude control program.
In addition, for example, it is a second object to provide an automatic attitude control device, an automatic attitude control method, and an automatic attitude control program capable of reliably controlling the attitude of the airframe even when the airspeed is insufficient. .

  In order to solve the above-mentioned problems, an invention according to claim 1 relates to an automatic attitude control device for causing a flying object or a ship to stably fly or sail, and moving a payload mounted on the flying object or the ship. Centroid changing means for changing the center of gravity of the flying body or the ship, the thrust of the flying body or the ship, and the position of the center of gravity corresponding to a predetermined attitude angle of the flying body or the ship. Centroid position calculating means for calculating a desired centroid position corresponding to the current thrust based on the relationship between the centroids, and centroid fluctuation control means for controlling the centroid changing means to change the centroid to a desired position. It is characterized by.

  According to a second aspect of the present invention, there is provided the automatic attitude control device according to the first aspect, further comprising a center-of-gravity position information acquisition unit that acquires current center-of-gravity position information of the flying object or the ship, and the center-of-gravity variation control unit. Is characterized by controlling the center-of-gravity changing means based on desired center-of-gravity position information and current center-of-gravity position information to change the center of gravity to a desired position.

  The invention according to claim 3 relates to the automatic attitude control device according to claim 1 or 2, wherein the center-of-gravity variation means has payload movement means for moving the payload, and the center-of-gravity variation control means has a predetermined value. Based on the center of gravity position information corresponding to the attitude angle, the moving amount calculating means for calculating the required moving amount of the payload, and the payload moving means is controlled based on the moving amount to move the payload. And a payload movement control means.

  According to a fourth aspect of the present invention, there is provided the automatic attitude control device according to the first, second or third aspect, wherein the flying object or the ship gives a propulsion control signal to a propulsion means for obtaining a thrust. Propulsion control means for controlling the means is provided, and the center-of-gravity position calculation means detects the current thrust based on the propulsion control signal and calculates a corresponding desired center-of-gravity position.

  According to a fifth aspect of the present invention, there is provided the automatic attitude control apparatus according to the fourth aspect, wherein the flying body rotates the propeller attached to the front of the fuselage by a propulsion motor to generate thrust. The propulsion control means gives the rotational speed control signal as the propulsion control signal for controlling the rotational speed of the propulsion motor to the propulsion motor as the propulsion means, The propulsion unit is controlled, and the center-of-gravity position calculation unit detects a current thrust based on rotation speed information included in the rotation speed control signal, and calculates a corresponding desired center-of-gravity position. .

  A sixth aspect of the present invention relates to the automatic attitude control device according to the third, fourth, or fifth aspect, wherein the payload moving means converts a rotational motion into a translational motion and moves the payload along a predetermined direction. Power transmission means for moving the power transmission means and a payload movement motor for driving the power transmission means, and the payload movement control means is configured to control the payload movement motor based on the movement amount. A necessary rotation amount is calculated and a rotation amount control signal is given to the payload moving motor.

  A seventh aspect of the present invention relates to the automatic attitude control device according to any one of the first to sixth aspects, wherein the center-of-gravity position calculating means includes a known thrust, the flying object or the ship. Based on the relationship between the appropriate center of gravity position along the front-rear direction corresponding to the pitch angle as the appropriate posture angle, the appropriate center of gravity position corresponding to the current thrust is calculated, The center of gravity changing means is controlled to change the center of gravity to an appropriate position along the front-rear direction.

  The invention according to claim 8 relates to the automatic attitude control device according to any one of claims 1 to 7, wherein the payload is a component or component of the flying object or the ship. It is characterized by use.

  According to a ninth aspect of the present invention, there is provided the automatic attitude control apparatus according to the eighth aspect, wherein the payload includes a battery as a power source.

  The invention according to claim 10 relates to the automatic attitude control device according to any one of claims 1 to 9, wherein the center-of-gravity changing means is mounted inside the flying body or the ship. It is a feature.

