JP6966788B2 - Synchronous method when controlling the same blade using multiple actuators - Google Patents

Description

The present invention relates to a technique for synchronizing an actuator (servomotor) that is mounted on a plurality of models and controls the movement of movable wings such as Ellon in a model airplane that is remotely controlled by wireless communication.

Generally, when flying a model airplane that is remotely controlled by wireless communication, a command is issued from the ground via a transmitter to operate a drive source such as an engine / motor, an aileron (aileron), or a rudder (aileron). By operating movable wings such as rudders, elevators (elevators), and flaps (high-lift devices), the aircraft is maneuvered for propulsion, ascent, descent, and turning.
The movement of the movable wing is controlled by an actuator (servo motor). For example, referring to FIG. 1 of Patent Document 1, a rudder for controlling the left-right movement of the airframe is provided on the vertical stabilizer, and one actuator is attached to the airframe. The ladder and the actuator are connected via a linkage member.

Further, referring to FIG. 2 of the same document, the horizontal stabilizer is provided with an elevator for controlling the vertical movement of the airframe, and one actuator is attached to the horizontal stabilizer. The elevator and the actuator are connected via a linkage member.
As described above, in a general model airplane, movable wings such as a rudder, an elevator, an aileron, and a flap are often controlled by one actuator.

Japanese Unexamined Patent Publication No. 2014-223158

By the way, there are various types of model airplanes that are remotely controlled by wireless communication (radio control). Among them, there are large aircraft whose overall length (airframe) and overall width (main wing) each exceed 1 m. Therefore, the large model airplane has large and long left and right main wings, horizontal stabilizer, and vertical stabilizer. In addition, movable wings such as ailerons are also large and long.

When the movable wing becomes large and long, it becomes difficult to control the movement of the movable wing with one actuator, so that the movement of the movable wing is controlled by a plurality of actuators.
However, even if a plurality of actuators are driven at the same time, they are not always driven by the same amount. That is, even if commands of the same angle are input to a plurality of actuators, the output axes of the actuators may not all have the same angle.

For example, when the aileron is controlled by three actuators, even if a command for tilting to 10 ° is input to the three actuators, one of them becomes 10 °, but the other actuators are 11 It may not be driven according to the command, such as ° or 9 °.
The reason is that, for example, since there are individual differences in the actuators, when a plurality of actuators are provided, the output shafts of those actuators are driven separately. This is due to the variation in the angle sensor built into the actuator.

Further, in addition to the variation of the actuator described above, there is also a problem of accuracy of the linkage member for moving the aileron or the like (accuracy of assembling the actuator and the movable wing). Therefore, even if the actuator operates as instructed, the blade may operate at a different angle.
In this way, if a plurality of actuators drive differently in response to a command (at different angles such as 11 ° and 9 ° with respect to 10 °), they will restrain each other and damage the actuators. .. In addition, this causes the movable wings such as ailerons to twist, which causes problems in flight.

That is, it is necessary to control the drive of a plurality of actuators to be synchronized.
Therefore, in view of the above problems, the present invention gives a correction value to the actuator that is not driven according to the input command when controlling a plurality of actuators, and when the command is input, the correction value is given. A synchronization method when controlling the same rotor blades using multiple actuators that can accurately control the movement of movable blades (same rotor blades) such as Ellon by outputting the drive according to the command. In other words, the purpose is to provide a method of synchronizing actuators mounted on a model airplane.

In order to achieve the above object, the following technical measures have been taken in the present invention.
The synchronization method in the case of controlling the same moving wing using a plurality of actuators according to the present invention is a method of synchronizing the actuators mounted on the model airplane and controlling the movable wing of the model airplane, in which the wing is controlled. Upon tuning the driving of n actuators M _n which, among the actuator M _n, with respect to the a-th actuator M _a, and synchronized the b-th actuator M _b, with respect to the actuator, the reference of enter multiple command values including a command value, searches the a _min current value a becomes the smallest when the drives the two actuators M _a and the actuator M _b, the minimum value of the obtained current a _min a command value for the actuator in, obtains a difference between the command value of the reference, the difference obtained, characterized in that the correction value α of the actuator M _b for synchronization with the driving of the actuator M _a ..

