JPWO2020066549A1 - Control devices, control methods, and programs - Google Patents

Abstract

In the control device (2000), there are a first mode and a second mode as control modes related to the control of the flying object. The first mode is a control mode for accurately controlling the position of the arm (20). Therefore, when the control mode of the flying object (10) is the first mode, the control device (2000) gives priority to the first position (30), which is the position on the arm (20), and gives priority to the flying (10). Perform flight control. On the other hand, the second mode is a mode different from the first mode. When the control mode of the flying object (10) is the second mode, the control device (2000) gives priority to the second position (40), which is a reference position other than the position on the arm (20), and gives priority to the flying object (2000). 10) Flight control is performed. For example, the second position is the center of the aircraft.

Description

The present invention relates to controlling the flight of a flying object.

Various tasks are being carried out using a flying object equipped with an arm. As an example of such work, there is a tapping sound inspection using an arm equipped with a hammer. The tapping sound inspection is incorporated in the safety inspection of various structures such as bridges, tunnels, and pipes.

Patent Document 1 is a prior art document that discloses a technique for utilizing a flying object in this way. The invention of Patent Document 1 is composed of a flight device (autonomous flight type unmanned helicopter: so-called drone), a ground side device, and a control device. A tapping sound inspection device is attached to the flight device, and while the flight device is measured by the ground-side device, an autonomous tapping sound inspection is performed by the control device.

International Publication No. 2017/204050

In Patent Document 1, when the flight control of a flying object is performed, the position of the flying object is represented by a specific point, and the flight control of the flying object is performed by moving the specific point to a target position. It has been. That is, the flight control of the flying object is performed by giving priority to a specific point of the flying object over the other positions. However, the present inventor has found that in the flight control of a flying object provided with an arm, it is not preferable to keep fixing the priority position in the flight control of the flying object to a specific point.

The present invention has been made in view of the above problems, and one of the objects thereof is to provide a technique for appropriately controlling the flight of a flying object having an arm.

The control device of the present invention is a control device that controls the flight of a flying object having an arm. The control device includes 1) a switching unit that switches the control mode related to flight control of the flying object to either the first mode or the second mode, and 2) the first mode of the flying object when the control mode is the first mode. It has a control unit that gives priority to one position to control the flight of the flying object, and when the control mode is the second mode, gives priority to the second position of the flying object to control the flight of the flying object. The first position is the position on the arm and the second position is not the position on the arm.

The control method of the present invention is a control method executed by a computer that controls the flight of a flying object having an arm. The control method consists of 1) a switching step for switching the control mode related to flight control of the flying object to either the first mode or the second mode, and 2) the first mode of the flying object when the control mode is the first mode. It has a control step of giving priority to one position to control the flight of the flying object, and when the control mode is the second mode, giving priority to the second position of the flying object to control the flight of the flying object. The first position is the position on the arm and the second position is not the position on the arm.

The program of the present invention causes a computer to execute each step of the control method of the present invention.

According to the present invention, there is provided a technique for appropriately controlling the flight of a flying object having an arm.

It is a figure which illustrates the outline of the control device of Embodiment 1. It is a figure which illustrates the difference of the control error permissible in the 1st mode and 2nd mode. It is a block diagram which illustrates the functional structure of a control device. It is a figure which illustrates the computer for realizing the control device. It is a flowchart which illustrates the flow of the process executed by the control device of Embodiment 1. FIG. It is a figure which illustrates the flow of the process executed by the control device of Embodiment 2. It is a figure which illustrates the flow of the process executed by the control device of Embodiment 2.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all drawings, similar components are designated by the same reference numerals, and description thereof will be omitted as appropriate. Further, in each block diagram, unless otherwise specified, each block represents a functional unit configuration rather than a hardware unit configuration.

[Embodiment 1]
<Overview>
FIG. 1 is a diagram illustrating an outline of the control device 2000 of the first embodiment. Note that FIG. 1 is merely an example of an outline thereof in order to facilitate understanding of the control device 2000, and does not limit the functions of the control device 2000 at all.

The control device 2000 controls the flight of the projectile 10. The projectile 10 is an arbitrary projectile whose flight is controlled by a computer. For example, the projectile 10 is a drone.

The projectile 10 has an arm 20. For example, the arm 20 is an arm having a hammer used in a tapping sound inspection, an arm having a gripping member used to grip a desired object, and the like.

In general, when controlling the flight of a flying object, flight control that prioritizes the position of the center of gravity of the airframe (that is, flight control that is performed so that the center of the airframe is at a desired position) is often performed. This is because the airframe design and control design of the flying object is often based on the airframe center, so flight control that prioritizes the position of the airframe center increases energy efficiency and increases the durability of the actuator. This is because various merits such as high versatility of the control algorithm occur.

However, the present inventor has found that it is important to accurately control the position of the arm 20 when controlling the flight of the projectile 10 for the work using the arm 20. The reason why it is important to accurately control the position of the arm 20 is that if the position of the arm 20 cannot be controlled accurately, it is difficult to realize the work using the arm 20 as intended. For example, when a tapping sound inspection is performed using the arm 20, it is necessary to accurately control the position of the arm 20 and accurately hit a predetermined position to be inspected with the arm 20. Otherwise, you will hit a part different from the part you want to inspect, and you will not be able to perform the tapping sound inspection as intended.

