JPH0370700A - Flight control method for vertical take-off and landing flying vehicle - Google Patents

Abstract

PURPOSE:To facilitate a position control by specifying a target value of a tilt angle in proportional and integral elements of a PID control when the tilt angle of a flying vehicle with a horizontal axis serving as the center is controlled, in the flying vehicle in which a plurality of ducted fans are arranged symmetrically with respect to the horizontal axis. CONSTITUTION:Ducts 4 of four ducted fans F (F1 to F4) are mounted to a frame-shaped machine body 3 of a flying vehicle 1, and an engine 5 is mounted to the center of the machine body 3. Pitch angle variable blades 6, rotated at an equal speed to each other by the engine 5, are provided through a power transmission mechanism in the upper part of the fans F. For controlling a tilt angle of the flying vehicle 1 with an x-axis serving as the center, being based on a difference between a target value of the tilt angle and its measured value of the flying vehicle, a pitch angle of the blade 6 is controlled by a PID control, and as the target value of the tilt angle in at least proportional and differential elements of this PID control, a value, in which a value in proportion to a speed in a y-axis direction of the flying vehicle 1 is subtracted from a command value from the outside of the tilt angle, is used.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention This invention relates to a flight control method for controlling the inclination angle of a vertical takeoff and landing vehicle (VTOL) about a horizontal axis.

Prior Art and Problems of the Invention As a vertical takeoff and landing aircraft, four ducted fans (du
cted fans) are placed at each of the four vertices of a rectangle. The two ducted fans on the front side and the two ducted fans on the rear side are arranged symmetrically with respect to the horizontal axis in the left-right direction, and the two ducted fans on the right side and the two ducted fans on the left side are arranged symmetrically with respect to the horizontal axis in the front-rear direction. It is located. Further, the remote control device for the aircraft is provided with a stick for controlling the inclination angle of the aircraft in the longitudinal direction and a stick for controlling the inclination angle of the aircraft in the left-right direction. By operating these sticks, the pitch angle of the ducted fan blades is controlled according to the direction and amount of operation, and as a result, the flying object tilts in the operated direction and moves in that direction. .

Such control of the oblique angle of the flying object is normally performed by PID control, and the command value from the stick is used as the target value.

However, when doing this, when the aircraft is tilted and moved in the horizontal direction as described above, the difference between the target value and the current value of the tilt angle is large, and even when the stick is returned to the neutral position, the aircraft quickly moves. There is a problem that overrun occurs without stopping at a certain point, making it difficult to control the position.

The purpose of this invention is to solve the above problems by vertical l1li
An object of the present invention is to provide a flight control method for a landing aircraft.

Means for Solving the Problems A method according to the present invention provides a vertical takeoff and landing aircraft in which a plurality of ducted fans with variable pitch angles of blades are arranged symmetrically with respect to a first horizontal axis. A method for controlling a tilt angle of a flying vehicle about a first horizontal axis by changing a pitch angle of a blade of a ducted fan to control a position of the flying vehicle in a second orthogonal horizontal axis, the method comprising: Based on the difference between the target value and the measured value of the inclination angle of the flying object, the pitch angle of the blades of the ducted fan is controlled by PID control, and as the target value of the inclination angle of at least the proportional element and the integral element of the PID control. , a value obtained by subtracting a value proportional to the speed of the flying object in the second horizontal axis direction from the external command value of the inclination angle is used.

As the target value of the inclination angle of the aircraft for the proportional and integral elements of the operational PID control, the value obtained by subtracting the value proportional to the horizontal velocity of the aircraft from the external command value of the inclination angle is used. When tilting the body and moving in the horizontal direction, the difference between the target value and the current value of the tilt angle is not large, and when an external command is returned to the neutral position, the aircraft stops immediately and an overrun occurs. Since there is no such thing, it is easy to control the position.

Example Hereinafter, the present invention will be described in detail with reference to the drawings.

Figures 1 to 4 show an example of the mechanical configuration of the vertical takeoff and landing aircraft (1), and Figure 5 shows an example of the electrical configuration of the aircraft (1) and its remote control device (2). shows.

