A302 角速度センサを用いた小型固定翼機のProp-Hanging飛行制御(OS3 自律知能無人ビークルの運動と制御3)

Abstract

A prop-hanging is known as a way of flight, and it can achieve hovering without special equipments to change the direction of the thrust. Therefore, it has advantages comparing to the tilt-rotor aircraft or vectored thrust aircraft. However, lots of sensors to measure the position and the attitude of the airplane are required to achieve the prop-hanging by automatic control. Therefore, in this paper, we propose a control method to stabilize the attitude of the airplane by using angular velocity sensors only. The effectiveness of the proposed method is evaluated by simulation and experiment.