WO2006107017A1 - 制御方法、制御装置および無人ヘリコプタ - Google Patents
制御方法、制御装置および無人ヘリコプタ Download PDFInfo
- Publication number
- WO2006107017A1 WO2006107017A1 PCT/JP2006/307041 JP2006307041W WO2006107017A1 WO 2006107017 A1 WO2006107017 A1 WO 2006107017A1 JP 2006307041 W JP2006307041 W JP 2006307041W WO 2006107017 A1 WO2006107017 A1 WO 2006107017A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- control
- target value
- item
- target
- deviation
- Prior art date
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
- G05B13/024—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a parameter or coefficient is automatically adjusted to optimise the performance
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/32—Automatic controllers electric with inputs from more than one sensing element; with outputs to more than one correcting element
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B6/00—Internal feedback arrangements for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B6/02—Internal feedback arrangements for obtaining particular characteristics, e.g. proportional, integral, differential electric
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0858—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft specially adapted for vertical take-off of aircraft
Definitions
- the present invention relates to a control method, a control device, and an unmanned helicopter for controlling a control target having a plurality of control items using feedback control.
- control items include nose direction, roll angle, pitch angle, nose direction velocity and acceleration, lateral velocity and acceleration, vertical velocity and acceleration, and For example, altitude.
- control items are controlled by independent and independent control systems, for example, feedback control based on the conventionally known PID theory. That is, for each control item, an operation amount corresponding to the set command value is input to the control system of that control item. In the control system, a target value is calculated according to the operation amount, and the control amount according to the target value is input to the drive system of each control item. Feedback control is performed for each control item by feeding back this result to the control amount so as to approach the target value Disclosure of the Invention
- the present invention has been made to solve the above-described problems, and a control method capable of easily performing automatic control on a control target having a plurality of control items.
- An object is to provide a control device and a helicopter.
- the control method includes a step of calculating a target value for each control item of the control target having a plurality of control items, and feedback control of the control target so that the value of the control item approaches the target value. And a step of changing the target value of another control item based on the deviation between the target value and the current value for each control item.
- a control device includes a target value calculation unit that calculates a target value for each control item to be controlled having a plurality of control items, and a feed so that the value of the control item approaches the target value.
- a feedback control unit that performs back control, and a feature usage determination unit that changes the target value of another control item based on the difference between the target value and the current value for each control item. It is.
- the unmanned helicopter includes a target value calculation unit that calculates a target value for each control item of the unmanned helicopter having a plurality of control items including at least an airframe roll angle and an airframe azimuth angle, and a control Feedback control unit that performs feedback control so that the value of an item approaches the target value, and feature usage judgment that changes the target value of other control items based on the deviation between the target value and the current value for each control item And a section.
- a target value calculation unit that calculates a target value for each control item of the unmanned helicopter having a plurality of control items including at least an airframe roll angle and an airframe azimuth angle
- a control Feedback control unit that performs feedback control so that the value of an item approaches the target value, and feature usage judgment that changes the target value of other control items based on the deviation between the target value and the current value for each control item And a section.
- FIG. 1 is a block diagram showing a configuration of a control device of the present invention.
- FIG. 2 is a block diagram showing a configuration of a control device of the present invention.
- FIG. 3 is a block diagram showing a configuration when the control device of this embodiment is applied to an unmanned helicopter.
- FIG. 4A is a plan view of an unmanned helicopter subjected to a crosswind.
- FIG. 4B is a front view of an unmanned helicopter subjected to cross wind.
- FIG. 4C is a flowchart showing a first situation determination operation by the situation determination unit.
- FIG. 4D is a flowchart showing a second situation determination operation by the situation determination unit.
- FIG. 5A is a plan view of an unmanned helicopter with the nose facing upwind.
- FIG. 5B is a front view of the unmanned helicopter with the nose facing upwind.
- FIG. 5C is a flowchart showing a determination operation by the feature use determination unit.
- FIG. 5D is a flowchart showing an operation correction value calculation operation by the operation correction value calculation unit.
- the control device includes a basic feedback unit 100, a situation determination unit 10, and a feature use determination unit 11.