As shown in FIGS. 1 to 4, ducts (4) of four ducted fans (P) are attached to a frame-shaped body (3) of an aircraft (1). These ducted fans are collectively referred to by the symbol (P), and when it is necessary to distinguish them, they are referred to as the first fan (Fl) and the second fan (Fl), respectively.
2), the third fan (F3), and the fourth fan (F4). In addition, in the following explanation, the flying object (1)
Set the following rectangular coordinates on the top. In other words, the aircraft (
When 3) is horizontal, the vertical axis passing through the center of 3) when viewed from above is the 2 axis, and the horizontal axis in the longitudinal direction passing through a point (origin) (0) on the z axis is the X axis. , the left-right horizontal axis passing through the origin (0) is the y-axis, and the front side of the X-axis, the right side of the y-axis, and the bottom side of the X-axis are the positive directions. Also, X
The inclination angle (roll angle) of the aircraft (3) around the axis is φ, the inclination angle (pitch angle) of the aircraft (3) around the y-axis is θ, the inclination angle (yaw angle) of the aircraft (3) around the 2nd axis is ψ.The roll angle φ, pitch angle θ, and yaw angle ψ are each X
A so-called right-handed system is assumed in which the positive direction is counterclockwise when viewed from the positive side of the axis, y-axis, and two axes.

The central axes (4a) of the ducts (4) of the four fans (F) are parallel to the X-axis, and when viewed from above, it is a rectangle with four sides parallel to the X-axis and the y-axis and centered at the origin (0〉). The first fan (Fl) is located at the front right, the second fan (F2) is located at the rear right, and the third fan (F3) is located at the rear left with respect to the origin (0). The fourth fan (F4) is located at the front left. Therefore, the first fan (PI) and the fourth fan (F4) are symmetrical about the X axis, and the second fan (F2) and the third fan (F3 > is symmetrical about the X axis, the first fan (Fi) and the second fan (F2) are front and rear symmetrical about the y axis, and the third fan (F3) and the fourth fan (F4
) is symmetrical about the y-axis.

An engine (5) whose rotational speed can be changed by controlling the throttle opening is mounted in the center of the aircraft body (3), and the engine (5) is connected to the top of each fan (P) via a power transmission mechanism (not shown). Blades (8) are provided which are rotated at equal speeds to each other by 5). As the blades (6) rotate, air is blown downward from the lower end of the duct (4>), generating upward thrust on the fan (P).The blades (8) of each fan (P) are driven by a drive mechanism (not shown). By changing the rotation speed of the engine (5), the rotation speed of the four fans (F) can be changed simultaneously, and the pitch angle β can be changed individually. Thrust changes at the same time.Also,
By individually changing the pitch angle β of the blades (6) of each fan (F), the thrust of each fan (P) can be changed individually.

A pair of yaw vanes (7) extending in the X-axis direction and parallel to each other are provided at the bottom of each fan (P). The yaw vane (7) is tilted left and right about an axis parallel to the X-axis by a drive mechanism (not shown), so that the inclination angle (yaw vane angle) α in the left-right direction can be changed.1
The tilting center axes of the pair of yaw vanes (7) are located at symmetrical positions with respect to the center axis (4a) of the duct (4). 1
Since the pair of yaw vanes (7) are tilted in conjunction with each other while remaining parallel to each other, the pair of yaw vanes angle α is always equal. In addition, the yaw vane (7) is moved from the neutral position where the lower end faces the positive direction of the two axes to the left (the yaw vane (7)
The lower end of the yaw vane (7) is tilted diagonally to the left) and to the right (the lower end of the yaw vane (7) is tilted diagonally to the right). The direction in which (7) tilts to the right is the negative direction of the yaw vane angle α.

As shown in Figure 5, the aircraft (1) has an altimeter (8).
, an inertial navigation device (9), an engine revolution meter (0), a radio receiver (11), and a flight control device (12).The remote control device (2) is also equipped with a roll stick (2). 13), a pitch stay sok (14), a yaw stick (15), an altitude stay nok (16) and a radio transmitter (17).

