ADAPTIVE CONTROL METHOD, ADAPTIVE CONTROLLER, AND APPARATUS HAVING THE ADAPTIVE CONTROLLER

摘要

PROBLEM TO BE SOLVED: To provide a method and a device for adaptive control which have effectiveness in an actual device, and an apparatus having the adaptive controller.;SOLUTION: A small helicopter 1 generates control data S5 to be input into rotor parts 11-16 of an airframe 10 by feedback operation of altitude target data S3 of the airframe 10 and estimated altitude data S4 based on acceleration data S1 and air pressure data S2, using I-PD gains K_I, K_P, K_D. The small helicopter 1 also generates a model of the airframe 10 based on throttle input data S51 input to the rotor parts 11-16 and acceleration data S1, and adjusts the I-PD gain K_I, K_P, K_D according to the model.;SELECTED DRAWING: Figure 9;COPYRIGHT: (C)2018,JPO&INPIT