Preferably, the actuator M _b has a configuration in which the correction value α can be recorded.
Preferably, in synchronizing the drive of the plurality of actuators _Mn , it is preferable to follow the procedure of the following steps (S1) to (S12).
(S1): The work of dividing the rotatable range of the output shaft of the actuator for each predetermined angle is performed for all _n actuators Mn.

(S2): _{Of the actuators Mn} , the ath actuator Ma is used as _a reference actuator.
(S3) in one division of the those divided by :( S1), the reference of the actuator M _a, and inputs a command value θ for controlling the angle of the output shaft in any position.
(S4): The command value θ input in (S3) is used as a reference angle.

(S5): Of the plurality of mounted actuators M _n , the b-th actuator M _b is targeted for synchronization.
(S6): the actuator _{M a} and the actuator _{M b,} is driven by entering the command value θ determined in (S4).
(S7): the command value theta input to the actuator M _a, a value between the command value (θ + x) and the command value (θ-x) input to the actuator M _b, in the range of the command value (θ ± x) Drive.

(S8) :( S7) when being driven within the command value (θ ± x), and measuring a current value A flowing through the actuator _{M a} and the actuator _{M b,} search the minimum value _{A min} of a current value do.
(S9) :( a command value theta 'at the minimum value A _min of the search current value at S8), calculates a difference y between the command value theta criterion, the difference y, to synchronize with the driving of the actuator M _a Let the correction value α of the actuator M _{b of.} However, x ≧ y.

(S10): The correction value α determined in (S9) is recorded in the _{actuator M b.}
(S11): in synchronized actuators M _b, in all in which the divided every predetermined angle, (S6) to perform the procedure of ~ (S10), and obtains the correction value α in each division, the actuator It is recorded in the M _b.
(S12): Returning to (S5), a _{new actuator M to be synchronized is selected from the plurality of actuators Mn} , and the procedure up to (S11) is performed for all the actuators M _n to be synchronized. It is carried out, and the correction value α is obtained for all the divisions for each predetermined angle and recorded in each of the _{actuators Mn.}
Further, the most preferable form of the synchronization method in the case of controlling the same moving wing using a plurality of actuators according to the present invention is a method of synchronizing an actuator mounted on a model airplane and controlling the movable wing of the model airplane. In synchronizing the drive of the _n actuators M n that control the blades , the a-th actuator Ma is used as _a reference, and the b-th actuator M _b is set as a synchronization target _{among the actuators M n.} respect, enter multiple command values including a command value of the reference, to explore a _min current value a becomes the smallest when the drives the two actuators M _a and the actuator M _b, resulting a command value for the actuator in the minimum value a _min current, obtains a difference between the instruction value of the reference, the difference obtained, as the correction value α of the actuator M _b for synchronization with the driving of the actuator M _a In synchronizing the drive of the plurality of actuators _Mn , the procedure of the following steps (S1) to (S12) is followed.
(S1): The work of dividing the rotatable range of the output shaft of the actuator for each predetermined angle is performed for all _n actuators Mn.
(S2): _{Of the actuators Mn} , the ath actuator Ma is used as _a reference actuator.
(S3) in one division of the those divided by :( S1), the reference of the actuator M _a, and inputs a command value θ for controlling the angle of the output shaft in any position.
(S4): The command value θ input in (S3) is used as a reference angle.
(S5): Of the plurality of mounted actuators M _n , the b-th actuator M
_b is the synchronization target.
(S6): the actuator _{M a} and the actuator _{M b,} is driven by entering the command value θ determined in (S4).
(S7): the command value theta input to the actuator M _a, a value between the command value (θ + x) and the command value (θ-x) input to the actuator M _b, in the range of the command value (θ ± x) Drive.
(S8) :( S7) when being driven within the command value (θ ± x), and measuring a current value A flowing through the actuator _{M a} and the actuator _{M b,} search the minimum value _{A min} of a current value do.
(S9) :( a command value theta 'at the minimum value A _min of the search current value at S8), calculates a difference y between the command value theta criterion, the difference y, to synchronize with the driving of the actuator M _a Let the correction value α of the actuator M _{b of.} However, x ≧ y.
(S10): The correction value α determined in (S9) is recorded in the _{actuator M b.}
(S11): in synchronized actuators M _b, in all in which the divided every predetermined angle, (S6) to perform the procedure of ~ (S10), and obtains the correction value α in each division, the actuator It is recorded in the M _b.
(S12): Returning to (S5), a _{new actuator M to be synchronized is selected from the plurality of actuators Mn} , and the procedure up to (S11) is performed for all the actuators M _n to be synchronized. It is carried out, and the correction value α is obtained for all the divisions for each predetermined angle and recorded in each of the _{actuators Mn.}

According to the present invention, when controlling a plurality of actuators, a correction value is given to an actuator that does not drive according to an input command, and when a command is input, the actuator is driven according to the command by the correction value. By outputting, it is possible to accurately control the movement of movable wings (same moving blades) such as ailerons and rudder.