The roll stick (13) is for controlling the roll angle φ of the flying vehicle (1).The pitch stick (14) is for controlling the pitch angle θ of the flying vehicle (1). Yes. Yaw stick (15) is a flying object 0
) to control the yaw angle ψ. The altitude stick (1B) is for controlling the altitude of the flying object (1).Then, each stick (13) (14)
(15) A command signal (command value) corresponding to the operation direction and operation amount is output from (1B).

The radio transmitter (17) connects these sticks (13) (
14) (15) This is for wirelessly transmitting the output of (1B), that is, a command signal to the flying object (1).

The altimeter (8) measures the altitude of the flying object () and sends the measurement result to the flight control device (12), and for example, a microwave altimeter is used.

Although not shown, the inertial navigation device (9) includes an accelerometer,
It is equipped with a vibrating gyro, a magnetic orientation sensor, and a computer, and is equipped with a vibrating gyro, a magnetic orientation sensor, and a computer to calculate the acceleration of the flying object (1) in the three-axis directions d” x/
d t2 d2y/d t2d2z/dt2 and speed U(-dx/dt), V(-dy/dt), W(=dz
/dt), and the roll angle φ, pitch angle θ, yaw angle ψ of the aircraft (1) and their angular velocities dφ/dt.

Calculate dθ/dt and dψ/dt, and
〉.

The engine revolution meter (10) measures the revolution speed of the engine (5) and sends the measurement result to the flight control device (12), and is composed of, for example, a pulse encoder.

The receiver (11) is connected to the transmitter (17) of the remote control device (2).
) receives the signal sent from the flight control device (1
2).

Although not shown, the flight control device (12) is equipped with a computer, etc., and includes a receiver (11) and an altimeter (8).
, based on the output of the inertial navigation device (9) and the engine revolution meter (10), the rotation speed of the engine (5>), the fan (F)
The pitch angle β and yaw vane angle α of the blade (6) are controlled.

Sticks (13) (14) of remote control device (2)
(15) If (1B) is not operated, the engine (
The rotational speed of the fan (F), the pitch angle β and the yaw vane angle α of the blades (6) of the fan (F) are precisely controlled, and the flying object (1) is stopped at a fixed position in the air with a constant attitude. In this case, the pitch angles β of the blades (6) of the four fans (P) are almost equal, and the yaw vanes (7) are controlled to an almost neutral position.In addition, the thrust of the four fans (P) and gravity The rotational speed of the engine (5) and the pitch angle β of the blades (6) are controlled so that , these thrust forces are also almost equal. Therefore, moments around the X-axis and y-axis do not act, and the flying object (1) maintains an almost horizontal attitude. , the thrust of the fan (F) is vertically upward and no horizontal force is applied, so
The flying object (1) does not move horizontally. Since the thrust of the four fans (P) and gravity are balanced, the flying object (1) maintains a constant altitude.

In addition, since the yaw vanes (7) of the four fans (F) are at almost neutral positions, the moment around the two axes does not act on the aircraft (1), and the aircraft (1) cannot turn around the two axes. Note that this state of the flying object (1) will be referred to as a neutral state.

When the sticks (13) (14) (15) (18) of the remote control device (2) are operated from the neutral state as described above, the engine (5) , the pitch angle β and the yaw vane angle α of the blades (6) of each fan (F) are controlled, and as a result, the altitude, attitude, and horizontal position of the flying object (1) are controlled.

