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1 872 日本機械学会論文集 (C 編 ) 78 巻 787 号 (212-3) 原著論文 o.211-jcr-1119 * General Airframe Design and Implementation with Low-Cost for Multi-Rotor Type Helicopters Makoto TAWARA 1 and Kenzo OAMI 1 Graduate School of Engineering, Chiba University 1-33, yayoi, inage, chiba, Chiba , Japan 田原誠 *1,*2 *3, 野波健蔵 Recently, Quad-rotor type helicopters which are representative of Multi-rotor type helicopters have been extensively developed over the world. The Multi-rotors are expected to replace Single-rotor type helicopters as an industrial helicopter because of their simplicity of the structure and good maintainability. In this paper, we focused on the operation problems of previous industrial helicopters and applied the Multi-rotors by a generalized design method. The generalization of the design method is performed considering variation of requirements of airframe specifications. In addition, we considered using commercial components rather than customized components in each process, so we achieved cost reduction compared with previous study. At first, we introduce the required specifications of a small pesticide application in this study and present the airframe design method. And then, we tuned parameters with presented simulation model and implement a multi-rotor type helicopter following the design method. Finally, we show the flight result and present the effectiveness of the design method. Key Words : Moving Robot, Maneuverability, Modeling, Autonomy, UAV, MAV, Multi-Rotor, Airframe Design 1. UAV(Unmanned Aerial Vehicle), MAV(Micro Air Vehicle) (1)(2)(3) (4)(5) 1 * 原稿受付 211 年 12 月 18 日 *1 正員, 千葉大学大学院工学研究科 ( 千葉県千葉市稲毛区弥生町 1-33) *2 ヒロボー ( 株 ) 研究開発所 ( 広島県府中市桜が丘 3-3-1) *3 正員, フェロー, 千葉大学大学院工学研究科 ( 千葉県千葉市稲毛区弥生町 1-33) makoto-tawara@graduate.chiba-u.jp 142

2 873 Fig. 1 Classification of unmanned helicopters Fig. 2 Placement of rotors equiped on multi-rotors (6)(7)(8)(9) GPS (1) (1) m.3m 1.kg Eagle MD4-1 (11) (12)

3 874 Table 1 Specifications of commercially available multi-rotors o. Model number Manu f acturer um o f rotors Max size Payload 1 AR-Drone Parrot X3D-BL Ascending Technologies Falcon 8 Ascending Technologies X-S QUADFLYER Gaui Draganflyer X4 Draganfly Innovations MK6 MK-Kopter Eagle Service Drone MD4-2 Microdrones MD4-1 Microdrones [Hz] [Hz] MPU PI 5[Hz] PWM 3. (14) (15) (16) 2 n = 1,2,..., X Y Z W p W b W a (13) W max W max = T a P a P w 999 (W b + W a +W p ) (1) 144

4 875 Fig. 3 Design flow of a Multi-rotor helicopter Fig. 4 Structure of an arm part T a [ ] P a [hpa] P w [hpa] L a L max L a = W max, L max = (1 + α)l a (2) α (.5L max )/(1.366)[kW] 5[Hz] PWM 145

5 Lift[g] o.1 o.2 o.3 o.4 o.5 o.6 Lift[g] 4 35 o.1 o.2 o.3 o.4 o.5 o PWM signal[usec] PWM signal[usec] Fig. 5 Experimental result of measuring thrusts of each rotor 5 [usec] [g] 18[usec] 8[g] u s F s F s = g(u s ) f i u i (i = 1,2,...,) F i (i = 1,2,...,) F i = g f i (u i ) (3) g(u s ) (1 ± α)l a 3% g(u s ) = a 3 u 3 s + a 2 u 2 s + a 1 u s + a, f i (u i ) = b i u i + c i (4) 3 3 C b C b kp a h (5) P a [W] h[h] k

6 877 Table 2 Parameters of single and multi rotor helicopters Fig. 6 Image of single and multi rotor helicopters Type R S r σ Single Rotor 1 (1 + 1/6)r πr Multi Rotor 4 (1 + 2)r 4πr Multi Rotor 6 (1 + 2)r 6πr Multi Rotor 8 (1 + 2/ 2 2)r 8πr Multi Rotor (1 + 1/sin π )r πr2 ρ/(1 + 1/sin π )2 S b S r ρ σ σ = ρ S r S b = ρ r2 R 2 (6) R r 6 1% = 1 R = (7/6)r ρ = R R = (1 + 1/sin π )r ρ = 1. 2 = 4 R max R 2R R max (7) R max R max = 8r (R max 4r) R = X Y 1 8 ω ω ω + ω ω ω 147

7 878 Fig. 7 Flight principle of multi-rotors (a)=4n (b)=4n+2 (a)=4n+2 (b)pitching principle Fig. 8 Rotor placement of previous products Fig. 9 Improved rotor placement and pitching principle 2 ω 8(b) = 4n + 2(n = 1,2, ) = 4n + 2 5Hz = 4n + 2 9(a) 8(b) X X 9(b) X 8(b) 4 2 M = [M Ail,M Ele,M Rud,M T hr ] S Ail M Ail + τ Ail +u φ = (R r) i=1 (F i sin 2πi ) (8) S Ele M Ele + τ Ele +u θ = (R r) (F i cos 2πi ), i 1,/2 + 1 ( = 4n + 2) (9) i=1 i=1 S Rud M Rud + τ Rud +u ψ = (Q i( 1) i 1 ), = 4n (1) Q 1 + /2 i=2 (Q i( 1) i ) + i=/2+1 (Q i( 1) i 1 ), = 4n + 2 S T hr M T hr + τ T hr = i=1 (F i ) (11) Q i (i = 1,2,...,) F i S = [S Ail,S Ele,S Rud,S T hr ] τ = [τ Ail,τ Ele,τ Rud,τ T hr ] u = [u φ,u θ,u ψ ] (8) 148