  The invention described in claim 11 relates to an automatic attitude control method for stably flying or navigating a flying object or a ship, and a payload mounted on the flying object or the ship using a payload moving means. A center-of-gravity changing step for changing the center of gravity of the flying object or the ship by moving, a thrust of the flying object or the ship, and a position of the center of gravity corresponding to a predetermined attitude angle of the flying object or the ship; Centroid position calculating step for calculating a desired centroid position corresponding to the current thrust based on the relationship between the two, and a centroid change control step for controlling the payload moving means to change the centroid to a desired position. It is characterized by including.

  A twelfth aspect of the invention relates to the automatic attitude control method of the eleventh aspect, and includes a centroid position information acquisition step of acquiring current centroid position information of the flying vehicle or the ship, and the centroid variation control step. Then, the payload moving means is controlled on the basis of desired center-of-gravity position information and current center-of-gravity position information, and the center of gravity is changed to a desired position.

  The invention according to claim 13 relates to the automatic attitude control method according to claim 11 or 12, wherein the center-of-gravity variation control step requires the payload based on the center-of-gravity position information corresponding to a predetermined attitude angle. It includes a movement amount calculation step for calculating a movement amount, and a payload movement control step for controlling the payload movement means to move the payload based on the movement amount.

  The invention according to claim 14 relates to the automatic attitude control method according to claim 11, 12 or 13, wherein a propulsion control signal is provided to a propulsion means provided in the flying body or the ship for obtaining thrust. Including a propulsion control step for controlling the propulsion means, wherein the center-of-gravity position calculating step detects a current thrust based on the propulsion control signal and calculates a corresponding desired center-of-gravity position.

  The invention according to claim 15 relates to the automatic attitude control method according to claim 14, wherein the flying body rotates the propeller attached to the front of the fuselage by a propulsion motor to generate thrust. In the propulsion control step, a rotation speed control signal as the propulsion control signal for controlling the rotation speed of the propulsion motor is given to the propulsion motor as the propulsion means, The propulsion means is controlled, and the center-of-gravity position calculating step is characterized in that a current thrust is detected based on rotation speed information included in the rotation speed control signal and a corresponding desired center-of-gravity position is calculated. .

  The invention according to claim 16 relates to the automatic attitude control method according to claim 13, 14 or 15, wherein the payload moving means converts rotational motion into translational motion, and the payload is moved along a predetermined direction. Power transmission means for moving the power transmission means, and a payload movement motor for driving the power transmission means. In the payload movement control step, the payload movement motor is controlled based on the movement amount. A necessary rotation amount is calculated and a rotation amount control signal is given to the payload moving motor.

  The invention according to claim 17 relates to the automatic attitude control method according to any one of claims 11 to 16, wherein in the center of gravity position calculating step, the thrust known in advance and the flying object or the ship are detected. Based on the relationship between the appropriate center of gravity position along the front-rear direction corresponding to the pitch angle as the appropriate attitude angle, the appropriate center of gravity position corresponding to the current thrust is calculated, and in the center of gravity variation control step, The payload moving means is controlled to change the center of gravity to an appropriate position along the front-rear direction.

  The invention according to claim 18 relates to the automatic attitude control method according to any one of claims 11 to 17, wherein the payload is a component or component of the flying object or the ship. It is characterized by use.

  The invention described in claim 19 relates to the automatic attitude control method described in claim 18, wherein the payload includes a battery as a power source.

  The invention according to claim 20 relates to the automatic attitude control method according to any one of claims 11 to 19, wherein the payload moving means is mounted inside the flying body or the ship. It is a feature.

  According to a twenty-first aspect of the present invention, an automatic attitude control program causes a computer to execute the automatic attitude control method according to any one of the eleventh to twentieth aspects.

  According to the configuration of the present invention, the center-of-gravity position calculating means corresponds to the current thrust based on the relationship between the thrust of the flying object or the ship and the position of the center of gravity corresponding to the predetermined attitude angle of the flying object or the ship. The center of gravity variation control means controls the center of gravity variation means, and the center of gravity variation means moves the payload mounted on the flying body or the ship to thereby calculate the position of the flying body or the ship. Since the center of gravity is changed to a desired position, for example, it is possible to respond quickly to disturbances such as a sudden change in thrust or a gust of wind, and to ensure the stability of the flying object or ship. Even when the speed is insufficient, the attitude of the flying object or the ship can be reliably controlled.

