アクティブ格子乱流中にホバリングするクアッドロータドローンの位置・姿勢制御と乱流特性の関係

抄録

Drones are used in various situations, and they should be operated with a high level of safety. Drones should be stable under disturbances such as sudden strong winds and turbulence. Although the effect of aerodynamic disturbance is usually considered as a simplified wind model, it is desirable to take the characteristics of turbulence into account. For this purpose, we will clarify the effect of wind disturbance generated by active grid turbulence on the position and attitude of the hovering quad-rotor drone. The power spectrum of the velocity fluctuation generated by the active grid exhibits its slope of -5/3. With the present flight system consisting of an external depth camera and a quad-rotor drone with Blackbox functionality, the drone can hover at a target position in the wind tunnel and the time-series flight data can be obtained. It is found that the roll control signal is negatively correlated with the acceleration during hovering in the wind.