ティルト翼機構を有する4発ロータQTW-UAVの姿勢制御

摘要

UAV（Unmanned Aerial Vehicle）とは日本語では無人航空機といい，その名のとおり人が搭乗せずに遠隔操縦や完全自律制御で飛行を行う航空機のことである．UAVが初めて運用されたのは1950年代のことであり，米軍が情報収集，偵察に遠隔操縦形の航空機を用いたのが最初である．%In this paper, we propose the autonomous attitude control of Quad Tilt Wing(QTW)-UAV. QTW-UAV can realize the vertical takeoff and landing, and hovering flight that seems to be the helicopter, and the high cruising speed that seems to be the fixed-wing aircraft by changing an angle of a rotors and wings by using tilt mechanism. Firstly, we make the attitude model of QTW-UAV by using identification method. Secondly, we designed attitude control system with kalman filter based LQI control method. And lastly, we show the experiment result. The experiment result shows model based control design are very useful for autonomous control for QTW-UAV.