自律飛行型微小重力環境生成システムにおける姿勢制御および並進方向の位置制御

抄録

This paper describes development of the autonomous flight system to create microgravity space on the earth. Currently, various microgravity environments are used for researching new materials and analyzing physical phenomena. However, existing microgravity generation methods have problems such as the experiment site being a specific place and high cost for microgravity experiment. The proposed system realizes a microgravity environment inside the system using acceleration by a ducted fan while dropping the aircraft and controlling attitude by torque. The control inputs are derived using Lyapunov stability theory. The problem of previous studies is that the control system design does not consider the horizontal position control and acceleration control. But the proposed system needs to control angle of attitude, horizontal position and vertical position at the same time. The study aims to design the control law considering propulsion force in two-dimensional model and to evaluate the proposed method by the result of numerical analysis.