  The center-of-gravity position calculation means calculates a desired center-of-gravity position corresponding to the current thrust based on the relationship between the thrust of the flying object or ship and the center of gravity position corresponding to the predetermined attitude angle of the flying object or ship. The center-of-gravity variation control unit controls the center-of-gravity variation unit, and the center-of-gravity variation unit moves the payload mounted on the flying object or the ship to change the center of gravity of the flying object or the ship to a desired position. Thus, by changing the center of gravity of the flying object or ship, for example, the first response is to respond promptly and to ensure the stability of the flying object or ship according to a sudden change in thrust or a disturbance such as a gust of wind. The purpose and the second purpose of reliably controlling the attitude of the airframe even when the airspeed is insufficient, for example, have been realized.

FIG. 1 is a block diagram showing the configuration of a flight control device for a small unmanned aerial vehicle according to a first embodiment of the present invention, FIG. 2 is a perspective view showing the configuration of the same small unmanned aircraft, and FIG. FIG. 4 is a block diagram showing the configuration of the motor drive unit of the flight control device, FIG. 5 is a perspective view showing the configuration of the center of gravity variation unit of the flight control device, and FIG. These are explanatory drawings for demonstrating operation | movement of the attitude | position control apparatus of the flight control apparatus.
As shown in FIGS. 1 to 3, the small unmanned airplane 1 of this example includes a fuselage 2, main wings 3 and 3 attached to the side of the fuselage 2, a vertical tail 4 attached to the rear part of the fuselage 2, and A horizontal tail 5 and a flight control device 6 mounted inside the fuselage 2 are provided. The flight control device 6 includes a posture control device 7 that controls the posture angle (roll angle, pitch angle, yaw angle) of the small unmanned airplane 1.

  As shown in FIG. 1, the flight control device 6 of this example includes a control unit 9 that controls each component of the flight control device body, and a storage unit that stores a processing program executed by the control unit 9, various data, and the like. 11, a radio receiver 13 used for receiving radio waves via the antenna 12, a propeller 14 attached to the front of the fuselage 2, and an elevator provided at the rear edge of the horizontal tail 5 Elevator 15, rudder 16 as a rudder provided at the rear edge of the vertical tail 4, aileron 17 as an auxiliary wing provided at the rear edge of the main wing 3, and the center of gravity for changing the position of the center of gravity of the small unmanned airplane 1 Fluctuation unit 8, actuator unit 18 having a servo motor, motor drive unit 19 for driving each motor, propulsion motor 21 for rotating the propeller 14 to obtain thrust, attitude detection 22, the acceleration detection unit 23, an airspeed detector 24, and a power supply unit 25.

Here, the battery 26 constituting the power supply unit 25 has a relatively large weight in the weight of the entire small unmanned airplane 1 and also has a function as a payload (load).
In this example, the center-of-gravity changing unit 8 moves the battery 26 along the front-rear direction, thereby displacing the center of gravity of the small unmanned airplane 1 with respect to the center of lift, and adjusting the pitch angle as the attitude angle. It is possible.

The control unit 9 includes a CPU (central processing unit) and the like, executes various control programs stored in the storage unit 11, controls each component, and controls the posture angle (roll angle, Attitude control processing for controlling the pitch angle and yaw angle), thrust control processing, radio signal reception processing, and the like are executed.
Here, the attitude control process includes an emergency pitch angle control process, a normal pitch angle control process, a roll angle control process, and a yaw angle control process. The emergency pitch angle control process includes a current center-of-gravity position acquisition process, an appropriate center-of-gravity position calculation process, a rotation amount calculation process, and a control signal output process. The normal pitch angle control process includes an airspeed calculation process, a current pitch angle calculation process, an adjustment angle calculation process, and a control signal output process.
The thrust control process includes a rotation speed calculation process for calculating the rotation speed (rotation speed) of the propulsion motor 21 and a control signal output process.