For example, when the altitude stick <16> is operated in the upward direction, the pitch angle β of the blades (6) of the four fans (P) is controlled to increase the thrust, and the rotation speed of the engine (5) is also increased. The speed is increased and the flying object (1) ascends. Conversely, when the altitude stick (16) is operated in the downward direction, the pitch angle β of the blades (6) of the four fans (P) is controlled so that the thrust is reduced, and the rotation speed of the engine (5) is is decelerated, and the flying object (1) descends. Then, when the altitude stick (16) is returned to the neutral position, the pitch angle β of the blades (6) of the four fans (F) and the rotation speed of the engine (5) are controlled so that thrust and gravity are balanced. The flying object (1) stops at the altitude at that time. In addition, even when the altitude stick (16) is in the neutral position, when the altitude of the aircraft (1) becomes low, the thrust is increased as described above to raise the aircraft (1).
) becomes higher, the thrust is reduced as described above to lower the flying object (1) and keep the altitude constant.

These blades (
6) and at the same time the pitch angle β of these blades (6) is controlled such that the thrust of the two right fans (PI) (P2) is reduced by the same amount as above. . As a result, a moment in the positive direction of the roll angle φ around the X axis acts on the aircraft (1), and the aircraft (1)
is tilted in the positive direction of the roll angle φ, that is, to the right, so that the right side is lower and the left side is higher. Therefore, the thrust of the fan (F) is directed diagonally upward to the right, and a force in the y-axis strain direction acts, so the flying object (1) moves in the y-axis strain direction (to the right) while tilting to the right. .

Conversely, when the roll stick (13) is operated in the negative direction, these blades (6) are adjusted so that the thrust of the two right fans (Pi) (P2) increases by the same amount according to the operation amount. The pitch angle β is controlled, and at the same time the left two
The pitch angle β of these blades (6) is controlled such that the thrust of the two fans (p3) (P4) is reduced by the same amount as above. As a result, a moment is applied to the flying object (1) in the negative direction of the roll angle φ around the Become. Therefore, the thrust of the fan (P) is directed diagonally upward to the left, and a force in the negative direction of the y-axis acts.
Aircraft (1> is tilted to the left in the negative y-axis direction (leftward)
Move to.

Then, when the roll stick (13>) is returned to the neutral position, the pitch angle β of these blades (8) is controlled so that the thrust of the four fans (F) is approximately equal, and the aircraft (1) Return to horizontal position. Roll stick (
13) is in the neutral position, when the roll angle φ of the aircraft (1) changes from the neutral state to the negative direction, the left fan (F3 ) Pitch angle β of blade <6) of (F4) and blade (6) of right fan (PL) (F2)
When the pitch angle β of the aircraft (1) is controlled in the opposite direction and the roll angle φ of the aircraft (1) changes from the neutral state to the positive direction, the right fan ( Pitch angle β of blade (6) of PI) (F2) and blade (B) of left fan (F3) CF4)
The pitch angle β of is controlled in the opposite direction, and the flying vehicle (1〉) is kept in a horizontal attitude.

These blades (6) are adjusted so that when the pitch stick (14) is operated in the positive direction, the thrust of the two front fans (PIXF4) increases by the same amount according to the amount of operation.
At the same time, the pitch angle β of these blades (6) is controlled such that the thrust of the two rear fans (F2) (F3) is reduced by the same amount as above. As a result, a moment in the positive direction of the pitch angle θ around the y-axis acts on the flying object <1>, causing the flying object (1) to tilt in the positive direction of the pitch angle θ, that is, to the rear, so that the rear side becomes lower and the front side becomes higher. For this reason, the thrust of the fan (P) is directed diagonally upward to the rear, and a force in the negative direction of the X-axis acts.
) moves in the negative direction of the X axis (backward direction) while tilting backward.

Conversely, when the pitch stick (14) is operated in the negative direction, these blades (13) In particular, the pitch angle β of these blades (6>) is controlled so that the thrust of the two front fans (PI) (F4) is reduced by the same amount as above. As a result, a moment in the negative direction of the pitch angle θ around the y-axis acts on the flying object (1), and the flying object (1) tilts in the negative direction of the pitch angle θ, that is, forward, so that the front side is lower and the rear side is higher. .For this reason, the thrust of the fan (P) is directed diagonally upward and forward, and the force in the X-axis pressure direction acts, so
The flying object (1) is tilted forward in the X-axis pressure direction (forward direction)
Move to.