- the basic feedback unit 100 includes a control object 1 having a plurality of control items 2 (control items A, B, and C--) and a basic feedback control system 5 provided for each control item 2.
- the feedback control system 5 includes a target value calculation circuit 3 and a gain circuit 4.
- control item A As an example, an operation related to control item A will be described.
- operation A corresponding to the target motion to be controlled is performed on control item A
- the operation amount signal 6 is input to the basic feed knock control system 5.
- the target value calculation circuit 3 calculates a control target value for the control item A.
- a control amount corresponding to the target value is input as a control amount signal 7 to the drive system (not shown) of the control item A through the gain circuit 4, and the control item A is controlled by operating this drive system.
- the current value at this time, that is, the control result a is fed back to the control amount.
- the value of the control item A is feedback controlled so as to approach the target value.
- control amount may be directly input to the value of the control item A.
- the control amount by the control amount signal 8 based on the direct control amount 13 is input to the control item A instead of the control amount by the control amount signal 7 from the target value calculation circuit 3, or the control amount by the control amount signal 7 It may be input as a sum. In this way, by directly inputting the control amount for the control item A, various controls can be performed as necessary.
- each basic feedback control system 5 has a deviation 9 (deviation A, B, C, ⁇ ) between the control amount from the target value calculation circuit 3 and the control result (a, b, c). ⁇ ⁇ ) Is required.
- each deviation 9 is introduced into the situation judgment unit 10 to judge the situation of the control target according to the deviation. This is because, for example, the action of a control item that is pre-divided, such as a posture change to face the wind, is identified by the magnitude of the deviation for the situation of the controlled object such as a situation where the wind is received. It is to judge the situation.
- the feature usage determination unit 11 relates to the situation such as an operation of reducing the wind pressure by at least one of the operation correction value calculation unit 11a and the direct control amount calculation unit l ib.
- the availability of the operation that is the feature of the control target is determined.
- the control item for example, control item A
- the control item that operates to change the status of the control target for example, control item B
- the feature usage determining unit 11 determines the availability for each control item based on the determination result by the situation determining unit 10.
- the operation correction value calculation unit 11a calculates the correction value 12 of the operation amount signal 6 shown in FIG.
- the feature use determining unit 11 directly calculates the control amount 13 by the direct control amount calculating unit l ib.
- the calculated correction value 12 corrects the manipulated variable signal 6 of the corresponding control item.
- the corrected manipulated variable is input to the target value calculation circuit 3.
- the situation of the control object is determined, and based on the characteristics of the control object corresponding to this situation, the operation amount of another control item is determined.
- the deviation of the control item used as the basis for the situation judgment is reduced.
- a correction value is used as a restriction on the operation amount, it can also serve as a safety circuit for control items.
- the determination result by the situation determination unit 10 or the feature use determination unit 11 may be output as a warning operation instruction 30 by, for example, a display device, a buzzer, a lamp or the like.
- a warning operation instruction 30 by, for example, a display device, a buzzer, a lamp or the like.
- the user can more easily grasp the status of the control target. For example, when there is a possibility that the operation to be controlled may stop, the user can be alerted by sounding an alarm sound with a buzzer or displaying a warning display on the display device.
- the judgment results of the situation judgment unit 10 and the feature usage judgment unit 11 can be used as a safety measure for hunting by operating the gain 4 of the basic feedback unit 100 by the gain operation 14, or can be controlled. It is also possible to change the operation state.
- Such a control device of the present embodiment includes an arithmetic device such as a CPU (Central Processing Unit), a storage device such as a memory and an HDD (Hard Disc Drive), a keyboard, a mouse, a pointing device, a button, and a touch panel.
- arithmetic device such as a CPU (Central Processing Unit)
- a storage device such as a memory and an HDD (Hard Disc Drive)
- keyboard such as a keyboard, a mouse, a pointing device, a button, and a touch panel.
- the program may be provided in a state of being recorded on a recording medium such as a flexible disk, a CD-ROM, a DVD-ROM, or a memory card.