It is the figure which showed the outline of the control system of the aileron (movable wing) provided in the model airplane. It is a graph which showed the procedure of finding the correction value for an actuator (servomotor).

Hereinafter, embodiments of the synchronization method according to the present invention (synchronization method when controlling the same rotor blades by using a plurality of actuators) will be described with reference to the drawings.
It should be noted that the embodiments described below are examples that embody the present invention, and the specific examples do not limit the configuration of the present invention. Also, in order to make the drawings easier to see, some of the components of the model airplane are omitted. The directions of the front and rear, left and right, etc. of the wing are as shown in FIG.

First, the configuration of a model airplane will be described.
The fuselage (fuselage) is long in the front-rear direction (longitudinal direction), and the inside is hollow. Inside, a control mechanism (receiver, actuator 3 (servomotor), etc.) for controlling the airframe, a battery, a fuel tank, and the like are housed. Further, in the case of the propeller machine type, a drive unit such as a motor or an engine is attached to the nose side of the machine body.

A pair of left and right wings 1 are attached to the center of the fuselage in the front-rear direction. In the case of a jet aircraft type, a drive source (motor or engine) is attached to the main wing 1. The aileron 2 and flaps are provided on the main wing 1.
The aileron 2, also called an aileron, is provided on the rear outer side of the main wing 1 and is a wing for controlling the movement (rolling, tilting) around the axis in the front-rear direction of the airframe. The flap, also called a high-lift device, is provided inside the rear part of the main wing 1 and is a wing for generating lift of the airframe.

The vertical stabilizer is projected upward on the rear side in the front-rear direction of the fuselage. A ladder is provided on the rear side of the vertical stabilizer. The rudder, also called a rudder, is provided on the vertical stabilizer and is a rudder for controlling the movement (yaw, left-right movement) around the vertical axis of the aircraft.
A pair of left and right horizontal stabilizers are attached to the rear side of the fuselage in the front-rear direction. An elevator is installed behind the horizontal stabilizer. The elevator, also called an elevator, is provided on the horizontal stabilizer and is a rudder for controlling the movement (pitching, vertical movement of the nose) around the axis in the left-right direction of the aircraft.

The movement of movable blades (same moving blades) such as aileron 2 (auxiliary blade), rudder (rudder), elevator (elevator), flap (high lift device) is controlled by actuator 3 (servo motor) and rises.・ Maneuvering model aircraft such as descending and turning is performed.
For example, regarding the operation of a radio control model airplane, when turning the aircraft in flight to the left, the rudder of the vertical stabilizer is turned to the left, the aileron 2 of the left wing 1 is raised, and the aileron 2 of the right wing 1 is lowered. By tilting the aircraft to the left and raising the nose with the aileron of the horizontal stabilizer facing down, it turns to the left.

Since the airplane is in a floating state during flight, it is necessary to tilt the aircraft with aileron 2 when changing the direction. If you just tilt the aircraft, it will slide down diagonally, so raise the nose with the elevator.
Here, a synchronization method in the case of controlling the same rotor blades by using a plurality of actuators 3 (servomotors) according to the present invention will be described in detail.

In the present embodiment, the actuator 3 that controls the aileron 2 will be described as an example, but the present invention also describes the actuator 3 that controls movable blades (same moving blades) such as a ladder, an elevator, and a flap. Is applicable.
FIG. 1 is a diagram schematically showing an outline of the control system of the aileron 2 provided on the main wing 1 (left main wing) of the model airplane, and is a view looking up from below (back surface).

