| ○種別 (必須): | □ | 学術論文 (審査論文)
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| ○言語 (必須): | □ | 英語
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| ○招待 (推奨): |
| ○審査 (推奨): | □ | Peer Review
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| ○カテゴリ (推奨): | □ | 研究
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| ○共著種別 (推奨): | □ | 単独著作 (徳島大学内の単一の研究グループ(研究室等)内の研究 (単著も含む))
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| ○学究種別 (推奨): |
| ○組織 (推奨): | 1. | 徳島大学.工学部 (〜2023年3月31日)
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| ○著者 (必須): | 1. | 園部 元康
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| 2. | 三輪 昌史 ([徳島大学.大学院社会産業理工学研究部.理工学域.機械科学系.知能機械学分野]/[徳島大学.理工学部.理工学科.機械科学コース.知能機械学講座])
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| 3. | 日野 順市
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| ○題名 (必須): | □ | (英) Effectiveness of Delayed Feedback Control Applied to a Small-Size Helicopter with a Suspended Load System (日)
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| ○要約 (任意): | □ | (英) <p>In this study, a cable-suspended transportation system using a small-size helicopter was investigated. For a secure flight, it is necessary to suppress the swing of the suspended load. For this purpose, a cable angle feedback system was adopted because it is easy to mount the corresponding measuring device on a helicopter. Delayed feedback control was applied for efficient swing damping. The control parameters were obtained using a simple planar double pendulum model that takes into consideration the coupled dynamics of the helicopter and the load. To build the model, the system parameters were identified through frequency response flight tests. In this paper, an appropriate design strategy is reported for a trade-off relationship between vibration damping and piloted handling qualities; the robustness of the control method against disturbances and signal noise was verified by comparing the delayed feedback control method with the real-time angular velocity feedback control method. The damping effect was verified by performing flight tests with three cable lengths.</p> (日)
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| ○キーワード (推奨): | 1. | (英) small-size helicopter (日) (読)
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| 2. | (英) delayed feedback control (日) (読)
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| 3. | (英) swing damping (日) (読)
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| 4. | (英) double pendulum (日) (読)
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| ○発行所 (推奨): | □ | (英) Fuji Technology Press (日) 富士技術出版 (読)
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| ○誌名 (必須): | □ | Journal of Robotics and Mechatronics (Fuji Technology Press)
(pISSN: 0915-3942, eISSN: 1883-8049)
| ○ISSN (任意): | □ | 0915-3942
ISSN: 0915-3942
(pISSN: 0915-3942, eISSN: 1883-8049) Title: Journal of Robotics and MechatronicsSupplier: 富士技術出版株式会社Publisher: Fuji Technology Press (J-STAGE)
(Scopus)
(CrossRef)
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| ○巻 (必須): | □ | 28
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| ○号 (必須): | □ | 3
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| ○頁 (必須): | □ | 351 360
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| ○都市 (任意): |
| ○年月日 (必須): | □ | 西暦 2016年 6月 20日 (平成 28年 6月 20日)
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| ○URL (任意): | □ | http://ci.nii.ac.jp/naid/40020920853/
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| ○DOI (任意): | □ | 10.20965/jrm.2016.p0351 (→Scopusで検索)
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| ○PMID (任意): |
| ○CRID (任意): | □ | 1390001288150493824
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| ○NAID : | □ | 130007671073
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