Flying object control device, flying object, and program

Patent metadata

Field	Value
Publication number	US-11267566-B2
Application number	US-201917263168-A
Country	US
Kind code	B2
Filing date	Jun 18, 2019
Priority date	Aug 7, 2018
Publication date	Mar 8, 2022
Grant date	Mar 8, 2022

Abstract

Provided are a flying object control device, a flying object, and a program that can suppress occurrence of unintended turning in the flying object. A flying object control device has: a command value generation unit that generates a turning torque command value on the basis of a turning torque target value which is a target value of turning torque of a flying object; and an external disturbance countermeasure value generation unit that generates an external disturbance countermeasure value in accordance with turning torque generated by external disturbance, on the basis of the turning torque command value generated by the command value generation unit and a sensor detection value acquired by using a sensor provided to the flying object, wherein the command value generation unit generates the turning torque command value by subtracting the external disturbance countermeasure value generated by the external disturbance countermeasure value generation unit from the turning torque target value.

First claim

What is claim is:

1. An aircraft control apparatus that controls an aircraft including a plurality of rotor wings and a plurality of drive sections that respectively rotate the plurality of rotor wings, the aircraft control apparatus comprising:
a command value generating section configured to generate a turning torque command value based on a turning torque target value, which is a target value for a turning torque of the aircraft; and
an external disturbance countermeasure value generating section configured to generate an external disturbance countermeasure value corresponding to a turning torque caused by an external disturbance, based on the turning torque command value generated by the command value generating section and a sensor detection value acquired using a sensor included in the aircraft,
wherein the command value generating section is configured to generate the turning torque command value by subtracting the external disturbance countermeasure value generated by the external disturbance countermeasure value generating section from the turning torque target value.

2. The aircraft control apparatus according to claim 1 , wherein the external disturbance countermeasure value generating section is configured to generate the external disturbance countermeasure value by subtracting, from the sensor detection value, a value corresponding to the turning torque command value and a value corresponding to an external disturbance countermeasure value already acquired by the external disturbance countermeasure value generating section.

3. The aircraft control apparatus according to claim 1 , further comprising a turning torque target value setting section configured to set the turning torque target value,
wherein the turning torque target value setting section is configured to set the turning torque target value based on movement of a center of mass of a rider.

4. The aircraft control apparatus according to claim 1 , further comprising a turning torque target value setting section configured to set the turning torque target value,
wherein the turning torque target value setting section is configured to set the turning torque target value based on a manipulation amount of a manipulation apparatus caused by a rider.

5. The aircraft control apparatus according to claim 1 , wherein the external disturbance is a change in a position of a center of mass of the aircraft caused by movement of a center of mass of a rider or a change in the position of the center of mass of the aircraft caused by wind.

6. The aircraft control apparatus according to claim 1 , wherein if a sign of the turning torque target value and a sign of the external disturbance countermeasure value are same, the command value generating section generates the turning torque command value by subtracting the external disturbance countermeasure value calculated by the external disturbance countermeasure value generating section from the turning torque target value, and if the sign of the turning torque target value and the sign of the external disturbance countermeasure value are different, the command value generating section generates the turning torque command value without subtracting the external disturbance countermeasure value calculated by the external disturbance countermeasure value generating section from the turning torque target value.

7. The aircraft control apparatus according to claim 1 , wherein the command value generating section is configured to generate the turning torque command value by further subtracting a value acquired by multiplying the sensor detection value by a prescribed gain from the turning torque target value.

8. An aircraft comprising an aircraft control apparatus, a plurality of rotor wings, and a plurality of drive sections that respectively rotate the plurality of rotor wings, the aircraft control apparatus configured to control the aircraft, the aircraft control apparatus comprising:
a command value generating section configured to generate a turning torque command value based on a turning torque target value, which is a target value for a turning torque of the aircraft; and
an external disturbance countermeasure value generating section configured to generate an external disturbance countermeasure value corresponding to a turning torque caused by an external disturbance, based on the turning torque command value generated by the command value generating section and a sensor detection value acquired using a sensor included in the aircraft,
wherein the command value generating section is configured to generate the turning torque command value by subtracting the external disturbance countermeasure value generated by the external disturbance countermeasure value generating section from the turning torque target value.

9. A non-transitory computer-readable storage medium storing a program, wherein the program that causes a computer provided to an aircraft, which includes a plurality of rotor wings and a plurality of drive sections that respectively rotate the plurality of rotor wings, to perform a process comprising:
generating a turning torque command value based on a turning torque target value, which is a target value for a turning torque of the aircraft; and
generating an external disturbance countermeasure value corresponding to a turning torque caused by an external disturbance, based on the turning torque command value and a sensor detection value acquired using a sensor included in the aircraft,
wherein the generating the turning torque command value includes generating the turning torque command value by subtracting the external disturbance countermeasure value from the turning torque target value.

Assignees

• Honda Motor Co Ltd

Inventors

• Murakami Hideo

Classifications

• B64C27/20

  Rotorcraft characterised by having shrouded rotors, e.g. flying platforms · CPC title

• G05D1/0858

  specially adapted for vertical take-off of aircraft · CPC title

• G05B11/36

  with provision for obtaining particular characteristics, e.g. proportional, integral, differential · CPC title

• B64C13/18

  using automatic pilot · CPC title

• B64C29/0025 Primary

  the propellers being fixed relative to the fuselage · CPC title