Analysis of Flight Limitations of Multicopters and Autonomous Avoidance of Unstable Regions Using Thrust Vector Control

2022 Fiscal Year Final Research Report

• Project/Area Number: 19H02114
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Review Section: Basic Section 20020:Robotics and intelligent system-related
• Research Institution: Shibaura Institute of Technology
• Principal Investigator: Abiko Satoko 芝浦工業大学, 工学部, 教授 (40560660)
• Co-Investigator(Kenkyū-buntansha): 辻田 哲平 防衛大学校(総合教育学群、人文社会科学群、応用科学群、電気情報学群及びシステム工学群), システム工学群, 准教授 (40554473)
• Project Period (FY): 2019-04-01 – 2022-03-31
• Keywords: マルチコプタ / オンボード推力計測 / 気流解析 / 適応PID制御

Outline of Final Research Achievements

This study carried out the flight performance of the multicopters in the imitated updraft, and PIV analysis and CFD simulations for thrust change of multirotors near the wall. In the study, onboard thrust measurement mechanisms were developed, and the difference between the thrust coefficient in flight and that in a priori evaluation is clarified. Besides, adaptive PID control is applied to the multicopter with vector thrust mechanisms to improve control performance in such environmental conditions.

Free Research Field

ロボット工学

Academic Significance and Societal Importance of the Research Achievements

本研究は，上昇気流下や壁面近傍でのマルチコプタの推力変化に着目し，その影響を明らかにすることで，狭隘空間や極端な風環境条件下での飛行制御への発展を行う研究で有る．レベル4での飛行が可能となったドローンの社会浸透が進むにつれて，今後ドローンに求められる役割がそれにとって厳しい環境もありうる。その発展に寄与する研究である。