In particular, when the projectile 10 is a multicopter, it is necessary to tilt the projectile 10 forward in order to advance the projectile 10 in the horizontal direction. When the attitude of the flying object 10 is tilted in this way, the tip of the arm 20 is greatly moved up and down. Therefore, if the flying object 10 is controlled with priority given to the center of the airframe, the position of the arm 20 will be greatly deviated. On the other hand, if the flight control of the flying object 10 is performed with priority given to the position of the arm 20, the position of the arm 20 can be accurately controlled, so that the work using the arm 20 can be performed accurately.

However, as described above, in terms of energy efficiency and the like, control that prioritizes the center of the airframe and the like is preferable. Therefore, it can be said that it is not preferable to always give priority to the arm 20 to control the flight of the projectile 10.

Therefore, the control device 2000 switches the priority control position of the flying object 10 in the flight control of the flying object 10 depending on the situation in which the position of the arm 20 should be accurately controlled and the other situations. Specifically, the control device 2000 gives priority to the position of the arm 20 to control the flight of the projectile 10 in a situation where the position of the arm 20 should be accurately controlled, and in other situations, the position of the arm 20 is controlled. Flight control of the projectile 10 is performed with priority given to a reference position other than the reference position (for example, the center of the aircraft described above). By doing so, the projectile 10 can be operated as efficiently as possible while accurately realizing the work using the arm 20.

More specifically, in the control device 2000, the following control is performed. First, in the control device 2000, there are at least two control modes related to the control of the flying object. Hereinafter, these two modes are referred to as a first mode and a second mode. The first mode is a control mode for accurately controlling the position of the arm 20. Therefore, when the control mode of the flying object 10 is the first mode, the control device 2000 gives priority to the first position 30 which is the position on the arm 20 to control the flight of the flying object 10.

On the other hand, the second mode is a mode different from the first mode. When the control mode of the flying object 10 is the second mode, the control device 2000 gives priority to the second position 40, which is a reference position other than the position on the arm 20, and controls the flight of the flying object 10. For example, the second position is the center of the aircraft.

FIG. 1 illustrates each of the flight control of the flying object 10 in the first mode and the flight control of the flying object 10 in the second mode. In the first mode, the flight control of the projectile 10 is performed with priority given to the first position 30 on the arm 20. Specifically, the flight of the projectile 10 is controlled so that the first position 30 on the arm 20 stably heads for the target position. For example, the target position is a position to be hit by the arm 20 in the tapping sound inspection. Since the arm 20 is stably heading toward the target position, the arm 20 can accurately hit the target position. On the other hand, the second position 40 (center of the aircraft in this example) is greatly shaken up and down.

On the other hand, in the second mode, the flight control of the flying object 10 is performed with priority given to the second position 40. In the example of FIG. 1, the second position 40 is the center of the airframe. Therefore, the flight of the projectile 10 is controlled so that the center of the airframe stably moves toward the target position. On the other hand, the first position 30 is greatly shaken up and down.

FIG. 2 is a diagram illustrating the difference in control error allowed between the first mode and the second mode. In the first mode, the permissible control error for the first position 30 on the arm 20 is small, while the permissible control error for the second position 40, which is a reference position other than the arm 20, is large. This means that flight control is performed with priority given to the first position 30. On the other hand, in the second mode, the permissible control error for the second position 40 is small, while the permissible control error for the first position 30 is large. This means that flight control is performed with priority given to the second position 40.

<Action / effect>
According to the control device 2000 of the present embodiment, the priority control position of the flying object 10 in the flight control of the flying object 10 is switched between the situation where the position of the arm 20 should be accurately controlled and the other situations. Specifically, in the first mode, which is a control mode suitable for a situation in which the position of the arm 20 should be accurately controlled, flight control is performed with priority given to the first position 30 which is the position on the arm 20. On the other hand, in the second mode, which is a control mode suitable for other situations, flight control is performed with priority given to the second position 40, which is a reference position other than the position on the arm 20. By doing so, while accurately realizing the work using the arm 20, priority is given to the center of the machine such as "high energy efficiency, high durability of the actuator, and high versatility of the control algorithm". You can also enjoy the benefits of flight control.

In particular, robots classified as inferior drive systems have large restrictions on control. An underactuated manipulator robot is a robot in which the number of degrees of freedom of motion that can be directly controlled by an actuator mounted on the robot is less than the number of degrees of freedom of motion actually of the robot. For example, a multicopter with four rotors (quadcopter) has four controllable degrees of freedom of motion, while the actual number of motion degrees of freedom is six (three translational degrees of freedom and three rotational degrees of freedom). Therefore, it is an inferior drive system robot. Therefore, there are many restrictions on control, such as the fact that the thrust in the horizontal direction cannot be obtained unless the aircraft is tilted, and that the aircraft cannot continue to stay in the air at one point in the tilted state. Therefore, it is difficult to accurately control both the airframe center of the airframe 10 and the position of the arm 20, so that the control device 2000 of the present embodiment gives priority to the airframe center of the airframe 10 and the arm. It is important to switch to the control that gives priority to the position of 20.

Hereinafter, the present embodiment will be described in more detail.

