1自由度プロペラ推進システムのための機体速度・加速度フィードバック制御器を含む接触力制御器の設計

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2022/02/01

タイトル(英語): Design of a Contact-force Controller Including Airframe's Velocity and Acceleration Feedback Controllers for One-degree-of-freedom Propeller-Driven Systems

著者名: 西井　勇輝（三重大学大学院工学研究科電気電子工学専攻），矢代　大祐（三重大学大学院工学研究科電気電子工学専攻），弓場井　一裕（三重大学大学院工学研究科電気電子工学専攻），駒田　諭（三重大学大学院工学研究科電気電子工学専攻）

著者名(英語): Yuki Nishii (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University), Daisuke Yashiro (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University), Kazuhiro Yubai (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University), Satoshi Komada (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University)

キーワード: プロペラ推進システム，接触力制御，加速度フィードバック，ロータ角速度，外乱オブザーバ，フィードバック線形化　　propeller-driven system，contact-force control，acceleration feedback，rotor-angular-velocity，disturbance observer，feedback linearization

要約(英語): Contact-force control of propeller-driven systems achieves aerial tasks that require contact motions with objects. Conventional contact-force controllers for propeller-driven systems utilize a contact-force feedback controller. Although the feedback gain should be high to achieve high target tracking performance, a high gain causes a large overshoot. This paper therefore proposes a novel contact-force controller which utilizes an airframe's velocity and an airframe's acceleration. An estimated acceleration and an estimated velocity of the airframe are fed back to the contact-force controller. A rotor angular velocity is utilized to estimate the acceleration. The validity of the proposed controller is verified through frequency analysis, simulation, and experiment.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.142 No.2 （2022）

本誌掲載ページ: 76-85 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/ieejias/142/2/142_76/_article/-char/ja/