- the unmanned helicopter to which the control device according to the present embodiment is applied includes a basic feedback unit 200, a situation determination unit 10 (not shown), and a feature use determination unit 11 (not shown). Consists of
- the basic feedback unit 200 is a control item for the unmanned helicopter body 14 to be controlled. As shown, the airframe roll angle 2a, the airframe lateral speed 2b, the airframe lateral position 2c, the airframe angle 2d, and the airframe azimuth 2e are included. Each control item has a basic feedback control system. This basic feedback control system is roughly classified into two types based on the two operation amounts of the fuselage axis lateral movement command and the nose movement command.
- the basic feedback control system based on the operation amount of the machine body axis lateral movement command includes a basic feed knock control system of control items of the machine body roll angle 2a, the machine body lateral speed 2b, and the machine body lateral position 2c.
- the basic feedback control system for the body roll angle 2a includes a target attitude angle calculation unit 17 and a gain circuit 18.
- the target posture angle calculation unit 17 calculates a target posture angle based on the target acceleration of the lateral movement calculated by the target acceleration calculation unit 16 based on the body axis lateral movement command.
- the basic feedback control system of the airframe lateral speed 2b includes a target speed calculator 19 and a gain circuit 20.
- the target speed calculation unit 19 calculates the target speed of the lateral movement based on the target acceleration of the lateral movement calculated by the target acceleration calculation unit 16.
- the basic feedback control system of the machine body lateral position 2c includes a target position calculator 21 and a gain circuit 22.
- the target position calculation unit 21 calculates a lateral movement target position based on the lateral movement target speed calculated by the target speed calculation unit 19.
- examples of the basic feedback control system based on the operation amount of the nose movement command include a basic feedback control system of control items of the airframe angular velocity 2d and the airframe azimuth angle 2e.
- the basic feedback control system for the airframe angular velocity 2d includes a target angular velocity calculator 23 and a gain circuit 24.
- the target angular velocity calculation unit 23 calculates a target angular velocity in the nose movement direction based on the nose movement command.
- the basic feedback control system of the body azimuth angle 2e includes a target azimuth calculation unit 25 and a gain circuit 26.
- the target bearing calculation unit 25 calculates the target bearing in the nose movement direction based on the target angular velocity in the nose movement direction calculated by the target angular velocity calculation unit 23.
- FIGS. 4A to 4D and FIGS. 5A to 5D the control device of this embodiment is applied.
- the operation of the unmanned helicopter when it receives a crosswind will be described.
- the unmanned helicopter generates a lateral thrust fl that opposes the wind force F by inclining the straight angle of the fuselage 14 to the windward side by autonomous control so that the fuselage 14 does not flow sideways.
- the vertical lift f2 decreases with the inclination.
- the thrust fl and the lift f2 are component forces of the thrust fO by the main rotor 15. Therefore, in the first situation judgment operation shown in FIG. 4C, the situation judgment unit 10 determines whether the roll angle deviation is larger than the predetermined value (step S11), and one of the measures is necessary. Determine if the situation is strong under strong wind (step S12).
- the situation determination unit 10 cannot maintain the altitude because the lift f2 decreases when the deviation of the roll angle becomes larger than a predetermined value (step S21). (Step S22), it is determined that the aircraft will descend (Step S23).
- the feature use determination unit 11 performs the feature use determination operation shown in FIG. 5C.
- the aircraft 14 is receiving wind, if the nose is pointed upwind (step S31), the projected area receiving the wind will be reduced and the wind will escape (step S32).
- the wind resistance component can be reduced (step S33).
- the inclination of the roll angle to counter the wind is reduced. That is, it can be determined that the characteristic of the helicopter that the deviation force of the roll angle becomes smaller by changing the nose direction, which is a control item different from the roll angle, can be determined.
- the determination results by the situation determination unit 10 and the feature usage determination unit 11 may be displayed on the display device of the base station of the unmanned helicopter. Thereby, the user of an unattended helicopter can recognize what kind of judgment is performed in the unattended helicopter.
- the feature use determination unit 11 performs the operation correction value calculation unit 11a shown in Figs. 5A and 5B.