<Example of functional configuration>
FIG. 3 is a block diagram illustrating the functional configuration of the control device 2000. The control device 2000 controls the flight of the projectile 10 having the arm 20. Therefore, the control device 2000 has a switching unit 2020 and a control unit 2040. The switching unit 2020 switches the control mode related to the flight control of the flying object 10 to either the first mode or the second mode. When the control mode is the first mode, the control unit 2040 gives priority to the first position 30 of the flying object 10 and controls the flight of the flying object 10. On the other hand, when the control mode is the second mode, the control unit 2040 gives priority to the second position 40 of the flying object 10 and controls the flight of the flying object 10. The first position 30 is a position on the arm 20. On the other hand, the second position 40 is a position other than the position on the arm 20.

<Example of hardware configuration of control device 2000>
Each functional component of the control device 2000 may be realized by hardware (eg, a hard-wired electronic circuit) that realizes each functional component, or a combination of hardware and software (eg, electronic). It may be realized by a combination of a circuit and a program that controls it). Hereinafter, a case where each functional component of the control device 2000 is realized by a combination of hardware and software will be further described.

FIG. 4 is a diagram illustrating a computer 1000 for realizing the control device 2000. The computer 1000 is any kind of computer. For example, the computer 1000 is realized as a control chip such as an SoC (System on a Chip) built in the flying object 10. However, the control device 2000 may be a device that controls the flying object 10 from the outside. In this case, the control device 2000 may be realized as a stationary computer such as a PC (Personal Computer) or a portable computer such as a smartphone. The computer 1000 may be a dedicated computer designed to realize the control device 2000, or may be a general-purpose computer.

The computer 1000 includes a bus 1020, a processor 1040, a memory 1060, a storage device 1080, an input / output interface 1100, and a network interface 1120. The bus 1020 is a data transmission line for the processor 1040, the memory 1060, the storage device 1080, the input / output interface 1100, and the network interface 1120 to transmit and receive data to and from each other. However, the method of connecting the processors 1040 and the like to each other is not limited to the bus connection.

The processor 1040 is various processors such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and an FPGA (Field-Programmable Gate Array). The memory 1060 is a main storage device realized by using RAM (Random Access Memory) or the like. The storage device 1080 is an auxiliary storage device realized by using RAM, ROM (Read Only Memory), or the like.

The input / output interface 1100 is an interface for connecting the computer 1000 and the input / output device. For example, an input device such as a keyboard and an output device such as a display device are connected to the input / output interface 1100.

When the computer 1000 is a control chip built in the flying object 10, the actuator of the flying object 10 is connected to the input / output interface 1100. The computer 1000 controls the flight of the projectile 10 by transmitting a control signal to the actuator via the input / output interface 1100. Further, various sensors (GPS (Global Positioning System) sensor, acceleration sensor, etc.) for grasping the state of the flying object 10 are connected to the input / output interface. The computer 1000 obtains the observed value for the projectile 10 by obtaining the detected value from the sensor via the input / output interface.

The network interface 1120 is an interface for connecting the computer 1000 to the communication network. This communication network is, for example, LAN (Local Area Network) or WAN (Wide Area Network). The method of connecting the network interface 1120 to the communication network may be a wireless connection or a wired connection.

When the computer 1000 is a computer provided outside the flying object 10, a control chip built in the flying object 10 is connected to the network interface 1120. The computer 1000 transmits an instruction to control the flight of the flying object 10 to the control chip in the flying object 10 via the network. The control chip controls the flight of the projectile 10 by transmitting a control signal to the actuator according to an instruction received from the computer 1000. In addition, the computer 1000 acquires detected values for grasping the state of the flying object 10 from various sensors provided on the flying object 10 via a network. These detected values are transmitted, for example, via a control chip.

The storage device 1080 stores a program module that realizes each functional component of the control device 2000. The processor 1040 realizes the function corresponding to each program module by reading each of these program modules into the memory 1060 and executing the program module.

<Processing flow>
FIG. 5 is a flowchart illustrating a flow of processing executed by the control device 2000 of the first embodiment. The control unit 2040 determines whether the control mode is the first mode or the second mode (S102). When the control mode is the first mode (S102: first mode), the control unit 2040 gives priority to the first position 30 and controls the flight of the projectile 10 (S104). When the control mode is the second mode (S102: second mode), the control unit 2040 gives priority to the second position 40 and controls the flight of the projectile 10 (S106). The series of processes shown in FIG. 5 is executed, for example, at a predetermined cycle (once every 0.1 sec, etc.).

<Switching between 1st mode and 2nd mode>
The switching unit 2020 sets the control mode of the flying object 10 to the first mode or the second mode. The control mode of the projectile 10 is set based on, for example, a user input operation. Specifically, when the switching unit 2020 receives the user input for designating the first mode, the control mode of the projectile 10 is set to the first mode, and when the user input for designating the second mode is received, the projectile body 10 is set. The control mode of 10 is set to the second mode.

In addition, for example, switching between the first mode and the second mode may be automatically performed by the switching unit 2020. For example, it is assumed that the flying object 10 is heading to the working position in order to perform the work at the predetermined working position. In this case, the switching unit 2020 switches the mode based on the distance between the current position of the flying object 10 and the working position. More specifically, when the distance between the current position of the flying object 10 and the predetermined work is equal to or greater than the threshold value, the switching unit 2020 sets the control mode of the flying object 10 to the second mode, and the distance is the threshold value. If it is less than, the control mode of the flying object 10 is set to the first mode. By doing so, at a stage of being away from the working position to some extent, energy efficiency and the like can be emphasized by controlling the flying object 10 with priority given to the center of the airframe and the like. Further, when the work position is approached to some extent, the arm 20 can be controlled with priority to prepare for accurate work. The threshold value used for mode switching may be set in advance in the switching unit 2020, or may be stored in a storage device accessible from the switching unit 2020.