The present invention is a method of synchronizing a plurality of actuators 3 (servomotors) mounted on a model airplane and controlling an Ellon 2, so that the actuators 3 can be fixed at an arbitrary angle (position) between predetermined angles. This is a synchronization method in which a plurality of controlled actuators 3 are mounted, the control angles of the plurality of actuators 3 are synchronized, and the drive can be synchronized.
That is, in order to make the operation of the aileron 2 constant, the operations of the plurality of actuators 3 are synchronized (tuned).

First, the configuration of the actuator 3 (servo motor) is as follows.
In the present embodiment, the plurality of actuators 3 are connected in series, and an ammeter 9 is connected between them.
Normally, the actuator 3 controls the rotation of the output shaft so as to stop at the position of the instructed angle θ (command value) according to the angle sensor.

In the present embodiment, in order to correct the variation of the angle sensor (mainly the linearity of the sensor value with respect to the angle), the range in which the output shaft 4 can rotate (control angle possible range) is set to a predetermined interval (somewhat fine). It is decided to divide by) and give appropriate individual correction information (correction value α for the command value θ) to the actuator 3 in advance in each division so as to have a mechanism that can correct the variation of the angle sensor. ..

In this embodiment, the actuator 3 capable of registering a plurality of correction values α is adopted. That is, the actuator 3 of the present embodiment is a programmable servo that can be connected to a control device 11 or the like to register / change detailed setting data.
The configuration for adjusting the actuator 3 is as follows.
When operating a single object (for example, aileron 2) with a plurality of actuators 3, if there are variations in the angle sensors in each of the actuators 3, the actuator 3 as a whole seems to operate in the same manner. Focusing on the individual actuators 3, the control angle may differ with respect to the input command value θ (for example, it becomes 11 ° with respect to θ = 10 °), and there may be cases where they restrain each other. be.

As described above, if two or more actuators 3 are kept restrained from each other, one of the actuators 3 or all the actuators 3 may be burnt out. In order to prevent this, it is necessary to make corrections so that all the actuators 3 are driven in synchronization without restraining each other.
There are several methods for correcting the drive of the actuator 3, but in this embodiment, only the check of the actuator 3 is focused on. The actual linearity is not taken into consideration. In such a case, it is desirable to arbitrarily determine the reference actuator 3 and match the linearity of the dependent actuator 3 with the reference actuator 3. In order to match the linearity of the dependent actuator 3, the configuration on the actuator 3 side is used for correction. At that time, the current consumed by the actuator 3 is used as a reference for correction.

The reason is that, for example, when the two actuators 3 are restraining each other, the current consumed by the two actuators 3 increases. In such a state, the actuator 3 may be burnt out. That is, if the check of the actuator 3 is removed, the current consumed will be settled to the minimum, and this will be used.
The synchronization method of the present invention will be described in detail.

As shown in FIG. 1, in the present embodiment, three actuators 3 (n = 3) are mounted on the main wing 1, and the actuators M ₁ , the actuator M ₂ , and the actuator M ₃ are used in this order from the left.
The actuator 3 is provided with an output shaft 4, and a servo horn 5 is attached to the output shaft 4. A linkage member 6 is attached to the tip of the servo horn 5. One end side of the linguage member 6 is connected to the aileron 2.

That is, the aileron 2 is connected to the actuator 3 via the linkage member 6.
A power supply line 7 to which power is supplied and a signal line 8 to which a command value θ is input are connected to the actuator 3. The input command value θ is a digital signal, and is the same for all the actuators 3. Further, the signal line 8 is capable of bidirectional communication. In this embodiment, a digital servo is adopted as the actuator 3. The power supply line 7 and the signal line 8 are connected to a control device 11 (test tool) including an ammeter 9 and a control unit 10.

The test tool 11 includes a control unit 10 and an ammeter 9 having a built-in synchronization method of the present invention. The test tool 11 is connected to a model airplane before flight, and the actuator 3 is adjusted. After the adjustment is completed, the test tool 11 is removed from the model airplane. After that, the power supply line 7 and the signal line 8 are connected to a receiver or the like inside the machine.
In synchronizing the drive of the plurality of actuators M ₃ (servo motor M ₃ ), the procedure of the following steps (S1) to (S12) is performed.

