飛翔昆虫を規範としたデュアルコプターのモデリングと姿勢制御

抄録

Instability of the outdoor flight of small UAVs (Unmanned Aerial Vehicle) is an obstacle to their application in industry, such as inspection and forestry. Flying insects however can achieve stable while robust flight performance, which provides an excellent biomimetic design for UAVs. In this study, inspired by insect flights, we developed a Dual rotor-copter with a size of 23 cm and a weight of 53 g, in which, unlike conventional multirotor-copters, a stroke plane-based control strategy is proposed. We developed a numerical model to simulate the flight dynamics while designing a novel control system for pitch motion. Our results show that the pitch motion control of the dual rotor-copter can be achieved successfully whereas the servo motor results in some delay in thrust vectoring owing to the tilt of stroke plane.