<Flight control of projectile 10: S104 and S106>
The flight control of the flying object 10 determines the control input for the flying object 10 based on the current state of the flying object 10 and the target state of the flying object 10, and controls the control input (actuator of the flying object 10 or the like). It is realized by outputting to). Here, an existing technique can be used as a technique for outputting the determined control input to the control target. Therefore, here, a method of grasping the current state of the flying object 10 and the target state of the flying object 10 and a method of determining the control input for the flying object 10 based on them will be described.

ここで、X(t) は時刻 t における飛翔体１０の状態を表す。X'(t) は、時刻 t における状態の変化を表す。U(t) は飛翔体１０に対する制御入力を表す。D は外乱を表す。A と B は状態モデルの係数である。Y(t) は、時刻 t における飛翔体１０の観測を表す。<< How to grasp the current state >>
The state model representing the current state of the projectile 10 and the observation model representing the observation of the projectile 10 are represented as follows, for example.

Here, X (t) represents the state of the projectile 10 at time t. X'(t) represents the change in state at time t. U (t) represents the control input for the projectile 10. D represents a disturbance. A and B are the coefficients of the state model. Y (t) represents the observation of the projectile 10 at time t.

Here, it is modeled as an observation can be obtained by linearly transforming the state. However, the relationship between observation and state is not necessarily limited to this relationship. For example, an error term representing an observation error (such as a stochastic error following a Gaussian distribution) may be introduced into the observation model.

The control unit 2040 estimates the current state of the projectile 10. Specifically, the control unit 2040 uses the observed value of the flying object 10 at the current time t obtained by using a sensor or the like, and the above-mentioned state model and the observation model, and uses the current (state model) and the observation model of the flying object 10 ( Estimate the state (at time t). An existing algorithm such as a Kalman filter can be used for the technique of estimating the state using the observed value, the state model, and the observed model. In addition, using these algorithms, the parameters in the above-mentioned observation model and state model are updated using the observed values.

As the element that determines the state of the projectile 10, that is, the element of the vector X, various elements can be adopted for each type of the projectile 10. When the projectile 10 is a multicopter, for example, the state vector X is defined as follows.

Here, x, y, and z represent the x-coordinate, y-coordinate, and z-coordinate of the second position 40 of the flying object 10 (for example, the center of the flying object 10). xarm, yarm, and zarm represent the x-coordinate, y-coordinate, and z-coordinate of the first position 30 (for example, the tip position of the arm 20). The symbol'means the change (ie, derivative) at time t. For example, x'represents the change in the x-coordinate of the second position 40 of the projectile 10 at time t. The state vector X may include other states relating to the projectile 10, such as a roll angle, a pitch angle, and a yaw angle that represent the attitude of the projectile 10.

The values of the various elements that determine the state of the projectile 10 can be estimated from, for example, the output of the observation model determined by the detection values of the various sensors. Here, various existing techniques can be used as a technique for observing to determine a state such as a position of a flying object by using a sensor.

For example, the flying object 10 is provided with an internal sensor such as an IMU (inertial measurement unit) sensor. By using the IMU sensor, it is possible to observe the accelerations x'', y'', and z'' of x, y, and z that determine the position of the projectile 10. Then, the position (x, y, z) of the projectile 10 can be estimated by executing an algorithm such as an extended Kalman filter using the observed accelerations x'', y'', z''.

Further, in order to improve the accuracy of observation, an external sensor may be used in combination with the internal sensor. As the outside world sensor, for example, a total station can be used. In addition, for example, a radar, a rider, a camera, or the like may be used.

Regarding the position of the arm (xarm, yarm, zarm), the position relative to the position (x, y, z) of the projectile 10 is determined in advance. By doing so, the position of the arm can be calculated from the position of the flying object 10 calculated by using the detection value of the sensor.

<< How to determine control input >>
The control unit 2040 controls the flying object 10 so as to change the current state of the flying object 10 to the target state. Specifically, the control unit 2040 determines the control input U for the flying object 10, which is necessary for changing the current state of the flying object 10 to the target state. The method of setting the target state will be described later.

The control input U is determined to satisfy, for example, the following objective function based on the evaluation function J (X, Xref, U).

The evaluation function J evaluates the error between the real state X and the target state Xref, and the control input U. i represents the step number. The step number is a number assigned to the discrete time. H represents the predicted horizon length. That is, the evaluation function J evaluates the prediction up to the H step ahead. Q is a matrix that represents the weight of the error between the real state and the target state at time i. R is a matrix that represents the weights of the control inputs. Here, it is assumed that the flying object 10 is a quadcopter and can give the flying object 10 a control input for controlling the rotation speed of each propeller. Then, each element of the weight matrix R represents the weight of the control input given for each propeller.

Here, an existing method can be used for a specific calculation method of the control input U that satisfies the above-mentioned objective function, that is, a specific calculation method of the control input U that minimizes the evaluation function J.

Here, in the first mode, the control of the first position 30 is prioritized, while in the second mode, the control of the second position 40 is prioritized. Such a difference in control can be realized by changing the contents of the weight matrix Q in the evaluation function described above. Specifically, in the first mode, the weights (q7, q8, and q9) for the elements xarm, yarm, and zarm representing the first position 30, and the elements x, y, representing the second position 40. And greater than the weights for z (q1, q3, and q5). By doing so, the influence of the error of the first position 30 on the evaluation function becomes larger than the influence of the error of the second position 40 on the evaluation function, so that the control of the first position 30 is prioritized. ..

