| 摘要 |
PROBLEM TO BE SOLVED: To eliminate acceleration bias error due to gravitational acceleration by computing a control command for controlling the attitude of an airframe based on a correcting acceleration command for correcting acceleration error due to gravity, an acceleration command, and acceleration information, and computing control angle commands to respective control wings from the control command. SOLUTION: At first, in an acceleration command correction computing part 1, a correcting acceleration command agp and agy for negating error related to lateral acceleration are computed. Next, acceleration correcting computation is performed by an adder 10 to output acceleration commands apc1 and ayc1 after correction. Hereafter, in a rubber angle command computing part 2, control commandsδpc,δyc,δrc of pitch, yaw, roll system are computed. In a control wing command angle computing part 3, control commandsδ1c,δ2c,δ3c related to the respective control wings are computed, and output to a control device. By the above-mentioned, acceleration bias error generated by gravitational acceleration is negated.
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