Then, when the pitch stick (4) is returned to the neutral position, the pitch angle β of these blades (6) is controlled so that the thrust of the four fans (F) is approximately equal, and the aircraft (1) returns to a horizontal position. Roll stick (
13) is in the neutral position, when the pitch angle θ of the aircraft (1) changes from the neutral state to the negative direction, the front fan (Pi ) (F4) blade (6> pitch angle β and rear fan (F2) (F3) blade (6)
) is controlled in the opposite direction, and when the pitch angle θ of the aircraft (1) changes from the neutral state to the positive direction, the rear side is controlled so that a moment in the negative direction of the pitch angle θ is generated as described above. Pitch angle β of blade (6) of fan (F2) (F3) and blade (6) of front fan (PL) (F4)
) is controlled in the opposite direction, and the flying object (1) is kept in a horizontal attitude.

When the yaw stick (15) is operated in the forward direction, the yaw vanes (7) of the two front fans (Fl) (F4)
is tilted to the left by the same amount according to the amount of operation, and at the same time, the yaw vanes (7) of the two rear fans (F2) (Pa)
) is tilted to the right by the same amount as above. As a result, for the front fan (PI) (F4), the thrust is directed diagonally upward to the right and a force acts in the y-axis stopping direction, and for the rear fan (F2) (F3), the thrust is directed to the left. A force in the negative direction of the y-axis acts diagonally upward. Therefore, a moment in the positive direction of the yaw angle ψ about the two axes acts on the flying object (1), and the flying object (1) turns in this direction.

Conversely, if you operate the yaw stick (15) in the negative direction, the yaw vanes (of the two front fans (PL) (F4)
7) is tilted to the right by the same amount depending on the operating unit, and at the same time, the yaw vanes (7) of the two rear fans (F2) (F3) are tilted to the left by the same amount as above. As a result, for the front fans (Fl) (F4), the thrust is directed diagonally upward to the left, and a force in the negative direction of the y-axis is applied, and for the rear fans (F2) (F3), the thrust is directed to the right. A force is applied diagonally upward and in the y-axis stopping direction. Therefore, a moment in the negative direction of the yaw angle ψ about the two axes acts on the aircraft (1), and the aircraft 0> turns in this direction.

Then, when the yaw stick (15) is returned to the neutral position, the yaw vanes (7) of the four fans (F) are returned to the neutral position, and the turning of the aircraft (1) is stopped. Even when the yaw stick (15) is in the neutral position, the aircraft (1
) changes from the neutral state to the negative direction, the yaw vane (7) of the front fan (PI) (F4) and the rear fan generate a moment in the positive direction of the yaw angle ψ as described above. When the yaw vanes (7> of (F2) and (F3) are controlled in the opposite direction and the yaw angle ψ of the aircraft (1) changes from the neutral state to the positive direction, the moment of the yaw angle ψ in the negative direction increases as described above. Front fan (PL) (
F4) yaw vane (7) and rear fan (F2) (
The yaw vane (7) of F3) is controlled in the opposite direction, keeping the aircraft (1) in a neutral state.

In the explanation so far, each stick (13) (1
4) (15) (16) are shown individually, but multiple sticks (13) (14) (15)
The operation when (1B) is operated at the same time is a combination of the above operations.

Next, the above control operation will be explained in more detail.

First, to explain the control of the roll angle φ and pitch angle θ of the flying object (1), the pitch of the blades (6) of the right, left, front, and rear fans (F) is to obtain the moment necessary for control. The angle control amount δ is expressed by the following formula (1) ~
It becomes like (4).

Note that this control amount δ is proportional to the thrust for obtaining the necessary moment.

