Flying Object Yaw Control Using Disturbance Torque Compensation
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Solution Overview
Problem
Aircrafts experience unintended turning due to changes in the center of mass position of the rider, causing undesirable torque and loss of control.
Innovation Solution
An aircraft control apparatus that generates a turning torque command value by subtracting an external disturbance countermeasure value from a turning torque target value, using sensors to detect and counteract external disturbances and maintain stable flight.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the rider moves their center of mass to control the aircraft, then the aircraft can change direction, but unintended turning torque acts on the aircraft causing undesirable turning
Solution Approach 1:
The control apparatus uses feedback from sensors (angular velocity sensor, acceleration sensor) to detect actual aircraft orientation and external disturbances, then adjusts the turning torque command value to counteract unintended turning while maintaining responsive control
Solution Approach 2:
The control apparatus introduces an intermediary calculation process that generates an external disturbance countermeasure value based on sensor data, which is then combined with the rider's input to produce the final turning torque command, separating the rider's intent from external disturbances
2Device complexity
If the aircraft uses a simple control system, then the device complexity is low, but it cannot counteract external disturbances effectively
Solution Approach 1:
The control apparatus integrates multiple functions into a unified control algorithm that processes both rider input and sensor feedback, generating turning torque commands that simultaneously respond to control inputs and counteract external disturbances without requiring separate physical systems
3Speed
If the aircraft responds quickly to control inputs, then the turning response speed is high, but it becomes more sensitive to external disturbances
Solution Approach 1:
The control apparatus applies preliminary counter-action by generating an external disturbance countermeasure value that opposes detected disturbances before they can significantly affect aircraft orientation, allowing quick response to intended control inputs while preemptively neutralizing harmful disturbances
Data Source
AI summary
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.