AUTONOMOUS FLIGHT CONTROL DEVICE AND SMALL-SIZE UNMANNED HELICOPTER WITH DEVICE

摘要

PROBLEM TO BE SOLVED: To provide an autonomous flight control device manufactured on the basis of a linear model and downsized, which stably controls a small-size unmanned helicopter to be taken off or landed.;SOLUTION: The autonomous flight control device 100 comprises; a vertical direction control part 110 having a vertical speed control part 112 for calculating a vertical speed control value on the basis of a current vertical speed and a predetermined vertical speed target value to be used in takeoff control or landing control; and a horizontal direction control part 120 having a horizontal speed control part 122 for calculating a horizontal speed control value on the basis of a current horizontal speed and a predetermined horizontal speed target value, and an attitude angle control part 123 for calculating an attitude angle control value on the basis of a current attitude angle and a horizontal speed control value. The vertical speed control value calculated by the vertical speed control part 112 is outputted as a vertical direction control value, and the attitude angle control value calculated by the attitude angle control part 123 is outputted as a horizontal direction control value.;COPYRIGHT: (C)2008,JPO&INPIT