δ,, -K-rf (φ0-φ)dt -KIP, J'(φ.-φ) K-ad/dt(φ0-φ) ・-・-(1) δ1.
- K-rl (φ0-φ) dt ten-Pf (
φ0-φ) + to -Dd/dt(φ0-φ) ...-(2) δz
−K−rf (δ0−〇)dt +KY, f (θ.−θ) 10KrDd/dt (θ0−θ) −−−−・−(3)
δ+, W K-IJ' (θ.-θ)dtKyP
, l'(δ0-〇) K yod / dt (θ.-θ)...
・(4> δ subscript tr (transverse ri
ght) % tl (transverse 1ef
t ), If (longitudinal fro
nt) and lr (longitudinal re
ar ) represent the right side, left side, front side, and rear side, respectively. K is the control gain, Kyoi and KFI are the gains of the integral element among the PID control elements,
In KxP and KxP, P represents the gain of the proportional element, and KxD and 0 represents the gain of the differential element, respectively.

The subscript 0 of φ and θ represents the target value. Also, φ and θ
Those without subscripts represent measured values (current values). This also applies to the following description.

As is clear from equations (1) to <4>, the right thrust δ1
．． and left thrust δ1. are opposite in direction (sign) and equal in absolute value, front thrust δ11 and rear thrust δ1. The direction (sign) is opposite and the absolute value is the same.

The control amount δβ1 of the pitch angle of the blades (B) of the four fans (P) is determined by formulas (1) to (4) according to their positions.
is the sum of the following two equations (5) to (8).

δβ1-δ, +δ■・・・・・・(5) δβ2-δ12
+δ, t...(6) δβ, -δ, +δ6.・・・
・・・・・・(7〉δβ4−δ1.+δ,・・・・・・(8
) of δβ, the subscript 1 is the first fan (PL), 2 is the second fan (F2), 3 is the third fan (F3), and 4 is the fourth fan (F3).
F4) respectively. Since the first fan <Fl> is located at the front right, the control amount δβ of the pitch angle of the blade (6) of the first fan (PI) is the control amount δ1 on the right side.
．． and the front control amount δ1f.

The same applies to the other fans (F2), (F3), and (F4).

In such PID control, the target value φ is usually set. and θ. As a result, the command value φ of the roll stick (I3) and the command value θ of the pitch stick (14) are used.

As mentioned above, in the case of control to maintain the aircraft (1) in a neutral state, this is fine, but as mentioned above, roll
Stick (13) and pitch stick (14)
When the flying object (1) is tilted and moved horizontally by the operation, the flying object (1) will not stop immediately when the sticks (13) and (14) are returned to the neutral position
Position control is difficult due to overrun.

In order to solve such problems, in this embodiment, target values φ0 and θ of the roll angle and pitch angle are set. As shown below, a value obtained by subtracting a value proportional to the velocity V, U of the flying object (1) in the horizontal direction corresponding to the inclination from the command value φ1, θ is used.

φo −−K 6 o V + φ, (9) θ
. -K. U + θ, ... (lO) Therefore, when the sticks (13) and (14) are returned to the neutral position, the flying object (1) will stop immediately and no overrun will occur, so the position control becomes easier.

However, the target value φ of the differential element. and θ. The command values φ from the sticks (13) and (14) are as follows:
and θ may be used as is.

φ,. −φ, ...(11) θ. -θ, ...02) Next, to explain the control of the yaw angle ψ of the aircraft (1), the amount of control of the yaw vane angle of the four fans (F) to obtain the moment necessary for control is as follows. δα, is the following formula (13
〉~(16).

δα1− K−+j (ψ0−ψ)dt+, P, 1
'(ψ0−ψ) + K = od / d t (ψ0−ψ) −−−
−・−(13) δα2− K−IJ′ (ψ.−ψ)
dtK, P, 1' (ψ.-ψ) -K, od / dt (ψ.-ψ) ・-
...(14) δα, --, lJ' (ψ.-ψ)
dt- to -pf (ψ0-ψ) -, d/di (ψ.-ψ)... (15
) δα4 ” K-+, l' (ψ0-ψ)d
At t+, pJ' (ψ0-ψ) + K, od / (lt (ψ.-ψ)...
...(16) As is clear from these equations, the direction and absolute value of the yaw angles of the first fan (Fl) and the fourth fan (F4) are the same, and the yaw angles of the second fan (F2) and the third fan (F2) are the same. The yaw angle of the fan (F3) has the same direction and absolute value.

