JPH0747399B2 - Flight control method for vertical takeoff and landing vehicle - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flight control method for controlling a tilt angle of a vertical takeoff and landing vehicle (VTOL) about a horizontal axis.

2. Description of the Related Art As a vertical takeoff and landing vehicle, four ducted fans are used.
It is known that an ed fan) is arranged at each of the four vertices of a rectangle. The two ducted fans on the front side and the two ducted fans on the rear side are symmetrically arranged with respect to the horizontal horizontal axis, and the two ducted fans on the right side and the two ducted fans on the left side are symmetrical with respect to the horizontal axis in the longitudinal direction. It is arranged. In addition, the remote control device for a flying vehicle is provided with a stick for controlling the tilt angle of the flying object in the front-rear direction and a stick for controlling the tilt angle of the flying object in the left-right direction. By operating these sticks, the pitch angle of the blade of the ducted fan is controlled according to the operation direction and the operation amount, and as a result, the aircraft tilts in the operated direction and moves in that direction. .

Such control of the inclination angle of the flying body is usually performed by PID control, and the command value from the stick is used as it is as the target value.

However, in this way, when the aircraft is tilted and moved in the horizontal direction as described above, the difference between the target value and the current value of the inclination angle is large, and even if the stick is returned to the neutral position, the aircraft immediately There is a problem in that it is difficult to control the position because an overrun occurs without stopping.

An object of the present invention is to provide a flight control method for a vertical takeoff / landing vehicle that solves the above problems.

Means for Solving the Problems A method according to the present invention is directed to a vertical take-off vehicle in which a plurality of ducted fans having variable blade pitch angles are arranged symmetrically with respect to a first horizontal axis, A method of controlling the tilt angle of a vehicle about a first horizontal axis by changing the pitch angle of a blade of a ducted fan to control the position of the vehicle in a second orthogonal horizontal axis. Based on the difference between the target value and the measured value of the tilt angle of the air vehicle, PI
By controlling the pitch angle of the blade of the ducted fan by the D control, as the target value of the tilt angle of at least the proportional element and the integral element of the PID control, the second horizontal level of the aircraft is obtained from the command value from the outside of the tilt angle. It is characterized in that a value obtained by subtracting a value proportional to the axial velocity is used.

Action As the target value of the inclination angle of the aircraft for the proportional element and integral element of PID control, the value obtained by subtracting the value proportional to the horizontal velocity of the aircraft from the command value from the outside of the inclination angle is used. When tilting and moving in the horizontal direction,
The difference between the target value and the current value of the inclination angle does not become large, and when the command from the outside is returned to the neutral position, the aircraft immediately stops and no overrun occurs, so position control is easy.

Embodiments Embodiments of the present invention will be described below with reference to the drawings.

1 to 4 show an example of the mechanical configuration of the vertical takeoff and landing vehicle (1), and FIG. 5 shows an example of the electrical configuration of the vehicle (1) and its remote control device (2). Indicates.

As shown in FIGS. 1 to 4, four ducts (4) of ducted fans (F) are attached to a frame-shaped machine body (3) of the flying body (1). Note that these ducted fans are collectively referred to by the symbol (F), and when it is necessary to distinguish them, the first fan (F1) and the second fan (F1), respectively.
2), 3rd fan (F3) and 4th fan (F4). Further, in the following description, the following rectangular coordinates are set on the flying body (1). That is, the airframe (3)
When the is horizontal, the vertical axis passing through the center of the fuselage (3) seen from above is the z axis, the horizontal axis in the front-back direction passing through a point (origin) (0) on the z axis is the x axis, and the origin is (0)
The horizontal axis in the left-right direction passing through is the y-axis, and the front side of the x-axis, the right side of the y-axis, and the lower side of the z-axis are the respective positive directions. Also,
The tilt angle (roll angle) of the fuselage (3) around the x-axis is φ, y
The tilt angle (pitch angle) of the machine body (3) about the axis is θ, and the tilt angle (yaw angle) of the machine body (3) about the z axis is ψ. The roll angle φ, the pitch angle θ, and the yaw angle ψ are so-called right-handed systems in which the counterclockwise direction is the positive direction when viewed from the positive sides of the x axis, the y axis, and the z axis, respectively.