(S1): The rotatable range of the output shaft 4 provided in the actuator 3 is divided into predetermined angles for all _three actuators M3.
The drive region (rotatable region of the output shaft 4) of the actuator 3 is divided into a plurality of divisions at predetermined intervals (angles), and correction information can be registered for each division.
As shown in FIG. 2, for example, when the rotatable range of the output shaft 4 is 60 ° = ± 30 ° and the output shaft 4 is divided into 10 ° units, “-30 °, −20 °, −10 °, 0 °, It is divided into "10 °, 20 °, 30 °".

Here, for convenience, "Category 1 (-30 °), Category 2 (-20 °), Category 3 (-10 °), Category 4 (0 °), Category 5 (10 °), Category 6", in order. (20 °), division 7 (30 °) ”.
This division, they are processed in all three actuators M _3.
(S2): Of the three actuators _{M 3,} referenced to the second actuator _{M 2.}

If the actuator 3 is three mounting, he is desirable that the central ones (second actuator M ₂ in the _middle).
(S3) in one division of the those divided by :( S1), the actuator M ₂ of the reference, and inputs a command value θ for controlling the angle of the output shaft 4 at an arbitrary position.
For example, in the "division 5" of the reference of the actuator M _2, and inputs a command value θ for fixing the angle of the output shaft 4 to the position of 10 °. That is, the "segmentation 5", and inputs the command value theta = 10 to ° to the actuator M ₂ criteria.

(S4): The command value θ input in (S3) is used as a reference angle.
For example, the reference of the actuator M ₂ of the "division 5", the command value theta = 10 ° is the angle of the reference.
(S5): Among the actuator _{M 3} being more mounted, the first actuator _{M 1} and synchronized. Then, obtain a correction value α of the actuator M _1, combined, and the obtaining the correction value α of the actuator M _3.

(S6): The command value θ determined in (S4) is input to the _{actuator M 2} and the actuator M _{1 to drive them.}
The command value θ = 10 ° determined in (S4) is input to drive the _{actuator M 2} and the actuator M _{1.
(S7): When the actuator M 2} and the actuator M ₁ restrain each other after the command value θ is input and the _{current value A supplied to the actuator M 2} and the actuator M ₁ increases, the input reference command value relative theta, the command value (θ + x) and command value (θ-x) input to the actuator M _1, continuously be driven in a range of command value θ '= (θ ± x) .

For the actuator M ₂ criteria remains command value θ is input.
For example, with respect to the actuator _{M 1,} enter the 12 ° ~8 ° ((θ + x) ~ (θ-x)) command value for driving the range of theta ', drives the actuator _{M 1} in that range. That is, the aileron 2 is swung within the range of the command value θ'= (θ ± x) = 10 ° ± 2 °.
(S8): When driving within the range of the command value θ'= (θ ± x) in (S7), the _{current value A flowing through the actuator M 2} and the actuator M ₁ is measured, and the actuator M ₂ and the actuator M are measured. Search for _{the minimum value A min} of the current value when the check of _{1 is minimized.}

When the actuator M ₂ and the actuator M ₁ restrain each other, the current value A increases, and the actuator M ₂ and the actuator M ₁ may burn out. Therefore, the minimum value A _min of the current values that cannot be restrained is set. seek.
After that, the input of the command value θ'= (θ ± x) in (S7) and the measurement of the current value A in (S8) are repeated until the minimum value A _{min of the current value is searched.}

That is, the input command value θ'= (θ ± x) is exchanged, the Ellon 2 is swung within the range of the command value θ', and the current when the check of the _{actuator M 2} and the actuator M _{1 is minimized.} Search until the minimum value A _min is found.
(S9): The difference y between the command value (θ + y) at _{the minimum value A min} of the current value searched in (S8) and the reference command value θ is obtained. The difference y, as a correction value alpha ₂₁ of the actuator M ₁ for tuning the operation of the actuator M ₂ is the reference. However, y ≧ x.

For example, in (S8), _{when the command value (θ + y) when the minimum value A min} of the current value is found is 11 °, the reference command value θ = 10 °, so the difference y = 11 °. It can be obtained as -10 ° = 1 °. This value y = 1 ° is defined as the correction value α ₂₁ .
(S10) The correction value alpha ₂₁ determined in :( S9) and records the actuator _{M 1.} That is, the correction value α ₂₁ = 1 ° as a correction value in the "division 5" is written to the actuator _{M 1.} That is, the correction value α ₂₁ is registered in the _{actuator M 1} as correction information for the command value θ = 10 °.