Further, the yaw angles of the first and fourth fans (PL) (F4) and the yaw angles of the second and third fans (F2) (F3) are opposite in direction and have the same absolute value.

Note that the target value ψ in this case. The yaw stick (
The command value ψ from 15) is used as is.

Next, to explain the altitude control of the aircraft (1),
The correction value ΔN of the engine speed due to the altitude error (HoH) is expressed as follows.

ΔN=to+f (t(o −H) d t+ to P(
HO-H) + K, od / dt (Ho-H) -...
- (17) Ho is the target value of altitude, and the command value Hl from the altitude stick (16) is used as is.

Then, the control amount δT of the throttle opening of the engine (5>
l+ becomes as follows.

δto-Kl+f(No+ΔN-N)dt10K I P
CN o+ΔN-N)...(18) No is
When the pitch angle of the blade (6〉) is a neutral value, the fan (P
) is the engine rotation speed that generates a thrust comparable to gravity. The neutral value of the pitch angle of the blade (6>) is determined so that there is sufficient margin in both directions, and once this is determined, No. is determined by calculation or experiment.

On the other hand, in order to correct the altitude error, the pitch angle of the blades (6) of the fan (P) is also changed, with emphasis on quick response, and the control amount δ is expressed as follows.

δb−Kxf (Ho H) d t+ +
p(Ho H) + to +od/ d t (Ha H)--(1
9) Therefore, the final pitch angle control amount δβ is obtained by adding equations (5) to (8) and equation (19) as follows.

δβ1−δ1. 10δ, f16.・・・・・・(20)δ
β2−δ, +δ+, +δ, (21) δβ,
−δ, +65. +δ,...(22〉δβ4−δ
, 1+δ, +δ, (23) In this way, the pitch angle of the blades (6> of the fan (P) and the engine (5)
〉By controlling both the rotation speed of the flying vehicle (1)
Since the altitude of the blade (6) is controlled, it is not necessary to change the pitch angle of the blade (6) over a wide range. Therefore, the loss is small, there is no fear of stalling, and the engine (5) can be downsized.

Although the above embodiment shows four ducted fans, the number of ducted fans can be changed as appropriate. Also, regarding the yaw vanes, the pair of yaw vanes may be replaced with one yaw vane.

Effects of the Invention According to the method of this invention, as described above, the difference between the target value and the current value of the inclination angle of the aircraft does not become large, and the aircraft stops immediately when an external command is received to return it to the neutral position. However, since no overrun occurs, the position can be easily controlled.

[Brief explanation of drawings]

FIG. 1 is a perspective view of a vertical takeoff and landing aircraft showing an embodiment of the present invention, FIG. 2 is a plan view of the same, and FIG. 3 is a partially cutaway side view of the same.
FIG. 4 is a partially cutaway rear view of the same, and FIG. 5 is an electrical block diagram of the flying object and its remote control device. (1)...Vertical 1ll single landing flying object, (2)...Remote control device, (6)...Blade, (9)...Inertial navigation device, (12)...Flight control device , (13)...
・Roll stick, (14)... Pitch ◆ stick, (Fl) (P2) (F3) (F4)... Ducted fan. that's all

Claims (1)

[Claims] In a vertical takeoff and landing aircraft in which a plurality of ducted fans with variable pitch angles of blades are arranged symmetrically with respect to a first horizontal axis, a second horizontal axis is orthogonal to the first horizontal axis. A method for controlling an inclination angle of an air vehicle about a first horizontal axis by varying a pitch angle of a blade of a ducted fan to control the position of an air vehicle in a direction, the method comprising: Based on the difference between the target value and the measured value, P
The pitch angle of the blades of the ducted fan is controlled by ID control, and the second horizontal plane of the flying object is determined from the external command value of the inclination angle as the target value of the inclination angle of at least the proportional element and the integral element of the PID control. 1. A flight control method for a vertical take-off and landing vehicle, characterized in that a value proportional to an axial speed is subtracted.