- the nose direction is corrected by H °, and the deviation is reduced so that the roll angle (B) is high enough to maintain the altitude of the aircraft (step S41).
- This correction amount H is calculated from the deviation data according to the roll angle deviation (that is, the crosswind strength) (step S42).
- the nose direction correction value 32 (shown in Fig. 3) calculated by the operation correction value calculation unit 11a is the same as the aircraft's angular velocity and aircraft direction angle different from the basic feedback control system for the aircraft roll angle 2a. It is fed back to the basic feedback control system, and the command value (operation amount) of the nose movement command is corrected. Specifically, based on the calculation result by the operation correction value calculation unit 11a, when there is a nose movement command from the tail rotor (ladder) 27, the target angular velocity calculation circuit 23 performs a target angular velocity for moving the nose direction.
- the target azimuth calculation unit 25 calculates the target azimuth, and the control target of the airframe azimuth angle 2e is feedback-controlled so that the nose direction of the unmanned helicopter airframe 14 faces this target azimuth. Thereby, as described above, the airframe roll angle deviation can be reduced.
- the status of the control target is grasped from the deviation of one control item to be controlled, and based on the characteristics of the relationship between this status and another control item.
- the deviation can be fed back to this other control item to control the controlled object closer to the target.
- a program in which different control items are linked with a simple configuration can be created, and highly reliable automatic control can be realized.
- basic feedback control is performed for each control item to pattern the control target, and nonlinear effects such as the influence of unmanned helicopter winds are generated based on the deviation of the control item.
- control stability if basic stability is secured in the basic feedback control system for each control item, the deviation according to the characteristics of the situation is used to correct the target value of the basic feedback control system. Therefore, it is not necessary to consider the stability of the feedback control system of the control items. Therefore, highly accurate and reliable control can be performed with a simple configuration.
- an operation amount corresponding to a target to be controlled is input to each control item, and a target value of each control item is set according to this operation amount to set each control item.
- the corrected control amount based on the deviation can be directly input as the control amount of the control item characterized according to the situation. For this reason, it is possible to change the course and change the altitude as necessary, so that the diversity and stability of maneuvering can be improved.
- the operator can be notified of the situation grasped based on the deviation by, for example, a warning display.
- a warning display As a result, the state of the controlled object can always be reliably recognized and monitored.
- control gain by operating the control gain using the situation grasped based on the deviation! /, It can be used as a safety measure for handling hunting associated with environmental changes.
- the operating status of the control target can be changed.
- the flight control of the unlicensed helicopter when the flight control of the unlicensed helicopter is performed, for example, when the roll angle of the aircraft changes due to a wind that affects the aircraft in a non-linear relationship that cannot be predicted. That is, when the roll angle (airframe) is tilted in the windward direction with respect to the wind by autonomous control, it can be determined that the wind is being received by the tilt of the airframe.
- the helicopter's unique feature of reducing the wind effect by changing the neck direction to reduce the projected area of the wind is used for flight control. Change the nose direction, which is a control item that is different from the roll angle, which is the control item that has been identified. As a result, it is possible to keep flying in a stable state by reducing the influence of the wind and preventing the aircraft from lowering its altitude.
- the present invention is not limited to an unmanned helicopter, and can be similarly applied to various devices having a plurality of control items such as an electronic device, an aircraft, a ship, and a vehicle.