(S11): by an actuator _{M 1} to be synchronized in all in which the divided every predetermined angle, (S6) to perform the procedure of ~ (S10), and obtains the correction value alpha ₂₁ in each division, It is recorded in the actuator _{M 1.}
Relates correction value alpha _21, (S6) according to the procedure of ~ (S10), all of the actuators _{M 1} of the "division 1" to "segmentation 7", we obtain the correction value alpha ₂₁ suitable for each. The correction value α ₂₁ is a graph as shown in FIG. The correction value alpha ₂₁ obtained, as the correction information for each divided, writes all the actuator M _1.

That is, the correction value α ₂₁ includes correction information for the command value θ = -30 ° (“category 1”), correction information for the command value θ = -20 ° (“category 2”), and command value θ = -10 °. Correction information for (“Category 3”), correction information for command value θ = 0 ° (“Category 4”), correction information for command value θ = 10 ° (“Category 5”), correction for command value θ = 20 ° information ( "segmentation 6"), contain the corrected information ( "segmentation 7") with respect to the command value theta = 30 °, it is registered in the actuator M _1.

Here, the connection between the actuator M ₂ and the actuator M ₁ may be disconnected.
(S12) returning to :( S5), the actuator _{M 3,} newly picked the actuator M to be synchronized, (S11 the previous steps), performed on all the actuators _{M 3} to be synchronized Te, a correction value alpha ₂₃ asking for all that the divided every predetermined angle and records the respective actuators M _3.

Returning to (S5), for example, newly select the rest of the actuator M ₃ for synchronization. (S6) ~ (S11) according to the procedure to determine the actuator _{M 3} of the correction value alpha ₂₃ for tuning the operation of the actuator _{M 2} is the reference. The correction value α ₂₃ is obtained for each of “Category 1” to “Category 7”. All the obtained correction values α ₂₃ are written in the _{actuator M 3} as correction information for each division.

Further, the correction value α ₂₃ includes correction information for the command value θ = −30 ° (“category 1”) and correction information for the command value θ = −20 ° (“category 2”), similarly to the correction value α _21. , Correction information for command value θ = -10 ° (“Category 3”), Correction information for command value θ = 0 ° (“Category 4”), Correction information for command value θ = 10 ° (“Category 5”), command value theta = 20 correction for ° information ( "sectioned 6"), contain the corrected information ( "segmentation 7") with respect to the command value theta = 30 °, it is registered in the actuator M _3.

Here, Table 1 shows the case of _{five actuators M5.} The reference actuator 3 is M _3, and the actuators 3 to be synchronized are M ₁ , M ₂ , M ₄ , and M ₅ .
As shown in Table 1, in the correction value α, for example, with respect to α _{31 of the actuator M 1} with respect to the _{reference actuator M 3} , all the divisions (“Category 1” to “Category 7”) have correction information. There is.

That is, the actuator _{M 1,} relates to the correction value alpha _31, the correction value alpha ₃₁ with respect to the command value theta = -30 °, correction value alpha ₃₁ with respect to the command value theta = -20 °, correction value for the command value theta = -10 ° α _31, ···, the correction value alpha ₃₁ with respect to the command value θ = 10 °, the correction value alpha ₃₁ with respect to the command value θ = 20 °, the correction value alpha ₃₁ with respect to the command value theta = 30 ° is registered as correction information ..

The actuator _{M 2,} the actuator _{M 4,} the even actuators _{M 5,} similarly to the actuator _{M 1,} all the correction information divided is registered.
As described above, in the actuator 3 in which all the divided correction values α are registered in advance, when an arbitrary (predetermined division) command value θ is input, the aileron is subjected to the correction value α corresponding to the command value θ. 2 operates according to the command value θ.

By the way, regarding the synchronization method of the present invention, it is possible to automate all the steps from steps (S1) to (S12). For example, the function of the present invention may be implemented in a test tool 11 (control device) that can be attached to and detached from the machine and automatically executed.
Further, when there are a plurality of dependent actuators 3, it is desirable to perform correction work on the reference actuator 3 in order from the actuator 3 mounted nearby. At that time, it is necessary to remove the wiring (signal line 8 and power supply line 7) for the actuator 3 for which the correction work has not been completed. On the other hand, the actuator 3 for which the correction work has been completed may remain connected when the remaining actuator 3 is corrected.

