Bilateral Teleoperation of Spherical Multi-rotor Helicopter
| Project/Area Number |
15K13929
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| Research Category |
Grant-in-Aid for Challenging Exploratory Research
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| Allocation Type | Multi-year Fund |
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| Research Field |
Power engineering/Power conversion/Electric machinery
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| Research Institution | Mie University |
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Principal Investigator |
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| Project Period (FY) |
2015-04-01 – 2018-03-31
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| Project Status |
Completed (Fiscal Year 2017)
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| Budget Amount *help |
¥3,510,000 (Direct Cost: ¥2,700,000、Indirect Cost: ¥810,000)
Fiscal Year 2017: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2016: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2015: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
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| Keywords | 動力学 / 運動学 / 制御理論 / メカトロニクス / ロボティクス / 制御システム / 自動制御 / 電気機器 / 電気機器工学 / 機械力学・制御 / 制御工学 / 知能ロボティクス / リモートセンシング |
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| Outline of Final Research Achievements |
Following knowledge related to bilateral control of a propeller-driven system is obtained: 1) Because dynamics of a propeller-driven system depends on a distance from a ground, a gain-scheduling controller which utilizes a model of ground effect is useful. 2) Feedback control of a propeller's angle velocity is effective to control an amplitude of a propeller's thrust force. 3) Feedback control of a tilt angle of a propeller's rotating shaft is effective to control a direction of a propeller's thrust force.
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Report
(4 results)
Research Products
(14 results)
