ロードセルを用いたマルチローターの直接ロータ推力センシングと外乱抑制のためのフィードバック制御
Direct Rotor Thrust Sensing and Feedback Control for Disturbance Rejection of Multirotors Using Load-cells
ロードセルでロータの推力を直接計測し、高速フィードバック制御で目標推力を正確に追従させることで、突風や地面効果などの外乱を迅速に抑制する新しい手法を提案・実証した論文。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Peter Böhm, Michael Brünig, Peyman Z. Moghadam, Pauline E. I. Pounds
分類: cs.RO
原文アブストラクト
Gust disturbances, dynamic vertical inflow and ground effect are key adverse aerodynamic phenomena that induce variations in the forces acting on a multirotor and complicate its flight control. Miniature rotorcraft typically rely on simplified modelling of such effects to compute adjustments in thrust to counteract these forces. In the most basic case, disturbance force estimations are derived from the aircraft's motion and the generated thrust is assumed to exactly match that requested by the controller. However, such systems rely on the aircraft's trajectory to be affected before disturbances can be sensed and compensated. Numerous approaches presented over the last 15-20 years aim to reject external disturbances more quickly, but challenges remain. This paper presents a new approach in this category by measuring the instantaneous force of the rotors directly at the point of generation using load-cells and implementing high-speed control to accurately track the desired thrust. Measurements from load-cells were previously considered too noisy to provide meaningful input, but the experiments presented in the paper using purpose-built hardware from low-cost commodity components in single- and dual rotor see-saw models and a flying aircraft demonstrate both the feasibility and the effectiveness of the approach in the presence of complex aerodynamic phenomena.