The central axes (4a) of the ducts (4) of the four fans (F) are z
It is parallel to the axis, and when viewed from above, the four sides are parallel to the x-axis and the y-axis and are located at the four vertices of a rectangle centered on the origin (0). Then, with respect to the origin (0), the first fan (F1) is located on the right front, the second fan (F2) is located on the right rear, the third fan (F3) is located on the left rear, and the fourth fan (F4) is located on the left front. is doing. Therefore, the first fan (F1) and the fourth fan (F1)
4) is symmetrical with respect to the x-axis, the second fan (F2) and the third
The fan (F3) is symmetrical about the x-axis, and the first fan (F3)
1) and the second fan (F2) are symmetrical about the y axis,
The fan (F3) and the fourth fan (F4) are symmetrical with respect to the y axis.

An engine (5) whose rotation speed can be changed by controlling the throttle opening is mounted at the center of the machine body (3), and the engine (5) is mounted above each fan (F) via a power transmission mechanism (not shown). A blade (6) is provided which is rotated by 5) at equal speed to each other. By the rotation of the blade (6), air is blown downward from the lower end of the duct (4), and upward thrust is generated in the fan (F). The pitch angle β of the blade (6) of each fan (F) can be individually changed by a drive mechanism (not shown). Then, by changing the rotation speed of the engine (5), the rotation speeds of the four fans (F) are changed at the same time, and the thrust forces of these fans (F) are changed at the same time. Further, the thrust of each fan (F) can be individually changed by individually changing the pitch angle β of the blade (6) of each fan (F).

Below each fan (F), a pair of parallel yaw vanes (7) extending in the x-axis direction are provided. The yaw vane (7) is tilted left and right about an axis parallel to the x-axis by a drive mechanism (not shown), and the tilt angle (yaw vane angle) α in the left-right direction can be changed. 1
The tilting central axes of the pair of yaw vanes (7) are located symmetrically with respect to the central axis (4a) of the duct (4). Since the pair of yaw vanes (7) are interlocked and tilted while maintaining the parallel state to each other, the pair of yaw vane angles α is always equal. In addition, the yaw vane (7) has a lower end that faces the positive direction of the z-axis from a neutral position to the left (the lower end of the yaw vane (7) turns diagonally left) and to the right (the lower end of the yaw vane (7) turns diagonally rightward). The direction in which the yaw vane (7) leans to the left is the positive direction of the yaw vane angle α, and the direction in which the yaw vane (7) leans to the right is the negative direction of the yaw vane angle α.

As shown in FIG. 5, the aircraft (1) includes an altimeter (8), an inertial navigation system (9), an engine tachometer (10),
A radio receiver (11) and a flight control device (12) are provided. Further, the remote control device (2) is provided with a roll stick (13), a pitch stick (14), a yaw stick (15), an altitude stick (16) and a wireless transmitter (17).

The roll stick (13) is for controlling the roll angle φ of the flying body (1). The pitch stick (14) is for controlling the pitch angle θ of the flying body (1). The yaw stick (15) is a flying body (1)
Is for controlling the yaw angle ψ of. The altitude stick (16) is for controlling the altitude of the air vehicle (1). And each stick (13) (14) (15) (1
From 6), the command signal (command value) according to the operation direction and the operation amount is output.

The wireless transmitter (17) has these sticks (13) (14)
(15) It is for wirelessly transmitting the output of (16), that is, a command signal to the air vehicle (1).

The altimeter (8) measures the altitude of the flying body (1) and sends the measurement result to the flight control device (12). For example, a microwave altimeter is used.

Although not shown in the figure, the inertial navigation device (9) includes an accelerometer,
It is equipped with a vibrating gyroscope, a magnetic bearing sensor, and a computer, and the acceleration d ² x / dt ² , d of the flying body (1) in the three axial directions.
² y / dt ² , d ² z / dt ² and velocity U (= dx / dt), V (= dy / d
t), W (= dz / dt), and the roll angle φ, pitch angle θ, yaw angle ψ of the flying body (1) and their angular velocities dφ / d.
Obtain t, dθ / dt and dψ / dt and send them to the flight controller (12).