  In the emergency pitch angle control process, the control unit 9 determines the current center-of-gravity position (position along the front-rear direction of the small unmanned airplane 1) (or the battery 26 as a payload) when the thrust changes relatively abruptly. Current center-of-gravity position acquisition processing for acquiring the current position) from the storage unit 11, the rotational speed (number of rotations) of the propulsion motor 21 corresponding to a known thrust, and the appropriate pitch angle of the small unmanned airplane 1 Based on the appropriate center of gravity position calculation process for calculating the appropriate center of gravity position corresponding to the current number of rotations based on the relationship between the corresponding appropriate center of gravity position, and the appropriate center of gravity position and the current center of gravity position, Rotation amount calculation processing for determining the rotation amount of the center of gravity variation motor 31 composed of a small DC motor corresponding to the required displacement amount along the front-rear direction of the battery 26, and a control signal corresponding to the required rotation amount is sent to the motor drive. Executing a control signal output process to be given to the part 19.

  In the normal pitch angle control process, the control unit 9 performs an airspeed calculation process for obtaining the current airspeed based on a detection signal from the airspeed detection unit 24 when the thrust changes relatively gently. The current pitch angle calculation process for obtaining the current pitch angle based on the detection signal from the attitude sensor 22, the trim angle of the elevator 15 known in advance, and the appropriate pitch angle of the small unmanned airplane 1 corresponding to the airspeed Based on the relationship between the motor drive unit 19, an adjustment angle calculation process for obtaining the adjustment angle (change) of the elevator 15 and a predetermined control signal for controlling the elevator servo motor 35 of the actuator unit 18 are sent to the motor drive unit 19. The control signal output process to be applied is executed.

In the roll angle control process and the yaw angle control process, the control unit 9 performs the same process as the normal pitch angle control process.
The control unit 9 is a thrust control process, based on the operation signal received via the wireless reception unit 13, a rotation speed calculation process for calculating the rotation speed (rotation speed) of the propulsion motor 21, and the propulsion motor 21. And a control signal output process for giving a predetermined control signal for controlling the motor drive unit 19 to the motor drive unit 19.

  In this example, the control unit 9 calculates the change rate (change rate) of the propulsive force based on the rotation speed calculated in the rotation speed calculation process. When it is determined that the propulsive force is changing suddenly, emergency pitch angle control processing is executed, and when it is determined that the change speed is below a predetermined value and the thrust is changing relatively gently, The hour pitch angle control process is executed.

The storage unit 11 includes a semiconductor memory such as a ROM and a RAM, and stores a program storage unit that stores various processing programs such as an attitude control processing program, a thrust control processing program, and a wireless signal reception processing program executed by the control unit 9. And an information storage unit that stores various types of information such as setting information and detection information. In the storage unit 11, various registers and flags used by the control unit 9 during program execution are secured.
Here, the detection information includes current gravity center position information (payload position information) and current posture angle information.

  As shown in FIG. 5, the center-of-gravity variation unit 8 is rigidly coupled to a battery 26 as a payload, supports the battery 26 in a suspended state, and extends along the front-rear direction (for example, the roll axis (x-axis) direction) of the machine body. A center-of-gravity variation motor comprising a displaceable moving table 28, a ball screw 29 for moving the moving table 28, and a small DC motor for rotating the moving shaft 28 by rotating a screw shaft 29a of the ball screw 29. 31, a main rotating gear 32 attached to the shaft of the motor 31 for changing the center of gravity with the same axis, and a direct connection to the screw shaft 29 a of the ball screw 29 with the same axis, and meshed with the main rotating gear 32. And a driven rotation gear 33.

The ball screw 29 includes a screw shaft 29a that is rotationally driven by the center-of-gravity variation motor 31, and a nut (not shown) that is screwed into the screw shaft 29a and is assembled and fixed to the moving table 28.
As shown in FIGS. 1 and 4, the actuator unit 18 includes an elevator servo motor 35 as a posture control motor, a ladder servo motor 36, and an aileron servo motor 37.

As shown in FIG. 4, the motor drive unit 19 includes a propulsion motor drive unit 39, a posture control motor drive unit 41, and a center-of-gravity variation motor drive unit 42.
Each of the attitude detection units 22 includes an attitude sensor including a gyro for measuring rotational angular velocities around the roll axis (x axis), pitch axis (y axis), and yaw axis (z axis) of the airframe. Yes.
The acceleration detector 23 has accelerations for measuring accelerations in the front-rear direction, the left-right direction, and the up-down direction, respectively.

