B22 交差反転式4発ロータヘリコプタのモデリング(M-OS10-2 自律知能無人ビークルの運動と制御II,M-OS10 自律知能無人ビークルの運動と制御,「海を越え,国を越え,世代を超えて!」)

Abstract

In this paper, we propose the intermeshing quadrotor helicopter which has feature of the tandem rotor helicopter and the intermeshing helicopter. Kinematic and aerodynamic characteristics of this helicopter have not yet been well known because such a helicopter does not exist so far. Therefore, we aim at conducting motion analysis of the helicopter. First, equation of motion of the helicopter is derived using multi-body dynamics. Next, we construct the system which enables that the helicopter fly manually. Finally, flight experiment was carried out to collect flight data needed for parameter identification of the model.