제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Automatic Flight Path Control of Small Unmanned Aircraft with Delta-wing ICCAS 2004

  • Nagata, Masanobu (Kumamoto National College of Technology) ;
  • Kumon, Makoto (Department of Mechanical Engineering and Materials Science, Kumamoto University) ;
  • Kouzawa, Ryuichi (Department of Mechanical Engineering and Materials Science, Kumamoto University) ;
  • Mizumoto, Ikuro (Department of Mechanical Engineering and Materials Science, Kumamoto University) ;
  • Iwai, Zenta (Department of Mechanical Engineering and Materials Science, Kumamoto University)
  • Published : 2004.08.25
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Abstract

It is known that an aircraft with delta-wings which are attached to the body at a large angle like a kite or a hang glider has a measure of maneuverability and stability. Aircrafts of this kind can fly stably. Even if engine trouble occurs, it will not fall and might be able to land. In this paper, one of the conventional control methods, PID control, is applied to the aircraft with LQ local control block. This is based on an idea that the aircraft flies so stably that the automatic control system might be realized by a simple controller. The proposed PID controller consists of several sub-controllers which are constructed to each system neglecting the interference. In addition, the LQ control is involved as a local loop of the aileron and rudder control in order to increase stability of the attitude when circling. The effectiveness of the proposed method is shown through 3D computer simulations and experiments of the flight path control.

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