Abstract
Recently, UAV (unmanned aerial vehicle) is used in fields of aerial photography and aerial investigation. But their propellers and rotor blades are not covered, and the thrust is generated by high rotational speed. Thus UAV has a high risk of damage. To clear up the risk of rotor blade, we present a new flying object that uses ducted fans instead of rotor blades. PI-D control was used instead of PD control, and it reduced the steady state error. We succeeded to achieve stable hovering by 3-axes (roll, pitch and yaw axis) attitude control. In this paper, we report 3 type of ducted-fan flying objects which use thrust vectoring and variable nozzle system.