On the other hand, in the second mode, the weights (q1, q3, and q5) for the elements x, y, and z representing the second position 40 are given to the elements xarm, yarm, and zarm representing the first position 30. Greater than the weights (q7, q8, and q9). By doing so, the influence of the error of the second position 40 on the evaluation function becomes larger than the influence of the error of the first position 30 on the evaluation function, so that the control of the second position 40 is prioritized. ..

The setting of the weight matrix R will be described in the second embodiment. When only the switching between the first mode and the second mode is considered, the value of R may be fixed.

In order to switch the control between the first mode and the second mode, it is necessary to change the weight matrix Q as described above. Therefore, for example, the weight matrix Q1 for the first mode and the weight matrix Q2 for the second mode are stored in advance in a storage device accessible from the control unit 2040. When it is determined that the control mode is the first mode (S102: first mode), the control unit 2040 reads Q1 from the storage device, sets it as the objective function, and sets the control input U satisfying the objective function. decide. By doing so, the control in which the first position 30 is prioritized is realized. On the other hand, when it is determined that the control mode is the second mode (S102: second mode), the control unit 2040 reads Q2 from the storage device, sets it as the objective function, and satisfies the objective function. Determine U. By doing so, the control in which the second position 40 is prioritized is realized.

<< How to set the target state >>
The control unit 2040 determines the control input so that the current state X of the projectile 10 approaches the target state Xref. Here, existing technology can be used as a method for determining the target state of the controlled object. Here, an example of the method will be described.

For example, a flight plan is determined in advance for the projectile 10. The flight plan is defined as time-series data of the ideal state of the projectile 10. Here, the actual state of the projectile 10 may be different from the ideal state due to the influence of disturbance or the like. Then, when the difference between the actual state and the ideal state of the flying object 10 becomes large, it is difficult to return the state of the flying object 10 to the ideal state by one control. Therefore, the control unit 2040 dynamically generates a flight plan for returning the state of the flying object 10 to the ideal state. This flight plan represents the time-series data of the reference state of the projectile 10.

<Result output>
The control device 2000 outputs a control signal representing the control input determined by the control unit 2040 to the flying object 10. By doing so, the flight control of the projectile 10 is realized. An existing technique can be used as a technique for controlling the control target based on the control signal determined by the model predictive control.

[Embodiment 2]
<Overview>
In the control device 2000 of the second embodiment, a third control mode is provided as a control mode of the flying object 10. The third control mode is used when the influence of the disturbance is large on the flying object 10, and the flying object 10 is controlled with priority given to the suppression of the disturbance.

<Effect>
When the influence of a disturbance such as wind is large, it is important to suppress the disturbance in order to avoid a situation such as a collision or a crash. According to the control device 2000 of the present embodiment, when the influence of the disturbance is large, the flight control of the flying object 10 is performed with priority given to the suppression of the disturbance, so that the flying object 10 can fly safely. ..

The existing technology can be used as the technology for grasping the magnitude of the disturbance. For example, the magnitude of the disturbance can be grasped by using the disturbance sensor. In addition, for example, the magnitude of the disturbance can be estimated as the norm of D in the equation (1).

<Example of functional configuration>
The functional configuration of the control device 2000 of the second embodiment is represented by, for example, FIG. 3 as in the control device 2000 of the first embodiment. However, when the magnitude of the disturbance with respect to the flying object 10 is equal to or larger than a predetermined magnitude, the control unit 2040 of the second embodiment gives priority to suppressing the disturbance and controls the flight of the flying object 10.

<Example of hardware configuration>
The hardware configuration of the computer that realizes the control device 2000 of the second embodiment is represented by, for example, FIG. 4 as in the first embodiment. However, the storage device 1080 of the computer 1000 that realizes the control device 2000 of the present embodiment further stores a program module that realizes the function of the control device 2000 of the present embodiment.

<Processing flow>
FIG. 6 is a diagram illustrating a flow of processing executed by the control device 2000 of the second embodiment. The control unit 2040 estimates the state of the projectile 10 (S202). The control unit 2040 determines whether or not the magnitude of the disturbance with respect to the projectile 10 is equal to or greater than the threshold value (S204). When the magnitude of the disturbance is equal to or greater than the threshold value (S204: YES), the control unit 2040 controls the flight of the projectile 10 with priority given to the suppression of the disturbance (S206). When the magnitude of the disturbance is less than the threshold value (S206: NO), the control unit 2040 determines whether the control mode is the first mode or the second mode (S208). Here, the processing after S208 is the same as the processing described with reference to FIG. The series of processes shown in FIG. 6 is executed at a predetermined cycle (once every 0.1 sec, etc.), as in the process of FIG.

<How to suppress disturbance>
The suppression of disturbance can be realized by reducing the evaluation weight for the control input in the evaluation function that controls the flight of the flying object 10. By doing so, the resistance to disturbance can be increased.

For example, when the evaluation function J of the mathematical formula (3) is used and the suppression of disturbance is prioritized, the control unit 2040 sets the value of each element of the weight matrix R to be smaller than the reference value. On the other hand, when the suppression of disturbance is not prioritized, the control unit 2040 sets the value of each element of the weight matrix R to the reference value or more. The reference value may be a different value for each element of the weight matrix R, or may be a value common to all the elements.