Next, the operation of the flight control device 6 configured as described above will be described with reference to FIG.
In this example, the control unit 9 executes the emergency pitch angle control process when the thrust changes relatively abruptly and when the airspeed is below a certain value, and when the thrust changes relatively gently and When the air velocity exceeds a certain value, the normal pitch angle control process is executed.
In the thrust control process, the control unit 9 performs rotation for calculating the rotational speed (the number of rotations) of the propulsion motor 21 based on the operation signal p1 received via the wireless reception unit 13, as shown in FIG. A speed calculation process and a control signal output process for giving a predetermined drive control signal p2 for driving the propulsion motor 21 to the motor drive unit 19 are executed. Accordingly, the propulsion motor drive unit 39 gives a drive signal p3 to the propulsion motor 21.

For example, when the operation signal p1 that is emitted from the transmitter on the ground by the operation of the operator and suddenly increases the thrust of the small unmanned airplane 1 is received via the wireless reception unit 13, the control unit 9 A drive control signal p2 is applied to the motor drive unit 19 so that the rotation speed of the motor 21 increases rapidly.
In this state, the adjustment of the trim angle of the elevator 15 does not provide a quick response, the air speed of the small unmanned aerial vehicle 1 increases rapidly, the pitch angle fluctuates greatly, and stable flight becomes difficult. Performs emergency pitch angle control processing.

  That is, as shown in FIG. 6, the control unit 9 acquires current center-of-gravity position information (position information along the front-rear direction of the center of gravity of the small unmanned airplane 1) p4 from the storage unit 11 (current center-of-gravity position acquisition processing) ). At the same time, the control unit 9 obtains the current rotation speed (number of rotations) of the propulsion motor 21 to obtain the rotation speed of the propulsion motor 21 corresponding to a known thrust and the appropriate pitch angle of the small unmanned airplane 1. Based on the relationship with the corresponding appropriate gravity center position, appropriate gravity center position information p5 corresponding to the current rotation speed is calculated (appropriate gravity center position calculation processing).

Next, the control unit 9 obtains a necessary displacement amount along the front-rear direction of the battery 26 based on the appropriate center-of-gravity position and the current center-of-gravity position, and the rotation of the center-of-gravity variation motor 31 corresponding to this displacement amount. The amount is obtained (rotation amount calculation process).
Next, the control unit 9 executes a control signal output process for giving the drive control signal p6 corresponding to the required rotation amount to the motor drive unit 19. As a result, the center-of-gravity variation motor drive unit 42 provides the drive signal p 7 to the center-of-gravity variation motor 31.

  As a result, the center-of-gravity variation motor 31 rotates a predetermined amount, rotates the ball screw 29, and moves the moving table 28 by a predetermined amount. Due to the moving table 28, the relatively heavy battery 26 as the payload (load) moves relatively quickly by a predetermined amount, the center of gravity moves by a predetermined amount along the front-rear direction, and fluctuations in pitch angle are suppressed, Move closer to the appropriate value.

In the normal time pitch angle control process, the control unit 9 obtains the current air speed based on the detection signal from the air speed detection unit 24 (air speed calculation process). At the same time, the controller 9 obtains the current pitch angle based on the detection signal from the attitude sensor 22 (current pitch angle calculation process).
Next, the control unit 9 obtains the adjustment angle of the elevator 15 based on the relationship between the previously known trim angle of the elevator 15 and the appropriate pitch angle of the small unmanned airplane 1 corresponding to the airspeed. (Adjustment angle calculation process).
Next, the control unit 9 gives a predetermined control signal for controlling the elevator servomotor 35 of the actuator unit 18 to the motor drive unit 19 (control signal output processing).
The controller 9 performs the same process as the normal pitch angle control process in the roll angle control process and the yaw angle control process.

