小型２輪マルチコプタのディジタル制御系の設計

抄録

This paper proposes a small-sized two-wheeled Unmanned Aerial Vehicle(UAV) in order to get into and visually inspect a narrow part, for example, a bridge bearing. First, we present the two-wheeled multi-copter loading with a digital control device to downsize the wheel of the size of 66cm to size of 25cm. Second, for high accuracy positioning of inspection, a new design method of the optimal digital PID controller for the multicopter is proposed. The optimal controller minimizes a cost functional. The design method is reduced to the standard LQR method and is straightforward. The effectiveness is demonstrated by some flight experiments moving on a wall.