To provide a small-sized unmanned aircraft capable of travelling on the surface of a structure stably by an endless track, and executing stable flight after the travelling as well.SOLUTION: A small-sized unmanned aircraft having an endless track and a rotor includes: a body part 11; a flying means part 120 in which a rotor 12 is attached to each of a plurality of arms 11a overhung in the horizontal direction from the body part; a moving means part 2 having a crawler 21 provided above the body part; and a flight control part for controlling the posture of the body part. In the flight control part, control of the flying means part is executed by feedback control combining proportional control, integral control, and differential control, and an oblivion part is provided for reducing an integral value of the integral control.SELECTED DRAWING: Figure 1

    【課題】無限軌道によって構造物面を安定して走行することができるうえに、走行後も安定した飛行を行うことが可能な小型無人航空機を提供する。【解決手段】無限軌道とロータとを有する小型無人航空機である。そして、本体部11と、本体部から横方向に張り出された複数のアーム11aにそれぞれロータ12が取り付けられる飛行手段部120と、本体部の上方に設けられるクローラ21を有する移動手段部2と、本体部の姿勢を制御する飛行制御部とを備えている。ここで、飛行制御部では、比例制御、積分制御及び微分制御を組み合わせたフィードバック制御によって飛行手段部の制御が行われるとともに、積分制御の積分値を減ずる忘却部が設けられている。【選択図】図1


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    Title :

    SMALL-SIZED UNMANNED AIRCRAFT


    Additional title:

    小型無人航空機


    Contributors:

    Publication date :

    2023-10-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B64C AEROPLANES , Flugzeuge / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL



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