  Thus, according to the configuration of this example, for example, when receiving the operation signal p1 that suddenly increases the thrust of the small unmanned airplane 1, the control unit 9 executes the emergency pitch angle control process, Center of gravity position information p4 is obtained from the storage unit 11, and at the same time, the current rotation speed (rotation speed) of the propulsion motor 21 is obtained, and the rotation speed of the propulsion motor 21 corresponding to a known thrust and the small unmanned Based on the relationship between the appropriate center of gravity position corresponding to the appropriate pitch angle of the airplane 1, the appropriate center of gravity position information p5 corresponding to the current rotational speed is calculated, and the appropriate center of gravity position and the current center of gravity position are calculated. The required displacement amount along the front-rear direction of the battery 26 is obtained based on the above, the rotation amount of the center-of-gravity variation motor 31 corresponding to this displacement amount is obtained, and the control signal p6 corresponding to the required rotation amount is obtained from the motor drive Give to 19.

  As a result, the center-of-gravity variation motor driving unit 42 gives a drive signal p7 to the center-of-gravity variation motor 31. As a result, the center-of-gravity variation motor 31 rotates a predetermined amount, rotates the ball screw 29, and moves the moving table 28. Is moved forward by a predetermined amount, and a relatively heavy battery 26 as a payload (load) is moved by a predetermined amount relatively quickly by the moving table 28, and the center of gravity position is moved by a predetermined amount along the front-rear direction. It moves, and the fluctuation of the pitch angle is dynamically suppressed to bring it close to an appropriate value.

For this reason, for example, it can respond quickly according to environmental disturbances, such as a sudden change of thrust, a gust of wind, etc., and can ensure the stability of an airframe.
That is, as in the prior art, since it does not depend on the measurement performance of the pressure sensor of the airspeed detection unit, the responsiveness of the elevator servomotor 35, etc., it responds reliably and quickly, and the robustness of the aircraft posture is improved. It is possible to improve and achieve highly accurate flight control.
Moreover, because the airspeed is insufficient in the conventional technology, the pitch angle can be controlled even during takeoff and landing, where the trim angle of the elevator cannot be adjusted by changing the rudder angle, and all flight phases (takeoff, steady , Turning, and landing), the attitude of the aircraft can be reliably controlled.

The difference between this example and the first embodiment is that the center of gravity is moved when a relatively abrupt change in posture due to a disturbance is detected in addition to a relatively abrupt change in thrust. It is.
Since the configuration other than this is substantially the same as the configuration of the first embodiment described above, the same reference numerals as those used in FIG. The description will be simplified.

In the emergency pitch angle control process, the control unit 9 of the flight control device of this example obtains from the attitude detection unit 22, the acceleration detection unit 23, and the airspeed detection unit 24 when the thrust changes relatively abruptly. Based on the detected signal, the airspeed changes due to disturbances such as gusts, and the posture changes relatively abruptly.For example, it is detected that the pitch angle changes relatively abruptly. Rotation amount of the center-of-gravity variation motor 31 corresponding to the required displacement amount along the front-rear direction of the battery 26 based on the appropriate center-of-gravity position calculation process for calculating a correct center-of-gravity position and the appropriate center-of-gravity position and the current center-of-gravity position And a control signal output process for giving a control signal corresponding to the required rotation amount to the motor drive unit 19.
Thereafter, if the posture is relatively stable, the control unit 9 performs a normal pitch angle control process.

According to the configuration of this example, substantially the same effect as that of the first embodiment described above can be obtained.
In addition, the posture can be stabilized even when the posture changes relatively rapidly due to disturbance.

The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and there are design changes and the like without departing from the gist of the present invention. Are also included in the present invention.
For example, in the above-described embodiment, the case where the battery as the component of the flight control device is used as the payload has been described. However, the battery is not limited to the battery, and a dedicated payload may be used.

In addition, for example, the case where the control unit performs the posture control process, the thrust control process, and the like by executing the corresponding control program has been described, but each may be executed by independent hardware.
Alternatively, part or all may be performed using dedicated hardware, and a part of the program may be executed and processed.
Also, the emergency pitch angle control process and the normal pitch angle control process may be switched according to changes in thrust and airspeed, and separately during steady flight and takeoff and landing, You may use together.

