CMG（コントロール・モーメント・ジャイロ）によるドローンの姿勢制御

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2021/03/01

タイトル(英語): Attitude Control of Drone by using CMG

著者名: 大内　茂人（早稲田大学理工学術院総合研究所），小谷　斉之（釧路工業高等専門学校），井上　健人（早稲田大学理工学術院総合研究所），稲葉　毅（東海大学情報理工学部），宮下　朋之（早稲田大学理工学術院総合研究所），野口　宏実（（株）インフィテック）

著者名(英語): Shigeto Ouchi (Waseda University), Nariyuki Kodani (National Institute of Technology, Kushiro College), Kento Inoue (Waseda University), Takeshi Inaba (Tokai University), Tomoyuki Miyashita (Waseda University), Hiromi Noguchi (Infitec Co., Ltd.)

キーワード: ドローン，姿勢制御，モデリング，ジャイロ，CMG　　drone，attitude control，modeling，gyro，CMG

要約(英語): Drones, whose applications are rapidly expanding in recent years, have a wide range of uses, such as material transportation, pesticide spraying, structure inspection, and even the recently-flying cars, but it is difficult to fly in bad weather such as gusts. On the other hand, a CMG (Control Moment Gyro) is known which has the property of precessing when it is rotated by a force applied to the rotary shaft from the outside. Therefore, we wondered if the self-sustained control of the motorcycle using the CMG developed by the authors could be applied to the attitude control of the drone.In the paper, based on these findings, we modeled CMG and CMG-equipped drone based on the law of conservation of momentum, and the control law is obtained by using the optimal regulator method for the linearized model of the nonlinear system. The control effect has been confirmed by simulations. Based on the feedback gain confirmed by the simulation, the experiments have shown that CMG onboard drone are effective in suppressing wind disturbances equivalent to 22 m/sec and small vibrations of 0.7 to 4 Hz.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.141 No.3 （2021） 特集：スマートシステムと計測・制御技術 －超スマート社会に向けて－

本誌掲載ページ: 436-445 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/141/3/141_436/_article/-char/ja/