ジャイロモーメントを用いた吊り下げ型環境測定装置の開発

―安定した回転の実現およびデータの計測－

抄録

This paper explains development of hanging type environmental measuring device that uses a Control Moment Gyro (GMG) to control its attitude with Laser Range Finder (LRF) to measure the distance to the objects around the device. The experimental machine is equipped with a single gimbal type CMG. By rotating the flywheel at high speed, the shaking of the aircraft is prevented from disturbance such as strong wind. By tilting the gimbal from this state, it is controlled to rotate the LRF at a constant speed in the lateral direction. By acquiring three-dimensional data of the space with the LRF, it can be used for maintenance and situation grasp of the facility. The control unit of the system is also explained.