Further, regarding the reference actuator 3, it is desirable to use either one when two actuators are mounted, and the central one (second in the middle) when three actuators are mounted. When four actuators are mounted, it is desirable to use the actuator 3 in the center (second or third in the center) as a reference as much as possible.
According to the present invention, when controlling a plurality of actuators 3 (servomotors), a correction value α is given to the actuator 3 that is not driven according to the input command value θ, and the command value θ is input. Then, by outputting the drive along the command value θ by the correction value α, the movement of the movable blade (same moving blade) such as the aileron 2 can be accurately controlled.

The present invention can be applied not only to the moving blades of the model airplane described in detail above, but also to control the steering of a model vehicle (radio control car), for example. Further, although the present invention has described a synchronization method in wireless communication, it is useful not only in wireless communication but also in control by wired communication.
However, the embodiments disclosed this time should be considered to be exemplary in all respects and not restrictive.

In particular, in the embodiments disclosed this time, matters not specified, for example, operating conditions, operating conditions, dimensions, weight, etc. of the components do not deviate from the range normally practiced by those skilled in the art, and are normal. If you are a person skilled in the art, you are adopting items that can be easily assumed.

1 Main wing 2 Aileron 3 Actuator (servo motor)
4 Output shaft 5 Servo horn 6 Linguage member 7 Power supply line 8 Signal line 9 Ammeter 10 Control unit 11 Control device (test tool)

Claims (2)

In a method of synchronizing actuators mounted on a model airplane and controlling the movable wings of the model airplane.
In synchronizing the drive of the _n actuators MN that control the wing,
Of the actuators M _n , the a-th actuator Ma is used as _a reference, and the b-th actuator M _b is set as a synchronization target.
To the actuator, by entering a plurality of command values including a command value of the reference, to explore A _min current value A becomes the smallest when the drives the two actuators M _a and the actuator M _b,
The difference between the command value for the actuator and the reference command value at the minimum value _{Amin of the obtained current was obtained.}
The obtained difference, and the correction value α of the actuator M _b for synchronization with the driving of the actuator M _a,
A synchronization method in which the same rotor blade is controlled by using a plurality of actuators, wherein the drive of the plurality of actuators _Mn is synchronized according to the procedure of the following steps (S1) to (S12).
(S1): The work of dividing the rotatable range of the output shaft of the actuator for each predetermined angle is performed for all _n actuators Mn.
(S2): _{Of the actuators Mn} , the ath actuator Ma is used as _a reference actuator.
(S3) in one division of the those divided by :( S1), the reference of the actuator M _a, and inputs a command value θ for controlling the angle of the output shaft in any position.
(S4): The command value θ input in (S3) is used as a reference angle.
(S5): Of the plurality of mounted actuators M _n , the b-th actuator M _b is targeted for synchronization.
(S6): the actuator _{M a} and the actuator _{M b,} is driven by entering the command value θ determined in (S4).
(S7): the command value theta input to the actuator M _a, a value between the command value (θ + x) and the command value (θ-x) input to the actuator M _b, in the range of the command value (θ ± x) Drive.
(S8): When driving within the range of the command value (θ ± x) in (S7), the actuator
Measuring current values A flowing through the M _a and the actuator _{M b,} to search for the minimum value _{A min} current value.
(S9) :( a command value theta 'at the minimum value A _min of the search current value at S8), calculates a difference y between the command value theta criterion, the difference y, to synchronize with the driving of the actuator M _a Let the correction value α of the actuator M _{b of.} However, x ≧ y.
(S10): The correction value α determined in (S9) is recorded in the _{actuator M b.}
(S11): in synchronized actuators M _b, in all in which the divided every predetermined angle, (S6) to perform the procedure of ~ (S10), and obtains the correction value α in each division, the actuator It is recorded in the M _b.
(S12): Returning to (S5), a _{new actuator M to be synchronized is selected from the plurality of actuators Mn} , and the procedure up to (S11) is performed for all the actuators M _n to be synchronized. It is carried out, and the correction value α is obtained for all the divisions for each predetermined angle and recorded in each of the _{actuators Mn.} The synchronization method in the case where the same rotor blade is controlled by using the plurality of actuators according to claim 1, wherein the actuator M _{b has a configuration in which the correction value α can be recorded.}

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