2A2-A03 Flight control of thrust vectoring VTOL using twin ducted fan(Aerial Robot and Mechatronics (2))
Shinya Marubashi, Masafumi MIWA · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2014
Recently, R/C helicopter is used in fields of aerial photography and aerial investigation. But helicopter rotor blades are not covered, and the thrust is generated by very high rotational speed. So R/C helicopter has a high risk. In this study, we developed a new flying object that using ducted fans instead of rotor blades. And we named it DFO3. It has two ducted fans, normal and reverse rotation. It enable that gyro moment is canceled. We use PI-D control on 3-axes (roll, pitch yaw axis) attitude to control DFO3. At first, we calculated PID gain at the pole placement method. And simulate the PID gain at the DFO3 control system. Next we try flight test by used PID gain. We succeeded to achieve stable hovering by 3-axes attitude control. Then we want to make the Pusher type of Tail-sitter on the basis of the DFO3.