The engine tachometer (10) measures the number of revolutions of the engine (5) and sends the measurement result to the flight control device (12), and is composed of, for example, a pulse encoder.

The receiver (11) receives the signal sent from the transmitter (17) of the remote control device (2) and sends it to the flight control device (12).

Although not shown, the flight control device (12) includes a computer and the like, and is based on the outputs of the receiver (11), altimeter (8), inertial navigation device (9) and engine tachometer (10). , The rotational speed of the engine (5), the pitch angle β and the yaw vane angle α of the blade (6) of the fan (F) are controlled.

Remote control device (2) sticks (13) (14) (15)
When the engine (16) is not operated, the rotational speed of the engine (5), the pitch angle β and the yaw vane angle α of the blade (6) of the fan (F) are properly controlled, and the air vehicle (1) is in the air. It has stopped at a fixed position with a certain posture. In this case, 4
The pitch angles β of the blades (6) of the two fans (F) are substantially equal, and the yaw vanes (7) are controlled to a substantially neutral position. Further, the rotational speed of the engine (5) and the pitch angle β of the blades (6) are controlled so that the thrust of the four fans (F) and the gravity are balanced. Since the pitch angles β of the blades (6) of the four fans (F) are almost the same, their thrust forces are also substantially the same. For this reason,
Moments around the x-axis and y-axis do not act, and the aircraft (1) maintains a substantially horizontal attitude. When the air vehicle (1) is substantially horizontal, the thrust of the fan (F) is vertically upward and no horizontal force acts, so the air vehicle (1) does not move in the horizontal direction. The thrust of the four fans (F) and the gravity balance each other, so that the flying body (1) maintains a constant altitude. Moreover, since the yaw vanes (7) of the four fans (F) are almost in the neutral position, the moment about the z axis does not act on the flying body (1),
The flying body (1) does not turn around the z axis. Note that such a state of the flying vehicle (1) will be referred to as a neutral state.

When the sticks (13) (14) (15) (16) of the remote control device (2) are operated from the neutral state as described above, the engine (5) of the engine (5) is operated according to the operation direction and operation amount, that is, a command signal. The number of revolutions, the pitch angle β and the yaw vane angle α of the blade (6) of each fan (F) are controlled, and as a result,
The altitude, attitude and horizontal position of the air vehicle (1) are controlled.

For example, when the altitude stick (16) is operated in the ascending direction, the pitch angle β of the blades (6) of the four fans (F) is controlled so that the thrust is increased, and the rotation speed of the engine (5) is increased. The speed is increased and the flying body (1) rises. On the contrary, when the altitude stick (16) is operated in the descending direction, the pitch angle β of the blades (6) of the four fans (F) is controlled so that the thrust is reduced, and the rotation speed of the engine (5) is reduced. Is decelerated and the flying body (1) descends. Then, when the altitude stick (16) is returned to the neutral position, the pitch angle β of the blades (6) of the four fans (F) and the rotation speed of the engine (5) are controlled so that the thrust and the gravity are balanced, The air vehicle (1) stops at the current altitude. Even when the altitude stick (16) is in the neutral position, if the altitude of the flying body (1) becomes low, the thrust is increased as described above to raise the flying body (1), and When the altitude becomes higher, the thrust is reduced as described above to lower the flying body (1) and keep the altitude constant.

When the roll stick (13) is operated in the forward direction, the pitch angles β of these blades (6) are adjusted so that the thrust forces of the two fans (F3) (F4) on the left side increase by the same amount according to the operation amount. Are controlled, and at the same time, the two fans (F
1) Make sure that the thrust of (F2) is reduced by the same amount as above.
The pitch angle β of these blades (6) is controlled. As a result, a positive moment of the roll angle φ around the x-axis acts on the flight vehicle (1), causing the flight vehicle (1) to roll over the roll angle φ.
Inclining to the right, that is, to the right, the right side is low and the left side is high. For this reason, the thrust of the fan (F) is directed obliquely upward to the right, and the force in the y-axis positive direction acts, so that the aircraft (1) moves in the y-axis positive direction (right direction) in a state of being inclined to the right. .