Also. A pressure sensor for measuring the altitude, a magnetic direction sensor, or the like may be additionally provided.
Further, the roll angle may be controlled by moving the center of gravity not only in the front-rear direction but also in the left-right direction.
In addition, a pulse motor (stepping motor) may be used in place of the small DC motor at the center of gravity variation portion. Thereby, the feedback control device can be omitted.
In order to speed up the response, the center of gravity may be excessively changed beyond an appropriate position.

  As a flying object, it can be applied to an unmanned airship or the like as well as a small wireless airplane or a radio-controlled airplane. Further, the present invention can be applied to a case where a propulsion means is driven by an internal combustion engine in addition to a propeller driven by a motor. Moreover, it can be applied to a ship that sails on the water.

It is a block diagram which shows the structure of the flight control apparatus of the small unmanned airplane which is 1st Example of this invention. It is a perspective view which shows the structure of the same small unmanned airplane. It is a side view which shows the structure of the same small unmanned airplane. It is a block diagram which shows the structure of the motor drive part of the flight control apparatus. It is a perspective view which shows the structure of the gravity center fluctuation | variation part of the flight control apparatus. It is explanatory drawing for demonstrating operation | movement of the attitude | position control apparatus of the flight control apparatus. It is explanatory drawing for demonstrating a prior art.

Explanation of symbols

1 Small unmanned airplane (aircraft)
6 Flight control device 7 Attitude control device 8 Center of gravity variation part (center of gravity variation means)
9 Control unit (centroid position information acquisition means, centroid position calculation means, rotation amount calculation means)
11 storage unit 14 propeller (part of propulsion means)
15 Elevator
18 Actuator
19 Motor drive part (motor drive means)
21 Propulsion motor (part of propulsion means)
22 Attitude detection unit 23 Acceleration detection unit 24 Airspeed detection unit 26 Battery (payload)
31 motor for changing the center of gravity 35 servo motor for elevator 39 motor driving unit for propulsion 41 motor driving unit for attitude control 42 motor driving unit for changing the center of gravity

Claims (21)

