| 摘要 |
PROBLEM TO BE SOLVED: To facilitate flight control in a forward movement direction for a multicopter using three axis gyros.SOLUTION: A gyro sensor 25 comprises a roll axis gyro 25a, a pitch axis gyro 25b and a yaw axis gyro 25c. In a three-axis lock mode, influence of external disturbance is prevented by reducing a drift angle to zero on the basis of outputs from these gyros, and an airframe is restored to the original attitude. In a damping mode, control is exerted to reduce a turning angle velocity to zero in the yaw axis direction so that influence of external disturbance is attenuated. Thus, when moving the airframe forward in the damping mode, together with the wind indicator effect of a vertical tail, the airframe is advanced directed in the nose direction, facilitating flight control.SELECTED DRAWING: Figure 3 |