On the contrary, when the roll stick (13) is operated in the negative direction, the thrust of the two fans (F1) (F2) on the right side increases by the same amount according to the operation amount, so that these blades (6) The pitch angle β is controlled, and at the same time, the pitch angles β of these blades (6) are controlled so that the thrust forces of the two left fans (F3) (F4) are reduced by the same amount as above. As a result, a moment in the negative direction of the roll angle φ around the x-axis acts on the flight vehicle (1), and the flight vehicle (1) leans in the negative direction of the roll angle φ, that is, to the left, and the left side becomes lower and the right side becomes higher. . Therefore, the thrust of the fan (F) is directed diagonally upward to the left, and the force in the negative y-axis direction acts, so that the aircraft (1) moves in the negative y-axis direction (leftward) while leaning to the left. .

Then, when the roll stick (13) is returned to the neutral position, the pitch angles β of these blades (6) are controlled so that the thrusts of the four fans (F) are almost equal,
Aircraft (1) returns to a horizontal position. Even if the roll stick (13) is in the neutral position, if the roll angle φ of the flying body (1) changes from the neutral state to the negative direction, the positive moment of the roll angle φ is generated as described above, and the left side is generated. The fan (F3) (F4) blade (6) pitch angle β and the right fan (F1) (F2) blade (6) pitch angle β are controlled in opposite directions, and the air vehicle (1) rolls When the angle φ changes from the neutral state to the positive direction, the negative angle moment of the roll angle φ is generated as described above so that the pitch angle β of the blades (6) of the right fan (F1) (F2) and the left fan The pitch angle β of the blades (6) of (F3) and (F4) is controlled in the opposite direction, and the air vehicle (1) is maintained in a horizontal posture.

When the pitch stick (14) is operated in the forward direction, the thrust angles of the two front fans (F1) (F4) increase by the same amount according to the operation amount, so that the pitch angle β of these blades (6) Are controlled, and at the same time, the two fans (F
2) In order to reduce the thrust of (F3) by the same amount as above,
The pitch angle β of these blades (6) is controlled. As a result, a moment in the positive direction of the pitch angle θ around the y-axis acts on the flight vehicle (1), and the flight vehicle (1) moves at the pitch angle θ.
In the positive direction, that is, tilting backward, the rear side is low and the front side is high. Therefore, the thrust force of the fan (F) is directed obliquely upward and rearward, and the force in the negative x-axis direction acts, so that the aircraft (1) moves in the negative x-axis direction (rearward direction) in a state of being inclined rearward.

Conversely, if the pitch stick (14) is operated in the negative direction, the thrust of the two rear fans (F2) (F3) will increase by the same amount according to the operation amount, and these blades (6) Is controlled, and at the same time, the pitch angles β of these blades (6) are controlled so that the thrust forces of the two front fans (F1) and (F4) are reduced by the same amount as described above. As a result, a moment in the negative direction of the pitch angle θ around the y-axis acts on the flight vehicle (1), and the flight vehicle (1) leans in the negative direction of the pitch angle θ, that is, forward, and the front side becomes lower and the rear side becomes higher. . For this reason, the thrust force of the fan (F) is directed diagonally upward and forward, and the force in the positive direction of the x-axis acts, so that the air vehicle (1) moves in the positive direction of the x-axis (forward direction) while leaning forward. .

Then, when the pitch stick (14) is returned to the neutral position, the pitch angles β of these blades (6) are controlled so that the thrusts of the four fans (F) are almost equal,
Aircraft (1) returns to a horizontal position. Even when the pitch stick (14) is in the neutral position, when the pitch angle θ of the flying vehicle (1) changes from the neutral state to the negative direction, the forward moment of the pitch angle θ is generated as described above. Fan (F1) (F4) blade (6) pitch angle β and rear fan (F2) (F3) blade (6) pitch angle β are controlled in the opposite direction, and the aircraft (1) When the pitch angle θ changes from the neutral state to the positive direction, the negative moment of the pitch angle θ is generated as described above, so that the pitch angle β of the blade (6) of the rear fan (F2) (F3) and the front side The pitch angle β of the blades (6) of the fans (F1) and (F4) is controlled in the opposite direction, and the air vehicle (1) is maintained in a horizontal posture.

