PROBLEM TO BE SOLVED: To drastically improve the responsiveness of posture control by performing the posture control by a gravitational center movement with respect to a rotor aound a roll axis and a pitch axis to permit the imbalance of a machine body or an individual difference or variation in rotor thrust or a motor output.SOLUTION: In a multi-rotor craft having rotors 4a to 4d arranged in a circumferential direction, a machine body 5 is connected below the center of a multi-rotor part via a rod 7 swingable around a roll axis or a pitch axis. A posture around the roll axis or the pitch axis is controlled based on the swing angle of the rod 7 around the roll axis or the pitch axis and by using the machine body 5 as a weight, and a posture around a yaw axis is controlled based on the rotational speeds of the rotors 4a to 4d.SELECTED DRAWING: Figure 1

    【課題】ロール軸回り、ピッチ軸回りについて、ロータに対する重心移動により姿勢制御を行うことで、機体のアンバランスやロータの推力、原動機出力などの個体差やバラつきを許容し、姿勢制御の応答性を抜本的に高める。【解決手段】ロータ4a〜4dが周方向に配置されたマルチロータクラフトにおいて、マルチロータ部の中心部下方に、ロール軸回り及びピッチ軸回りに揺動可能なロッド7を介して、機体5を連結する。ロッド7のロール軸回り及びピッチ軸回りの揺動角により、機体5をウエイトとして、ロール軸回り及びピッチ軸回りの姿勢を制御し、ヨー軸回りの姿勢をロータ4a〜4dの回転数により制御する。【選択図】図1


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    Title :

    MULTI-ROTOR CRAFT POSTURE STABILIZATION CONTROL DEVICE


    Additional title:

    マルチロータクラフトの姿勢安定化制御装置


    Contributors:

    Publication date :

    2016-05-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT



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