As an example of a more specific method, the weight matrix R1 used when the suppression of disturbance is prioritized and the weight matrix R2 used when the suppression of disturbance is not prioritized are predetermined. Then, when the magnitude of the disturbance with respect to the projectile 10 is equal to or greater than the threshold value, the control unit 2040 uses R1 as the weight matrix R in the evaluation function J. On the other hand, when the magnitude of the disturbance with respect to the projectile 10 is less than the threshold value, the control unit 2040 uses R2 as the weight matrix R in the evaluation function J. Note that R1 and R2 are stored in a storage device accessible from the control unit 2040.

[Embodiment 3]
<Overview>
Similar to the control device 2000 of the second embodiment, the control device 2000 of the third embodiment suppresses the disturbance when the influence of the disturbance is large on the flying object 10. However, when the influence of the disturbance is large, the control device 2000 of the third embodiment operates in either the first control mode or the second control mode while suppressing the disturbance. By doing so, while appropriately switching between control for realizing accurate work using the projectile 10 and control for emphasizing energy efficiency and the like, safe flight of the projectile 10 by suppressing disturbance can be achieved. It can be realized.

<Example of functional configuration>
The functional configuration of the control device 2000 of the second embodiment is represented by, for example, FIG. 3 as in the control device 2000 of the first embodiment. However, when the magnitude of the disturbance with respect to the flying object 10 is equal to or larger than a predetermined magnitude, the control unit 2040 of the third embodiment gives priority to the suppression of the disturbance. Further, regardless of whether or not disturbance is suppressed, control is performed in either the first mode or the second mode.

<Example of hardware configuration>
The hardware configuration of the computer that realizes the control device 2000 of the second embodiment is represented by, for example, FIG. 4 as in the first embodiment. However, the storage device 1080 of the computer 1000 that realizes the control device 2000 of the present embodiment further stores a program module that realizes the function of the control device 2000 of the present embodiment.

<Processing flow>
FIG. 7 is a diagram illustrating a flow of processing executed by the control device 2000 of the second embodiment. The control unit 2040 estimates the state of the projectile 10 (S302). The control unit 2040 determines whether or not the magnitude of the disturbance with respect to the projectile 10 is equal to or greater than the threshold value (S304). Further, in the control unit 2040, the control mode of the projectile 10 is first in both the case where the magnitude of the disturbance is equal to or greater than the threshold value (S304: YES) and the case where the magnitude of the disturbance is less than the threshold value (S304: NO). It is determined whether it is a mode or a second mode (S306, S308).

When the magnitude of the disturbance is equal to or greater than the threshold value and the control mode of the flying object 10 is the first mode (S306: first mode), the control unit 2040 gives priority to the first position 30 while suppressing the disturbance. The body 10 is controlled (S310). On the other hand, when the magnitude of the disturbance is equal to or greater than the threshold value and the control mode of the flying object 10 is the second mode (S306: second mode), the control unit 2040 gives priority to the second position 40 while suppressing the disturbance. The flying object 10 is controlled (S312).

When the magnitude of the disturbance is less than the threshold value and the control mode of the projectile 10 is the first mode (S308: first mode), the control unit 2040 moves the first position 30 without suppressing the disturbance. The priority projectile 10 is controlled (S314). On the other hand, when the magnitude of the disturbance is less than the threshold value and the control mode of the flying object 10 is the second mode (S308: second mode), the control unit 2040 does not suppress the disturbance and performs the second position. The flying object 10 giving priority to 40 is controlled (S316).

<Method of preferentially controlling the first position 30 while suppressing disturbance: S310>
When the magnitude of the disturbance is equal to or greater than the threshold value and the control mode of the flying object 10 is the first mode (S306: first mode), the control unit 2040 gives priority to the first position 30 while suppressing the disturbance. The body 10 is controlled (S310). As described in the second embodiment, the suppression of the disturbance is realized by reducing the evaluation weight for the control input (weight matrix R in the mathematical formula (4)) in the evaluation function for controlling the flight of the flying object 10. Can be done. Further, the control in which the first position 30 is prioritized over the second position 40 can be realized by making the weight for the element representing the first position 30 larger than the weight for the element representing the second position 40 in the evaluation function. .. For example, in equation (4), the elements representing the first position 30 are xarm, yarm, and zarm, and the weights for these are q7, q8, and q9. The elements representing the second position 40 are x, y, and z, and the weights for these are q1, q3, and q5.

Therefore, when controlling the flying object 10 in which the first position 30 is prioritized while suppressing disturbance, the control unit 2040 reduces the evaluation weight for the control input in the evaluation function for controlling the flight of the flying object 10. However, 2) the weight for the element representing the first position 30 is made larger than the weight for the element representing the second position 40. For example, when the evaluation function of the equation (4) is used, the control unit 2040 uses the above-mentioned weight matrix R1 as the weight matrix R, and also uses the above-mentioned weight matrix Q1 as the weight matrix Q.

<Method of preferentially controlling the second position 40 while suppressing disturbance: S312>
When the magnitude of the disturbance is equal to or greater than the threshold value and the control mode of the projectile 10 is the second mode (S306: second mode), the control unit 2040 gives priority to the second position 40 while suppressing the disturbance. The body 10 is controlled (S312). The control in which the second position 40 is prioritized over the first position 30 can be realized by making the weight for the element representing the second position 40 larger than the weight for the element representing the first position 30 in the evaluation function.

