G1500-2-4 航空機の姿勢制御実験装置(ロボティクス・メカトロニクス部門一般講演(2):機構と制御,社会変革を技術で廻す機械工学)

抄録

This paper describes the development of experimental attitude control apparatus which enables the research and development of attitude control system for many kinds of VTOL aircraft. In this equipment experimental VTOL model is set to the central base column through the supporting ball joint. The ball joint admits about ±sixty degrees roll and pitch motion and ±180 degrees yaw motion. Easy and safety experimental research and development can be conducted by this teststand. A design of attitude control system is tried for an experimental VTOL model. A strap-down inertial measurement sensor which includes gyros, accelerometers and magneto-meters is used as a attitude sensor for this test-stand.