An automatic attitude control device for making a flying object or a ship stably fly or sail,
Center of gravity variation means for varying the center of gravity of the flying object or the ship by moving the payload mounted on the flying object or the ship;
Based on the relationship between the thrust of the flying object or the ship and the position of the center of gravity corresponding to a predetermined attitude angle of the flying object or the ship, the center of gravity position for calculating a desired center of gravity position corresponding to the current thrust A calculation means;
An automatic attitude control device comprising: a center-of-gravity variation control unit that controls the center-of-gravity variation unit to vary the center of gravity to a desired position. Center of gravity position information acquisition means for acquiring current center of gravity position information of the flying object or the ship,
The center-of-gravity variation control unit controls the center-of-gravity variation unit based on desired center-of-gravity position information and current center-of-gravity position information to vary the center of gravity to a desired position. Automatic attitude control device.   The center-of-gravity variation means includes payload movement means for moving the payload, and the center-of-gravity variation control means is a movement that calculates a necessary amount of movement of the payload based on center-of-gravity position information corresponding to a predetermined posture angle. The automatic attitude control apparatus according to claim 1, further comprising: a quantity calculation unit; and a payload movement control unit that controls the payload movement unit based on the movement amount to move the payload.   The flying object or the ship includes a propulsion control unit that controls the propulsion unit by giving a propulsion control signal to a propulsion unit for obtaining thrust, and the center-of-gravity position calculation unit is based on the propulsion control signal. 4. The automatic attitude control apparatus according to claim 1, wherein the thrust is detected and a corresponding desired center of gravity position is calculated. The flying body includes the propulsion means that generates a thrust by rotating a propeller attached to a front portion of the fuselage by a propulsion motor,
The propulsion control means provides the propulsion motor as the propulsion means with a rotation speed control signal as the propulsion control signal for controlling the rotation speed of the propulsion motor to control the propulsion means, 5. The automatic attitude according to claim 4, wherein the center-of-gravity position calculating unit detects a current thrust based on rotation speed information included in the rotation speed control signal and calculates a corresponding desired center of gravity position. Control device.   The payload moving means is a power transmission means for converting rotational movement into translational movement and moving the payload in translation along a predetermined direction, and a payload movement motor for driving the power transmission means; The payload movement control means calculates a necessary rotation amount of the payload movement motor based on the movement amount, and gives a rotation amount control signal to the payload movement motor. Item 6. The automatic attitude control device according to item 3, 4 or 5.   The center-of-gravity position calculating means is based on a relationship between a known thrust and an appropriate center-of-gravity position along the front-rear direction corresponding to a pitch angle as an appropriate attitude angle of the flying object or the ship, An appropriate center of gravity position corresponding to a current thrust is calculated, and the center of gravity variation control unit controls the center of gravity variation unit to vary the center of gravity to an appropriate position along the front-rear direction. The automatic attitude control device according to any one of 1 to 6.   The automatic attitude control device according to any one of claims 1 to 7, wherein the payload is also used as a component or component of the flying object or the ship.   The automatic attitude control apparatus according to claim 8, wherein the payload includes a battery as a power source.   The automatic attitude control device according to any one of claims 1 to 9, wherein the center-of-gravity changing means is mounted inside the flying body or the ship. An automatic attitude control method for stably flying or navigating a flying object or a ship,
A gravity center changing step for changing the center of gravity of the flying object or the ship by moving the payload mounted on the flying object or the ship using a payload moving means,
Based on the relationship between the thrust of the flying object or the ship and the position of the center of gravity corresponding to a predetermined attitude angle of the flying object or the ship, the center of gravity position for calculating a desired center of gravity position corresponding to the current thrust A calculation step;
And a center-of-gravity variation control step of controlling the payload moving means to vary the center of gravity to a desired position. A center-of-gravity position information acquisition step of acquiring current center-of-gravity position information of the flying object or the ship,
12. The center-of-gravity variation control step includes controlling the payload moving unit based on desired center-of-gravity position information and current center-of-gravity position information to vary the center of gravity to a desired position. Automatic attitude control method.   The center-of-gravity variation control step controls the payload moving means based on the movement amount calculating step for calculating a required movement amount of the payload based on the gravity center position information corresponding to a predetermined posture angle, and the movement amount. The automatic attitude control method according to claim 11, further comprising a payload movement control step of moving the payload.   A propulsion control step for controlling the propulsion unit by providing a propulsion control signal to the propulsion unit for obtaining thrust, which is provided in the flying body or the ship, and the gravity center position calculating step is based on the propulsion control signal 14. The automatic attitude control method according to claim 11, wherein the current thrust is detected and a corresponding desired center of gravity position is calculated. The flying body includes the propulsion means that generates a thrust by rotating a propeller attached to a front portion of the fuselage by a propulsion motor,
In the propulsion control step, the propulsion motor as the propulsion means is given a rotation speed control signal as the propulsion control signal for controlling the rotation speed of the propulsion motor to control the propulsion means, 15. The automatic posture according to claim 14, wherein, in the center-of-gravity position calculating step, a current thrust is detected and a corresponding desired center-of-gravity position is calculated based on rotation speed information included in the rotation speed control signal. Control method.   The payload moving means is a power transmission means for converting rotational movement into translational movement and moving the payload in translation along a predetermined direction, and a payload movement motor for driving the power transmission means; The payload movement control step calculates a necessary rotation amount of the payload movement motor based on the movement amount, and provides a rotation amount control signal to the payload movement motor. Item 16. The automatic attitude control method according to item 13, 14 or 15.   In the center-of-gravity position calculating step, based on a relationship between a known thrust and an appropriate center-of-gravity position along the front-rear direction corresponding to a pitch angle as an appropriate attitude angle of the flying object or the ship, The center of gravity position corresponding to the current thrust is calculated, and in the center-of-gravity variation control step, the payload moving means is controlled to vary the center of gravity to an appropriate position along the front-rear direction. The automatic attitude control method according to any one of 11 to 16.   The automatic attitude control method according to any one of claims 11 to 17, wherein the payload is also used as a component or a component of the flying object or the ship.   19. The automatic attitude control method according to claim 18, wherein the payload includes a battery as a power source.   The automatic attitude control method according to any one of claims 11 to 19, wherein the payload moving means is mounted inside the flying body or the ship. An automatic attitude control program for causing a computer to execute the automatic attitude control method according to any one of claims 11 to 20.

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