逆ダイナミクス法によるスタビレス産業用無人ヘリコプタの姿勢制御の風外乱特性

抄録

To increase payload and efficiency, stabilizer-less unmanned helicopters are highly demanded. The purpose of our research is to develop flight controllers for the stabilizer-less unmanned helicopter. We focused on attitude controllers applying dynamic inversion method to cancel undesired coupling properties and to realize desired response. In this paper, we applied hierarchical approach of dynamic inversion method to design attitude controllers based on the original dynamical model of horizontal motion of the stabilizer-less unmanned helicopter, a low frequency model, and a steady flapping model, which was called as Hohenemser model. The delay due to the servo motors was not usually included to design controllers not to place too much load on them. However, it is possible that servo delay has significant influence on the flight quality. Frequency analysis of response to wind disturbance with servo delay was carried out. Results show that the flight controller designed based on Hohenemser model is not appropriate because the servo delay induces undesired oscillation of the main rotor's flap angle.