無人ヘリのインメルマンターン飛行の軌道・制御系の設計及び実機実証

抄録

Unmanned aerial vehicles (UAVs) are expected to be used in various industrial fields. Therefore, for avoiding collisions with unmanned aerial vehicles against obstacles and other aircraft,the high-agility reference trajectory and control system of the Immelmann turn flight for a small unmanned helicopter which reverses the direction of travel by longitudinal turn are designed. The reference trajectory is derived based on mechanical and kinematic dynamics by dividing the a series of flights into four flight process and setting start and end conditions at each boundary. The design parameters including the start and end conditions and the time of each flight process can be given. For attitude control, design techniques based on the modified Rodrigues parameters are applied to design.And also,the variable gain dependent on the flight process is introduced to the velocity-control design. The flight tests using a small electric helicopter are condected, and it showed that the predetermined flight can be realized by using designed trajectory and control system in the real environment.