Therefore, when controlling the flying object 10 in which the second position 40 is prioritized while suppressing disturbance, the control unit 2040 reduces the evaluation weight for the control input in the evaluation function for controlling the flight of the flying object 10. However, 2) the weight for the element representing the second position 40 is made larger than the weight for the element representing the first position 30. For example, when the evaluation function of the equation (4) is used, the control unit 2040 uses the above-mentioned weight matrix R1 as the weight matrix R, and also uses the above-mentioned weight matrix Q2 as the weight matrix Q.

<Method of preferentially controlling the first position 30 without suppressing disturbance: S314>
When the magnitude of the disturbance is less than the threshold value and the control mode of the projectile 10 is the first mode, the control unit 2040 controls the projectile 10 by giving priority to the first position 30 without suppressing the disturbance. (S314). As described in the second embodiment, when the disturbance is not suppressed, the evaluation weight for the control input is increased in the evaluation function for controlling the flight of the flying object 10 as compared with the case where the disturbance is suppressed. ..

Therefore, when controlling the flying object 10 in which the first position 30 is prioritized without suppressing the disturbance, the control unit 2040 sets the evaluation weight for the control input in the evaluation function for controlling the flight of the flying object 10. In addition, 2) the weight for the element representing the first position 30 is made larger than the weight for the element representing the second position 40. For example, when the evaluation function of the equation (4) is used, the control unit 2040 uses the above-mentioned weight matrix R2 as the weight matrix R, and also uses the above-mentioned weight matrix Q1 as the weight matrix Q.

<Method of preferentially controlling the second position 40 without suppressing disturbance: S316>
When the magnitude of the disturbance is less than the threshold value and the control mode of the projectile 10 is the second mode, the control unit 2040 controls the projectile 10 by giving priority to the second position 40 without suppressing the disturbance. (S316). Specifically, in the evaluation function that controls the flight of the flying object 10, the control unit 2040 first increases the weight of the evaluation for the control input and 2) the weight for the element representing the second position 40. It is made larger than the weight for the element representing the position 30. More specifically, when the evaluation function of the equation (4) is used, the control unit 2040 uses the above-mentioned weight matrix R2 as the weight matrix R, and also uses the above-mentioned weight matrix Q2 as the weight matrix Q.

Although the embodiments of the present invention have been described above with reference to the drawings, these are examples of the present invention, and a combination of the above embodiments or various configurations other than the above can be adopted.

Some or all of the above embodiments may also be described, but not limited to:
1. 1. A control device that controls the flight of a flying object with an arm.
A switching unit that switches the control mode related to the flight control of the flying object to either the first mode or the second mode, and
When the control mode is the first mode, the flight of the flying object is controlled by giving priority to the first position of the flying object, and when the control mode is the second mode, the flying object of the flying object is controlled. It has a control unit that gives priority to the second position and controls the flight of the flying object.
The first position is a position on the arm.
A control device in which the second position is not a position on the arm.
2. The control unit determines the control input so as to reduce the evaluation function for calculating the evaluation value based on the error between the current state of the flying object and the target state and the control input, and the determined control input. Is output to the flying object to control the flight of the flying object.
The control unit
When the control mode is the first mode, in the evaluation function, the first weight indicating the magnitude of the influence of the first position of the flying object on the evaluation value is given to the evaluation function of the flying object. Make it larger than the second weight, which indicates the magnitude of the effect of the second position on the evaluation value.
When the control mode is the second mode, the second weight is made larger than the first weight. The control device described in.
3. 3. The control unit determines whether or not the magnitude of the disturbance with respect to the flying object is equal to or greater than the threshold value, and if the magnitude is equal to or greater than the threshold value, performs flight control of the flying object with priority given to suppressing the disturbance. 1. Or 2. The control device described in.
4. The control unit determines the control input so as to reduce the evaluation function for calculating the evaluation value based on the error between the current state of the flying object and the target state and the control input, and the determined control input. Is output to the flying object to control the flight of the flying object.
When the magnitude of the disturbance is equal to or greater than the threshold value, the control unit determines the magnitude of the influence of the control input on the evaluation value in the evaluation function as compared with the case where the magnitude of the disturbance is less than the threshold value. 2. Reduce the weight to be represented. The control device described in.
5. The first position is the tip position of the arm.
The second position is the central position of the flying object. To 4. The control device according to any one.

