抄録
Recently, R/C helicopter is used in field of aerial photography and investigation. But helicopter rotor blades are not covered, and the thrust is generated by very high rotational speed. So R/C helicopter has high risk. In this study, we developed a new flying object like the inverted pendulum that using two ducted fans instead of rotor blades. And we named it "Ducted fan Flying Object ver.3 (DFO3)". Each ducted fans have Gimbals mechanism of 2 degree of freedom as thrust vectoring mechanism. We try 3-axis (roll, pitch, yaw axis) attitude control by PI-D control and VTOL. PID gain has calculated by pole placement method and its simulation. We succeeded attitude control. However, control precision falls because of simulation precision problem and some mechanism problems. Therefore, we improvement "Ducted fan Flying Object ver.4 (DFO4)" basis of the DFO3 to solve the problems. DFO4 has nozzle mechanism instead of Gimbal mechanism.
