TY - JOUR
T1 - CMG(コントロール・モーメント・ジャイロ)によるドローンの姿勢制御
AU - Ouchi, Shigeto
AU - Kodani, Nariyuki
AU - Inoue, Kento
AU - Inaba, Takeshi
AU - Miyashita, Tomoyuki
AU - Noguchi, Hiromi
N1 - Publisher Copyright:
© 2021 The Institute of Electrical Engineers of Japan.
PY - 2021/3/1
Y1 - 2021/3/1
N2 - Drones, whose applications are rapidly expanding in recent years, have a wide range of uses, such as material transportation, pesticide spraying, structure inspection, and even the recently-flying cars, but it is difficult to fly in bad weather such as gusts. On the other hand, a CMG (Control Moment Gyro) is known which has the property of precessing when it is rotated by a force applied to the rotary shaft from the outside. Therefore, we wondered if the self-sustained control of the motorcycle using the CMG developed by the authors could be applied to the attitude control of the drone. In the paper, based on these findings, we modeled CMG and CMG-equipped drone based on the law of conservation of momentum, and the control law is obtained by using the optimal regulator method for the linearized model of the nonlinear system. The control effect has been confirmed by simulations. Based on the feedback gain confirmed by the simulation, the experiments have shown that CMG onboard drone are effective in suppressing wind disturbances equivalent to 22 m/sec and small vibrations of 0.7 to 4 Hz.
AB - Drones, whose applications are rapidly expanding in recent years, have a wide range of uses, such as material transportation, pesticide spraying, structure inspection, and even the recently-flying cars, but it is difficult to fly in bad weather such as gusts. On the other hand, a CMG (Control Moment Gyro) is known which has the property of precessing when it is rotated by a force applied to the rotary shaft from the outside. Therefore, we wondered if the self-sustained control of the motorcycle using the CMG developed by the authors could be applied to the attitude control of the drone. In the paper, based on these findings, we modeled CMG and CMG-equipped drone based on the law of conservation of momentum, and the control law is obtained by using the optimal regulator method for the linearized model of the nonlinear system. The control effect has been confirmed by simulations. Based on the feedback gain confirmed by the simulation, the experiments have shown that CMG onboard drone are effective in suppressing wind disturbances equivalent to 22 m/sec and small vibrations of 0.7 to 4 Hz.
KW - Attitude control
KW - CMG
KW - Drone
KW - Gyro
KW - Modeling
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U2 - 10.1541/ieejeiss.141.436
DO - 10.1541/ieejeiss.141.436
M3 - Article
AN - SCOPUS:85101755322
SN - 0385-4221
VL - 141
SP - 436
EP - 445
JO - IEEJ Transactions on Electronics, Information and Systems
JF - IEEJ Transactions on Electronics, Information and Systems
IS - 3
ER -