PROBLEM TO BE SOLVED: To provide a flight body and a flight system with which maneuverability of an airframe is improved in yaw rotating.SOLUTION: A flight body includes: propellers 21 and 22 disposed at the center of an airframe 1; first power means for rotating the propellers; variable pitch means for changing a pitch angle of the propellers; a plurality of attitude controlling propellers; second power means for rotating the plurality of attitude controlling propellers, which has lower output than the first power means; and control means for controlling an attitude of the airframe. The control means includes: first yaw rotation generation control means for controlling generation of a first yaw rotation using the variable pitch means; and second yaw rotation generation control means for controlling generation of a second yaw rotation due to a rotational speed difference between the plurality of propellers of the attitude controlling propellers. The control means controls the first yaw rotation generation control means and the second yaw rotation generation control means according to magnitude of a command value of the yaw rotation.SELECTED DRAWING: Figure 1
【課題】機体のヨー回転時の操縦性の向上が可能な飛行体及び飛行システムを提供することを目的とする。【解決手段】飛行体は、機体1の中央に配置されたプロペラ21,22と、上記プロペラを回転させる第一の動力手段と、上記プロペラのピッチ角を変える可変ピッチ手段と、複数の姿勢制御用プロペラと、上記複数の姿勢制御用プロペラを回転させる、上記第一の動力手段よりも出力の低い第二の動力手段と、上記機体の姿勢を制御する制御手段と、を有し、上記制御手段は、上記可変ピッチ手段により第一のヨー回転の発生を制御する第一のヨー回転発生制御手段と、上記姿勢制御用プロペラの複数のプロペラの回転速度差による第二のヨー回転の発生を制御する第二のヨー回転発生制御手段と、を有し、ヨー回転の指令値の大きさに応じて上記第一のヨー回転発生制御手段と上記第二のヨー回転発生制御手段とを制御する。【選択図】図1
FLIGHT BODY AND FLIGHT SYSTEM
飛行体及び飛行システム
2018-10-04
Patent
Electronic Resource
Japanese
European Patent Office | 2019
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