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ファン浮上機械のホバリング制御
https://ous.repo.nii.ac.jp/records/978
https://ous.repo.nii.ac.jp/records/978b4e15116-8b4e-4824-b251-59a61f62dc1c
名前 / ファイル | ライセンス | アクション |
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KJ00000063530.pdf (488.2 kB)
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Item type | 紀要論文(ELS) / Departmental Bulletin Paper(1) | |||||
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公開日 | 1993-03-20 | |||||
タイトル | ||||||
言語 | ja | |||||
タイトル | ファン浮上機械のホバリング制御 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Control of a Multifan Hovering Machine | |||||
タイトル | ||||||
言語 | ja-Kana | |||||
タイトル | ファン フジョウ キカイ ノ ホバリング セイギョ | |||||
言語 | ||||||
言語 | jpn | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | departmental bulletin paper | |||||
ページ属性 | ||||||
内容記述タイプ | Other | |||||
内容記述 | P(論文) | |||||
著者名 |
堂田, 周治郎
× 堂田, 周治郎× 松下, 尚史× 沼本, 健二 |
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著者所属(日) | ||||||
ja | ||||||
岡山理科大学工学部機械工学科 | ||||||
著者所属(日) | ||||||
ja | ||||||
岡山理科大学工学部機械工学科 | ||||||
著者所属(日) | ||||||
ja | ||||||
岡山理科大学大学院工学研究科 | ||||||
著者所属(英) | ||||||
en | ||||||
Department of Mechanical Engineering, Okayama University of Science | ||||||
著者所属(英) | ||||||
en | ||||||
Department of Mechanical Engineering, Okayama University of Science | ||||||
著者所属(英) | ||||||
en | ||||||
Graduate School of Engineering, Okayama University of Science | ||||||
抄録(英) | ||||||
内容記述タイプ | Other | |||||
内容記述 | It is strongly desired to develop a flying robot which can travel in the air freely to do field works such as construction, agriculture, forestry or the maintenance of power lines. The multifan hovering machine tested here is a kind of such a flying robot. This hovering machine has four fans which are driven by DC motors controlled by changing rotational speed. The purpose of this study is to establish the hovering control scheme and is to investigate its control characteristics. The tested control system consists of a scale model with four fans, electric motors, angle sensors, A/D converter, D/A converter and a personal computer PC-9801RA. The results obtained can be summarized as follows : 1) The digital control system of a multifan hovering machine was constructed using a scale model and its system parameters were measured. 2) The mathematical model of the hovering machine was formulated and the fundamental equations were derived for hovering control. Based on these equations, the control method that pitch, roll and yaw angle were controlled independently, was proposed. 3) The attitude control of the machine can be realized by controlling three angles independently with PID control scheme. 4) The application of a fuzzy control scheme to the hovering control was tested. The fuzzy control showed good disturbance suppression as well as the high-gain PID control. On the other hand, it showed the disadvantage that control input had to be limited to stabilize the control system. | |||||
言語 | ja-Kana | |||||
雑誌書誌ID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN00033244 | |||||
書誌情報 |
ja : 岡山理科大学紀要. A, 自然科学 en : Bulletin of Okayama University of Science. A, Natural Sciences 巻 28, p. 129-139, 発行日 1993-03-20 |