JP4644522B2 - 小型無人ヘリコプタの自律飛行制御装置及び自律飛行制御方法 - Google Patents
小型無人ヘリコプタの自律飛行制御装置及び自律飛行制御方法 Download PDFInfo
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- JP4644522B2 JP4644522B2 JP2005135106A JP2005135106A JP4644522B2 JP 4644522 B2 JP4644522 B2 JP 4644522B2 JP 2005135106 A JP2005135106 A JP 2005135106A JP 2005135106 A JP2005135106 A JP 2005135106A JP 4644522 B2 JP4644522 B2 JP 4644522B2
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims description 54
- 238000000034 method Methods 0.000 title claims description 18
- 230000008569 process Effects 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 3
- 238000013528 artificial neural network Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000004069 differentiation Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0858—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft specially adapted for vertical take-off of aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
ΔX=X*−X
ΔY=Y*−Y
ΔZ=Z*−Z
ΔVx=Vx*−Vx
ΔVy=Vy*−Vy
ΔVz=Vz*−Vz
Δθ=θ*−θ
Δφ=φ*−φ
Δψ=ψ*−ψ
Δω=ω*−ω
101 軌道入力部
102 予見フィードフォワード位置制御値取得部
103 位置制御値取得部
104 センサ情報取得部
301 フィードバック位置制御値取得部
306 位置制御値決定部
310 速度制御値決定部
314 姿勢制御値決定部
Claims (8)
- 前記位置制御値取得部は、
設定される軌道から取得する現在の位置目標値ならびに前記ヘリコプタ機体に搭載されたセンサから取得する現在の位置センサ情報を用いて前記モデル式における位置制御モデルを基にフィードバック位置制御値を演算するフィードバック位置制御値取得部と、
前記予見フィードフォワード位置制御値及び前記フィードバック位置制御値から位置制御値を決定する位置制御値決定部を備えることを特徴とする請求項1に記載の小型無人ヘリコプタの自律飛行制御装置。 - 設定される軌道から取得する現在の位置目標値ならびに前記ヘリコプタ機体に搭載されたセンサから取得する現在の位置センサ情報を用いて前記モデル式における位置制御モデルを基にフィードバック位置制御値を演算する工程と、
前記予見フィードフォワード位置制御値及び前記フィードバック位置制御値から位置制御値を取得する工程を有することを特徴とする請求項5に記載の小型無人ヘリコプタの自律飛行制御方法。
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JP2005135106A JP4644522B2 (ja) | 2005-05-06 | 2005-05-06 | 小型無人ヘリコプタの自律飛行制御装置及び自律飛行制御方法 |
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JP2005135106A JP4644522B2 (ja) | 2005-05-06 | 2005-05-06 | 小型無人ヘリコプタの自律飛行制御装置及び自律飛行制御方法 |
Publications (2)
Publication Number | Publication Date |
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JP2006312344A JP2006312344A (ja) | 2006-11-16 |
JP4644522B2 true JP4644522B2 (ja) | 2011-03-02 |
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JP2005135106A Active JP4644522B2 (ja) | 2005-05-06 | 2005-05-06 | 小型無人ヘリコプタの自律飛行制御装置及び自律飛行制御方法 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104360688A (zh) * | 2014-11-19 | 2015-02-18 | 云南电网公司电力科学研究院 | 一种巡线无人机的导向装置及其控制方法 |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4961166B2 (ja) * | 2006-06-12 | 2012-06-27 | ヒロボー株式会社 | 自律飛行制御装置及び自律飛行制御装置を搭載した小型無人ヘリコプタ |
US8200375B2 (en) | 2008-02-12 | 2012-06-12 | Stuckman Katherine C | Radio controlled aircraft, remote controller and methods for use therewith |
FR2972364B1 (fr) * | 2011-03-08 | 2014-06-06 | Parrot | Procede de pilotage suivant un virage curviligne d'un drone a voilure tournante a rotors multiples. |
FR2977333B1 (fr) * | 2011-06-28 | 2014-01-31 | Parrot | Procede de controle dynamique d'attitude d'un drone, pour l'execution automatique d'une figure de type vrille ou salto |
US9650155B2 (en) | 2013-06-25 | 2017-05-16 | SZ DJI Technology Co., Ltd | Aircraft control apparatus, control system and control method |
CN105938369B (zh) | 2013-06-25 | 2018-11-02 | 深圳市大疆创新科技有限公司 | 飞行器的控制系统及控制方法 |
US9360868B2 (en) * | 2013-10-28 | 2016-06-07 | Traxxas Lp | Ground vehicle-like control for remote control aircraft |
KR101813697B1 (ko) * | 2015-12-22 | 2017-12-29 | 한국항공대학교산학협력단 | 딥 러닝을 이용한 무인기 비행 제어 시스템 및 방법 |
US10059446B2 (en) | 2016-06-06 | 2018-08-28 | Traxxas Lp | Ground vehicle-like control for remote control aircraft |
CN106227290B (zh) * | 2016-07-25 | 2017-11-24 | 深圳市乐信兴业科技有限公司 | 一种飞行器节能控制方法及系统 |
DE112019006928T5 (de) * | 2019-03-29 | 2021-12-02 | Mitsubishi Electric Corporation | Modellprädiktive regelungsvorrichtung, modellprädiktives regelungsprogramm, modellprädiktives regelungssystem und modellprädiktives regelungsverfahren |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4354240A (en) * | 1980-03-24 | 1982-10-12 | Sperry Corporation | Flight path transition control apparatus with predictive roll command |
JP2000118498A (ja) * | 1998-10-09 | 2000-04-25 | Yamaha Motor Co Ltd | 無人ヘリコプタの飛行制御システム |
JP2001306143A (ja) * | 2000-04-21 | 2001-11-02 | Yamaha Motor Co Ltd | 無人ヘリコプタの飛行制御システム |
JP2004256022A (ja) * | 2003-02-26 | 2004-09-16 | Kenzo Nonami | 小型無人ヘリコプタの自律制御方法 |
-
2005
- 2005-05-06 JP JP2005135106A patent/JP4644522B2/ja active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4354240A (en) * | 1980-03-24 | 1982-10-12 | Sperry Corporation | Flight path transition control apparatus with predictive roll command |
JP2000118498A (ja) * | 1998-10-09 | 2000-04-25 | Yamaha Motor Co Ltd | 無人ヘリコプタの飛行制御システム |
JP2001306143A (ja) * | 2000-04-21 | 2001-11-02 | Yamaha Motor Co Ltd | 無人ヘリコプタの飛行制御システム |
JP2004256022A (ja) * | 2003-02-26 | 2004-09-16 | Kenzo Nonami | 小型無人ヘリコプタの自律制御方法 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104360688A (zh) * | 2014-11-19 | 2015-02-18 | 云南电网公司电力科学研究院 | 一种巡线无人机的导向装置及其控制方法 |
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