When the yaw stick (15) is operated in the forward direction, the yaw vanes (7) of the two front fans (F1) (F4) are tilted to the left by the same amount according to the operation amount, and at the same time, the two rear fans The yaw vanes (7) of the fans (F2) (F3) are tilted to the right by the same amount as above. This allows the front fan (F
1) For (F4), thrust is directed diagonally upward to the right and y
A force in the positive axis direction acts, and the thrusts of the fans (F2) and (F3) on the rear side face diagonally upward to the left, and a force in the negative y-axis direction acts. Therefore, a moment in the positive direction of the yaw angle ψ about the z axis acts on the flying body (1), and the flying body (1) turns in this direction.

Conversely, if you operate the yaw stick (15) in the negative direction,
The yaw vanes (7) of the two front fans (F1) (F4) are tilted to the right by the same amount according to the operation amount, and at the same time, the yaw vanes (7) of the two rear fans (F2) (F3) are Tilt to the left by the same amount as above. As a result, with respect to the front fans (F1) (F4), the thrust is directed diagonally upward to the left, and the negative y-axis force acts, and the rear fans (F2) (F4)
Regarding 3), the thrust is directed diagonally upward to the right, and the force in the positive y-axis direction acts. Therefore, a negative moment of the yaw angle ψ about the z axis acts on the flying body (1), and the flying body (1) turns in this direction.

Then, return the yaw stick (15) to the neutral position,
The yaw vanes (7) of the four fans (F) are returned to the neutral position, and the turning of the air vehicle (1) is stopped. Even when the yaw stick (15) is in the neutral position, when the yaw angle ψ of the flying vehicle (1) changes from the neutral state to the negative direction, the forward side moment of the yaw angle ψ is generated as described above. The fan (F1) (F4) yaw vane (7) and the rear fan (F2) (F3) yaw vane (7) are controlled in the opposite direction.
When the yaw angle ψ of the air vehicle (1) changes from the neutral state to the positive direction, the yaw vanes (7) of the front fans (F1) (F4) are generated so that the negative moment of the yaw angle ψ is generated as described above. Rear fan (F2) (F3) Yeovan (7)
Are controlled in the opposite direction, and the air vehicle (1) is kept in a neutral state.

In the above description, each stick (13) (14)
The case where (15) and (16) are operated individually is shown, but the operation when multiple sticks (13) (14) (15) (16) are operated simultaneously is a combination of the above operations. .

Next, the above control operation will be described in more detail.

First, the control of the roll angle φ and the pitch angle θ of the air vehicle (1) will be described. The pitch of the blades (6) of the right side, left side, front side and rear side fan (F) for obtaining the moment required for the control. The angle control amount δ is calculated by the following equations (1) to
It becomes like (4). The control amount δ is proportional to the thrust force for obtaining the required moment.

δ _tr = -K _xI ∫ (φ ₀ −φ) dt −K _xP (φ ₀ −φ) −K _xD d / dt (φ ₀ −φ) …… (1) δ _tl = K _xI ∫ (φ ₀ − φ) dt + K _xP (φ ₀ −φ) + K _xD d / dt (φ ₀ −φ) …… (2) δ _lf = K _yI ∫ (θ ₀ −θ) dt + K _yP (θ ₀ −θ) + K _yD d / dt (θ ₀ −θ) (3) δ _lf = −K _yI ∫ (θ ₀ −θ) dt −K _yP (θ ₀ −θ) −K _yD d / dt (θ ₀ −θ)… (4) Subscripts of δ tr (transverse right), tl (transverse lef
t), lf (longitudinal front) and lr (longitudina
l rear) indicates the right side, left side, front side and rear side, respectively. K is the control gain, K _{x I} and K
_yI is the gain of the integral element of the PID control elements, K _xP and
K _yP represents the gain of the proportional element, and K _xD and K _yD represent the gain of the derivative element, respectively. The subscript 0 of φ and θ represents the target value. In addition, those without suffixes of φ and θ represent measured values (current values). This also applies to the following description.

As is clear from the equations (1) to (4), the thrust on the right side δ _tr
And the left thrust δ _tl have opposite directions (signs) and equal absolute values, and the front thrust δ _lf and the rear thrust δ _lr have opposite directions (sign) and equal absolute values.