6. A control method performed by a computer that controls the flight of a projectile with an arm.
A switching step for switching the control mode related to the flight control of the flying object to either the first mode or the second mode, and
When the control mode is the first mode, the flight of the flying object is controlled by giving priority to the first position of the flying object, and when the control mode is the second mode, the flying object of the flying object is controlled. It has a control step that gives priority to the second position and controls the flight of the flying object.
The first position is a position on the arm.
A control method in which the second position is not a position on the arm.
7. In the control step, the control input is determined so as to reduce the evaluation function for calculating the evaluation value based on the error between the current state of the flying object and the target state and the control input, and the determined control input is determined. Is output to the flying object to control the flight of the flying object.
In the control step
When the control mode is the first mode, in the evaluation function, the first weight indicating the magnitude of the influence of the first position of the flying object on the evaluation value is given to the evaluation function of the flying object. Make it larger than the second weight, which indicates the magnitude of the effect of the second position on the evaluation value.
When the control mode is the second mode, the second weight is made larger than the first weight. The control method described in.
8. In the control step, it is determined whether or not the magnitude of the disturbance with respect to the flying object is equal to or greater than the threshold value, and if the magnitude is equal to or greater than the threshold value, the flight control of the flying object is performed with priority given to the suppression of the disturbance. , 6. Or 7. The control method described in.
9. In the control step, the control input is determined so as to reduce the evaluation function for calculating the evaluation value based on the error between the current state of the flying object and the target state and the control input, and the determined control input is determined. Is output to the flying object to control the flight of the flying object.
In the control step, when the magnitude of the disturbance is equal to or greater than the threshold value, the magnitude of the influence of the control input on the evaluation value in the evaluation function is determined as compared with the case where the magnitude of the disturbance is less than the threshold value. Decrease the weight to be represented, 8. The control method described in.
10. The first position is the tip position of the arm.
The second position is the central position of the projectile, 6. ~ 9. The control method according to any one.

11. 6. To 10. A program that causes a computer to execute each step of the control method described in any one of them.

This application claims priority on the basis of Japanese application Japanese Patent Application No. 2018-180552 filed on September 26, 2018, the entire disclosure of which is incorporated herein by reference.

10 Flying object 20 Arm 30 1st position 40 2nd position 1000 Computer 1020 Bus 1040 Processor 1060 Memory 1080 Storage device 1100 Input / output interface 1120 Network interface 2000 Control device 2020 Switching unit 2040 Control unit

Claims (11)

A control device that controls the flight of a flying object with an arm.
A switching unit that switches the control mode related to the flight control of the flying object to either the first mode or the second mode, and
When the control mode is the first mode, the flight of the flying object is controlled by giving priority to the first position of the flying object, and when the control mode is the second mode, the flying object of the flying object is controlled. It has a control unit that gives priority to the second position and controls the flight of the flying object.
The first position is a position on the arm.
A control device in which the second position is not a position on the arm. The control unit determines the control input so as to reduce the evaluation function for calculating the evaluation value based on the error between the current state of the flying object and the target state and the control input, and the determined control input. Is output to the flying object to control the flight of the flying object.
The control unit
When the control mode is the first mode, in the evaluation function, the first weight indicating the magnitude of the influence of the first position of the flying object on the evaluation value is given to the evaluation function of the flying object. Make it larger than the second weight, which indicates the magnitude of the effect of the second position on the evaluation value.
The control device according to claim 1, wherein when the control mode is the second mode, the second weight is made larger than the first weight. The control unit determines whether or not the magnitude of the disturbance with respect to the flying object is equal to or greater than the threshold value, and if the magnitude is equal to or greater than the threshold value, the control unit performs flight control of the flying object with priority given to suppressing the disturbance. , The control device according to claim 1 or 2. The control unit determines the control input so as to reduce the evaluation function for calculating the evaluation value based on the error between the current state of the flying object and the target state and the control input, and the determined control input. Is output to the flying object to control the flight of the flying object.
When the magnitude of the disturbance is equal to or greater than the threshold value, the control unit determines the magnitude of the influence of the control input on the evaluation value in the evaluation function as compared with the case where the magnitude of the disturbance is less than the threshold value. The control device according to claim 3, wherein the weight represented is reduced. The first position is the tip position of the arm.
The control device according to any one of claims 1 to 4, wherein the second position is a central position of the flying object. A control method performed by a computer that controls the flight of a projectile with an arm.
A switching step for switching the control mode related to the flight control of the flying object to either the first mode or the second mode, and
When the control mode is the first mode, the flight of the flying object is controlled by giving priority to the first position of the flying object, and when the control mode is the second mode, the flying object of the flying object is controlled. It has a control step that gives priority to the second position and controls the flight of the flying object.
The first position is a position on the arm.
A control method in which the second position is not a position on the arm. In the control step, the control input is determined so as to reduce the evaluation function for calculating the evaluation value based on the error between the current state of the flying object and the target state and the control input, and the determined control input is determined. Is output to the flying object to control the flight of the flying object.
In the control step
When the control mode is the first mode, in the evaluation function, the first weight indicating the magnitude of the influence of the first position of the flying object on the evaluation value is given to the evaluation function of the flying object. Make it larger than the second weight, which indicates the magnitude of the effect of the second position on the evaluation value.
The control method according to claim 6, wherein when the control mode is the second mode, the second weight is made larger than the first weight. In the control step, it is determined whether or not the magnitude of the disturbance with respect to the flying object is equal to or greater than the threshold value, and if the magnitude is equal to or greater than the threshold value, the flight control of the flying object is performed with priority given to the suppression of the disturbance. , The control method according to claim 6 or 7. In the control step, the control input is determined so as to reduce the evaluation function for calculating the evaluation value based on the error between the current state of the flying object and the target state and the control input, and the determined control input is determined. Is output to the flying object to control the flight of the flying object.
In the control step, when the magnitude of the disturbance is equal to or greater than the threshold value, the magnitude of the influence of the control input on the evaluation value in the evaluation function is determined as compared with the case where the magnitude of the disturbance is less than the threshold value. The control method according to claim 8, wherein the weight to be represented is reduced. The first position is the tip position of the arm.
The control method according to any one of claims 6 to 9, wherein the second position is the central position of the flying object. A program that causes a computer to execute each step of the control method according to any one of claims 6 to 10.

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