Altitude Control Performance Improvement via Preview Controller for Unmanned Airplane for Radiation Monitoring System

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  • SATO Masayuki
    連絡先著者（Corresponding author）：sato.masayuki@jaxa.jp 国立研究開発法人宇宙航空研究開発機構
  • MURAOKA Koji
    国立研究開発法人宇宙航空研究開発機構
  • HOZUMI Koki
    国立研究開発法人宇宙航空研究開発機構
  • SANADA Yukihisa
    国立研究開発法人日本原子力研究開発機構
  • YAMADA Tsutomu
    国立研究開発法人日本原子力研究開発機構
  • TORII Tatsuo
    国立研究開発法人日本原子力研究開発機構

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Other Title
  • 放射線モニタリング無人固定翼機の予見制御による高度制御性能向上
  • ホウシャセン モニタリング ムジン コテイヨクキ ノ ヨケン セイギョ ニ ヨル コウド セイギョ セイノウ コウジョウ

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This paper is concerned with the design problem of preview altitude controller for Unmanned Airplane for Radiation Monitoring System\nobreakspace {}(UARMS) to improve its control performance. UARMS has been developed for radiation monitoring around Fukushima Dai-ichi nuclear power plant which spread radiation contaminant due to the huge tsunamis caused by the Great East Japan Earthquake. The monitoring area contains flat as well as mountain areas. The basic flight controller has been confirmed to have satisfactory performance with respect to altitude holding; however, the control performance for variable altitude commands is not sufficient for practical use in mountain areas. We therefore design preview altitude controller with only proportional gains by considering the practicality and the strong requirement of safety for UARMS. Control performance of the designed preview controller was evaluated by flight tests conducted around Fukushima Sky Park.

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