著者

十時 寛典 越智 徳昌 佐藤 昌之 村岡 浩治

出版者

自動制御連合講演会

雑誌

自動制御連合講演会講演論文集 第57回自動制御連合講演会

巻号頁・発行日

pp.1590-1597, 2014 (Released:2016-03-02)

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JAXAが実施している公募型研究の一環として,Tilt Wing VTOL無人機の1種である4発ティルト翼無人機(QTW-UAV)の飛行制御則を設計した.本研究では,固有不安定なQTW-UAVを安全に飛行させるための安定増大装置と,パイロットのワークロード軽減のための操縦性増大装置を設計した.これらの設計にはそれぞれLMIおよびコントローラの低次元化に基づくPID制御則設計手法を適用した.本発表ではこれら2つの設計法を紹介し,得られた制御則の有効性を確認するために実施した非線形Human-in-the-loopシミュレーションの結果を報告する.

著者

佐藤 昌之 村岡 浩治 穂積 弘毅 眞田 幸尚 山田 勉 鳥居 建男

出版者

一般社団法人 日本航空宇宙学会

雑誌

日本航空宇宙学会論文集 (ISSN:13446460)

巻号頁・発行日

vol.65, no.2, pp.54-63, 2017 (Released:2017-04-05)

参考文献数

10

被引用文献数

1 1

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This paper is concerned with the design problem of preview altitude controller for Unmanned Airplane for Radiation Monitoring System\nobreakspace {}(UARMS) to improve its control performance. UARMS has been developed for radiation monitoring around Fukushima Dai-ichi nuclear power plant which spread radiation contaminant due to the huge tsunamis caused by the Great East Japan Earthquake. The monitoring area contains flat as well as mountain areas. The basic flight controller has been confirmed to have satisfactory performance with respect to altitude holding; however, the control performance for variable altitude commands is not sufficient for practical use in mountain areas. We therefore design preview altitude controller with only proportional gains by considering the practicality and the strong requirement of safety for UARMS. Control performance of the designed preview controller was evaluated by flight tests conducted around Fukushima Sky Park.

著者

山岸 聡 坂本 登 佐藤 昌之

出版者

一般社団法人 日本航空宇宙学会

雑誌

日本航空宇宙学会論文集 (ISSN:13446460)

巻号頁・発行日

vol.61, no.1, pp.1-8, 2013 (Released:2013-10-25)

参考文献数

18

被引用文献数

2 1

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In this paper, we propose a design method of a nonlinear optimal controller for systems with rate limited actuators which are known to cause PIO of an aircraft. The PIO prevention problem is solved as a robust stabilization problem of a servo system for pilot commands. Simulation results demonstrate that the nonlinear controller achieves faster tracking performance with less oscillation and smaller input compared with an anti-windup compensator using the H∞ method. Robustness against parameter error, observation noise and time-delay is also confirmed.

著者

佐藤 昌之 村岡 浩治

出版者

一般社団法人 日本航空宇宙学会

雑誌

日本航空宇宙学会論文集 (ISSN:13446460)

巻号頁・発行日

vol.61, no.4, pp.110-118, 2013 (Released:2013-10-25)

参考文献数

15

被引用文献数

3 5

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This paper is concerned with the flight controller design of Quad Tilt Wing (QTW) Unmanned Aerial Vehicle (UAV) which has Vertical Take-Off and Landing (VTOL) capability as well as high speed cruise performance. The flight controller is composed of Stability Augmentation System (SAS), which feedbacks angular velocity, and Control Augmentation System (CAS), which feedbacks the difference between attitude commands and current attitude angles. The gains of S/CAS are both scheduled by the tilt angle of the main wings of the QTWUAV since its airspeed and flight dynamics drastically change in accordance with the tilt angle. The S/CAS are designed by three steps; we first select several design points, then design the controller gains at those design points, and finally connect the gains by linear interpolation. In the design process of the controller gains, perturbed models are introduced in addition to the nominal models, and common gains for those models are designed to ensure robust control performance against modeling errors. Full transition flight from vertical take-off to horizontal cruise was successfully accomplished using our controllers.