The control amount δβ _i of the pitch angle of the blades (6) of the four fans (F) is obtained by adding two equations (1) to (4) corresponding to the position, and the following equation ( It becomes like 5)-(8).

_{δβ 1 = δ tr + δ lf} ...... (5) δβ 2 = δ tr + δ lf ...... (6) δβ 3 = δ tl + δ lf ...... (7) δβ 4 = δ tl + δ lf ...... (8) δβ of Subscript 1 is the first fan (F1), 2 is the second fan (F1)
2), 3 is the third fan (F3), and 4 is the fourth fan (F4). Since the first fan (F1) is located on the right front side, the control amount δβ ₁ of the pitch angle of the blade (6) of the first fan (F1) is divided into the control amount δ _tr on the right side and the control amount δ _{lf on the} front side. It has been added. Other fan (F2)
The same applies to (F3) and (F4).

In such PID control, usually, the target values φ ₀ and θ ₀ are set, and the command value φ _s of the roll stick (13) is set.
And the command value θ _{s of the} pitch stick (14) is used.

In the case of the control for holding the flying body (1) in the neutral state as described above, this may be sufficient, but as described above, the roll
When the stick (13) and the pitch stick (14) are tilted to move the flying body (1) horizontally, this means that when the sticks (13) (14) are returned to the neutral position, Since (1) does not stop immediately and overrun occurs, it is difficult to control the position.

In order to solve such a problem, in this embodiment, the target values φ ₀ and θ ₀ of the roll angle and the pitch angle are set in the horizontal direction corresponding to the inclination from the command values φ _s and θ _s as follows. A value obtained by subtracting a portion proportional to the velocities V and U of the body (1) is used.

_{φ 0 = -K φ0 V + φ} s ...... (9) θ 0 = K θ0 U + θ s ...... (10) Therefore, aircraft (1) when returning the stick (13) (14) to the neutral position Gasugu Since it stops at no time and overrun does not occur, position control becomes easy.

However, the command values φ _s and θ _s from the sticks (13) and (14) may be used as they are for the target values φ ₀ and θ ₀ of the differentiating element as follows.

φ ₀ = φ _s (11) θ ₀ = θ _s (12) Next, the control of the yaw angle ψ of the flying vehicle (1) will be described. Four fans for obtaining the moment required for the control. The control amount δα _i of the yaw vane angle in (F) is calculated by the following equation (13).
It becomes like (16).

δα ₁ = K _zI ∫ (ψ ₀ −ψ) dt + K _zP (ψ ₀ −ψ) + K _zD d / dt (ψ ₀ −ψ) …… (13) δα ₂ = −K _zI ∫ (ψ ₀ −ψ) dt −K _zP (ψ ₀ −ψ) −K _zD d / dt (ψ ₀ −ψ) …… (14) δα ₃ = −K _zI ∫ (ψ ₀ −ψ) dt −K _zP (ψ ₀ −ψ) −K _zD d / dt (ψ ₀ −ψ) …… (15) δα ₄ = −K _zI ∫ (ψ ₀ −ψ) dt + K _zP (ψ ₀ −ψ) + K _zD d / dt (ψ ₀ −ψ) (16) As is clear from these equations, the yaw angles of the first fan (F1) and the fourth fan (F4) have the same direction and the same absolute value, and the second fan (F2) and the third fan have the same yaw angle. The yaw angle of (F3) has the same direction and absolute value. In addition, the yaw angles of the first and fourth fans (F1) (F4) and the second and third fans (F1)
2) The yaw angle of (F3) is opposite in direction and has the same absolute value.

The command value ψ _s from the yaw stick (15) is used as it is as the target value ψ ₀ in this case.

Next, the altitude control of the flying body (1) will be explained.
Correction value Δ of engine speed due to altitude error (H ₀ −H)
N is expressed as follows.

_{ΔN = K nI ∫ (H 0} -H) dt + K nP (H 0 -H) + K nD d / dt (H 0 -H) ...... (17) H 0 is the altitude of the target value, altitude Stick ( The command value H _s from 16) is used as is.

