Control of Ducted Fan Flying Object Using Thrust Vectoring

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  • MIWA Masafumi
    Institute of Technology and Science, The University of Tokushima
  • SHIGEMATSU Yuki
    Graduate School of Advanced Technology and Science, The University of Tokushima
  • YAMASHITA Takashi
    Graduate School of Advanced Technology and Science, The University of Tokushima

Abstract

Recently, R/C helicopter is used in fields of aerial photography and aerial investigation. But helicopter rotor blades are not covered, and the thrust is generated by high rotational speed. Thus R/C helicopter has a high risk of damage. In this study, we developed a new flying object using ducted fans instead of rotor blades. At first, PD control was employed for pitch and roll attitude control, but it caused steady state error. Moreover, PI-D control was used instead of PD control, and it reduced the steady state error. We succeeded to achieve stable hovering by 3-axes (roll, pitch and yaw axis) attitude control.

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