Autonomous Hovering Flight of a Small Helicopter

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  • Ohkura Akihiro
    大阪府立大学大学院 現 川崎重工業
  • Tokutake Hiroshi
    大阪府立大学大学院工学研究科機械系専攻
  • Sunada Shigeru
    大阪府立大学大学院工学研究科機械系専攻 科学技術振興機構さきがけ21研究員

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Other Title
  • 小型回転翼機の自律ホバリング飛行
  • コガタ カイテンヨクキ ノ ジリツ ホバリング ヒコウ

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Abstract

During the 20th century, aircraft were only used for transportation. If aircraft can be made small and lightweight, however, they can become tools to assist in everyday life. We developed a small, lightweight co-axial helicopter with a rotor diameter of about 30cm. The mechanisms for varying cyclic pitch of the upper and lower rotors, which are used in the coaxial helicopter for entertainment, are adopted in our develop helicopter. Our developed helicopter is equipped with a flight control system for the attitude and position, which is composed of a micro computer and some sensors. And the helicopter can make autonomous hovering flight just measuring the height and the distances from the walls. The weight of the helicopter is no more than 200g and this helicopter is the lightest helicopter for an autonomous hovering flight among the helicopters where all control systems are onboard, as far as the authors know.

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