Then, the control amount δ _TH of the throttle opening of the engine (5)
Is as follows:

δ _TH = K _tI ∫ (N ₀ + ΔN-N) dt + K _tP (N ₀ + ΔN-N) (18) N ₀ is the fan (F) when the pitch angle of the blade (6) is neutral. It is the engine speed that produces thrust comparable to gravity. Neutral value of the pitch angle of the blade (6) is determined so that there is sufficient margin in both directions, when it is determined, N ₀
Is obtained by calculation or experiment.

On the other hand, in the correction of the altitude error, the pitch angle of the blade (6) of the fan (F) is also changed with emphasis on the responsiveness, and the control amount δ _h is expressed as follows.

_{δ h = K fI ∫ (H} 0 -H) dt + K fP (H 0 -H) + K fD d / dt (H 0 -H) ...... (19) Therefore, the control amount .delta..beta _i of the final pitch angle , Equations (5) to (8) and Equation (19) are combined to obtain the following.

δβ ₁ = δ _tr ＋ δ _lf ＋ δ _h …… (20) δβ ₂ ＝ δ _tr ＋ δ _lr + δ _h …… (21) δβ ₃ ＝ δ _tl + δ _lr ＋ δ _h …… (22) δβ ₄ ＝ δ _tl + δ _lf + δ _h (23) As described above, since the altitude of the air vehicle (1) is controlled by controlling both the pitch angle of the blade (8) of the fan (F) and the rotation speed of the engine (5), (6)
There is no need to change the pitch angle of a wide range. Therefore,
Low loss, no risk of stall, engine (5)
Can be downsized.

Although four ducted fans are shown in the above embodiment, the number of ducted fans can be changed appropriately. Also, regarding the yaw vanes, the pair of yaw vanes may be replaced with one yovane.

EFFECTS OF THE INVENTION According to the method of the present invention, as described above, the difference between the target value and the current value of the inclination angle of the aircraft does not increase, and the aircraft immediately stops when the command from the outside is returned to the neutral position. However, since the overrun does not occur, the position control becomes easy.

[Brief description of drawings]

FIG. 1 is a perspective view of a vertical take-off and landing vehicle showing an embodiment of the present invention, FIG. 2 is a plan view of the same, and FIG. 3 is a cutaway side view of the same portion.
FIG. 4 is a rear view of the cutaway portion of the same portion, and FIG. 5 is an electrical block diagram of the aircraft and its remote control device. (1) …… Vertical takeoff and landing vehicle, (2) …… Remote control device,
(6) …… Blade, (9) …… Inertial navigation system, (12)
...... Flight controller, (13) …… Roll stick,
(14) …… Pitch stick, (F1) (F2) (F3)
(F4) …… Ducted fan.

(72) Inventor Shohei Niwa 1-10-8 Kiyomeiyama, Chikusa-ku, Nagoya-shi, Aichi Prefecture (72) Inventor Atsushi Kondo 1-6-14, Edobori, Nishi-ku, Osaka-shi, Osaka Prefecture Hitachi Shipbuilding Co., Ltd. ( 72) Inventor Masahiko Murakami 1-6-14 Edobori, Nishi-ku, Osaka City, Osaka Prefecture Hitachi Shipbuilding Co., Ltd. (72) Inventor Masahiro Matsui 1-6-14 Edobori, Nishi-ku, Osaka City Osaka Prefecture Hitachi Shipbuilding Co., Ltd.

Claims (1)

[Claims] 1. A vertical takeoff / flying vehicle in which a plurality of ducted fans having variable blade pitch angles are arranged symmetrically with respect to a first horizontal axis, in a second horizontal axis direction orthogonal to the first horizontal axis. A method of controlling a pitch angle of a blade of a ducted fan to control a tilt angle of a vehicle about a first horizontal axis to control a position of the vehicle, comprising: PI based on the difference between the measured and
By controlling the pitch angle of the blade of the ducted fan by the D control, as the target value of the tilt angle of at least the proportional element and the integral element of the PID control, the second horizontal level of the aircraft is obtained from the command value from the outside of the tilt angle. A flight control method for a vertical take-off and landing vehicle, which uses a value obtained by subtracting a value proportional to an axial velocity.