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007511226A JPWO2006107017A1 (ja) | 2005-04-01 | 2006-04-03 | 制御方法、制御装置および無人ヘリコプタ |
US11/910,425 US20090254229A1 (en) | 2005-04-01 | 2006-04-03 | Control device and method and unmanned helicopter having the same |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005-106216 | 2005-04-01 | ||
JP2005106216 | 2005-04-01 |
Publications (1)
Publication Number | Publication Date |
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WO2006107017A1 true WO2006107017A1 (ja) | 2006-10-12 |
Family
ID=37073562
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2006/307041 WO2006107017A1 (ja) | 2005-04-01 | 2006-04-03 | 制御方法、制御装置および無人ヘリコプタ |
Country Status (5)
Country | Link |
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US (1) | US20090254229A1 (ja) |
JP (1) | JPWO2006107017A1 (ja) |
KR (1) | KR100939010B1 (ja) |
CN (1) | CN101164025A (ja) |
WO (1) | WO2006107017A1 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
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CN101486379B (zh) * | 2009-01-14 | 2011-05-11 | 北京航空航天大学 | 一种共轴式无人直升机航向操纵电路及参数k的确定方法 |
CN202759406U (zh) * | 2012-06-28 | 2013-02-27 | 控制技术有限公司 | 变频器驱动多电机控制系统的优化切换系统 |
ES2684643T3 (es) | 2014-01-10 | 2018-10-03 | Pictometry International Corp. | Sistema y procedimiento de evaluación de estructura mediante aeronave no tripulada |
EP2960154A1 (en) * | 2014-06-23 | 2015-12-30 | Thomson Licensing | A method for controlling a path of a rotary-wing drone, a corresponding system, a rotary-wing drone implementing this system and the related uses of such a drone |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07210202A (ja) * | 1994-01-21 | 1995-08-11 | Mitsubishi Heavy Ind Ltd | 水中ロボット姿勢制御装置 |
JPH0857518A (ja) * | 1994-08-22 | 1996-03-05 | Sumitomo Light Metal Ind Ltd | 連続圧延機における張力制御方法および張力制御装置 |
JP2000118498A (ja) * | 1998-10-09 | 2000-04-25 | Yamaha Motor Co Ltd | 無人ヘリコプタの飛行制御システム |
JP2001306103A (ja) * | 2000-04-18 | 2001-11-02 | Omron Corp | 制御装置、温度調節器および熱処理装置 |
JP2004256022A (ja) * | 2003-02-26 | 2004-09-16 | Kenzo Nonami | 小型無人ヘリコプタの自律制御方法 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3278566B2 (ja) * | 1996-01-10 | 2002-04-30 | 新日本製鐵株式会社 | ルーパ多変数制御装置 |
JP3166703B2 (ja) * | 1998-03-27 | 2001-05-14 | 双葉電子工業株式会社 | 遠隔制御ヘリコプタ用ジャイロ装置 |
JP4300010B2 (ja) * | 2002-10-08 | 2009-07-22 | 富士重工業株式会社 | 無人ヘリコプタ、無人ヘリコプタの離陸方法及び無人ヘリコプタの着陸方法 |
-
2006
- 2006-04-03 CN CNA2006800107623A patent/CN101164025A/zh active Pending
- 2006-04-03 WO PCT/JP2006/307041 patent/WO2006107017A1/ja active Application Filing
- 2006-04-03 US US11/910,425 patent/US20090254229A1/en not_active Abandoned
- 2006-04-03 KR KR1020077024288A patent/KR100939010B1/ko not_active IP Right Cessation
- 2006-04-03 JP JP2007511226A patent/JPWO2006107017A1/ja active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07210202A (ja) * | 1994-01-21 | 1995-08-11 | Mitsubishi Heavy Ind Ltd | 水中ロボット姿勢制御装置 |
JPH0857518A (ja) * | 1994-08-22 | 1996-03-05 | Sumitomo Light Metal Ind Ltd | 連続圧延機における張力制御方法および張力制御装置 |
JP2000118498A (ja) * | 1998-10-09 | 2000-04-25 | Yamaha Motor Co Ltd | 無人ヘリコプタの飛行制御システム |
JP2001306103A (ja) * | 2000-04-18 | 2001-11-02 | Omron Corp | 制御装置、温度調節器および熱処理装置 |
JP2004256022A (ja) * | 2003-02-26 | 2004-09-16 | Kenzo Nonami | 小型無人ヘリコプタの自律制御方法 |
Also Published As
Publication number | Publication date |
---|---|
CN101164025A (zh) | 2008-04-16 |
KR20070112888A (ko) | 2007-11-27 |
US20090254229A1 (en) | 2009-10-08 |
KR100939010B1 (ko) | 2010-01-26 |
JPWO2006107017A1 (ja) | 2008-09-25 |
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