8 879 (11) F i > 4 (3) 4 3 5[Hz] PI φ,θ,ψ u = [u φ,u θ,u ψ ] u = K p ω(t) + K i ω(t)dt (12) K p K i PI 1% 4 4 ω = [ φ θ ψ] T I = [I xx I yy I zz ] T T = [T φ T θ T ψ ] T I xx φ = θ ψ(i yy I zz ) + T φ (13) I yy θ = ψ φ(i zz I xx ) + T θ (14) I zz ψ = φ θ(i xx I yy ) + T ψ (15) J Ω i T φ = S Ail M Ail + τ Ail + u φ J θ i=1 (Ω i sin 2πi ) (16) T θ = S Ele M Ele + τ Ele + u θ + J φ (Ω i cos 2πi i=1 ) (17) T ψ = S Rud M Rud + τ Rud + u ψ (18) 3.2 ±1[usec] 1 ±7[deg] [Hz] 149

9 88 Table 3 Commercial components of the multi rotor Fig. 1 Overview of the multi rotor Parts Manu f acturer Model number Motor SCORPIO S Driver Hacker Motor MASTER SPI33 Rotor GWS EP16 Radio transmitter Futaba T8FGS Radio receiver Futaba R628SB Battery HIROBO Lepton EX battery CFRP pipe HIROBO LEX Gyro sensor EPSO TOYOCOM XV35 Table 4 Specifications and parameters of the designed multi rotor Size.97[m] a e+3 b c K pφ 4. S Ail.2 Max payload 1.[kg] a e+1 b 2 1. c 2 K iφ 6. S Ele.34 Flight time 5.5[min] a e-2 b c K pθ 4. S Rud.69 um of Rotor 6 a e-6 b 4 1. c 4-2 K iθ 6. S T hr.75 Rotor diameter.25[m] - - b 5.98 c 5-3 K pψ Hovering revolution 45[rpm] - - b 6 1. c 6-2 K iψ (17) 2 11(a) 11(b) 11(c) 11(a) Throttle t = 2[s] t = 17[s] 1[usec] 11(b) 165 2[deg/sec] 11(c) [deg] t = 55,85,12[sec] 1[deg] 5 3 (13) (18) = 6 4n (a) (b)

10 881 Manual input [usec] Roll Pitch Throttle Yaw (a)operating inputs Fig. 11 Rate Angle [degree/sec] Roll rate Pitch rate Yaw rate (b)angular rates Experimental result of hovering flight Euler Angle [degree] Roll angle Pitch angle Yaw angle (c)euler angles Roll rate [deg/sec] Experient Simulation (a)roll Fig. 12 Pitch rate [deg/sec] Experient Simulation (b)pitch Experimental and simulated result of angular rate Yaw rate [deg/sec] Experient Simulation (c)yaw 12(a) (18) (1) K. onami, F. Kendoul, S. Suzuki, W. Wang, D. akazawa, Autonomous Flying Robots - Unmanned Aerial Vehicles and Micro Aerial Vehicles(21), Springer Japan. 151

11 882 (2) B. Mettler, M.B. Tischler, and T. Kanade, System identification modeling of a small-scale unmanned rotorcraft for flight control design, Journal of the American Helicopter Society, Vol. 47, o. 1 (22), pp (3) P. Abbeel, A. Coates, M. Quigley, and A.Y. g, An application of reinforcement learning to aerobatic helicopter flight, Advances in eural Information Processing Systems 19: Proceedings of the 26 Conference(27), pp (4),,,, C, Vol. 68, o. 675 (22), pp (5) H C Vol. 7 o. 694 (24) pp (6) P. Castillo, A. Dzul, and R. Lozano, Real-time stabilization and tracking of a four-rotor mini rotorcraft, Control Systems Technology, IEEE Transactions on, Vol. 12, o. 4 (24), pp (7) McKerrow, P., Modelling the Draganflyer four-rotor helicopter, Proceedings of the 24 IEEE International Conference on Robotics and Automation, ew Orleans, LA(24), pp (8) Hoffmann, G.M. and Huang, H. and Waslander, S.L. and Tomlin, C.J., Quadrotor helicopter flight dynamics and control: Theory and experiment, Proceedings of the American Institute of Aeronautics and Astronautics Guidance, avigation, and Control Conference, Vol. 4(27), pp.44. (9) Bouabdallah, S. and Murrieri, P. and Siegwart, R., Design and control of an indoor micro quadrotor, Proceedings of the 24 IEEE International Conference on Robotics and Automation, ew Orleans, LA(24), Vol. 5(24), pp (1) HALEY Mark 4 MAV C Vol. 76 o. 761 (21) pp (11),, (28). (12),, (21). (13), JIS HB 28, 28. (14) Borrmann, A. and Ji, Y. and Wu, IC and Obergrießer, M. and Rank, E. and Klaubert, C. and Günthner, W., ForBAU The virtual construction site project, Proceedings of the 26th International Council for Building World 78 Conference on Managing IT in Construction(29). (15) Prior, S.D. and Karamanoglu, M. and Odedra, S. and Foran, T. and Erbil, M.A., Development of a co-axial tri-rotor UAV, 24th Bristol International Unmanned Air Vehicle Systems Conference, 3 March-1 April,University of Bristol(29), pp (16) Salazar, S. and Romero, H. and Lozano, R. and Castillo, P., Modeling and real-time stabilization of an aircraft having eight rotors, Journal of Intelligent and Robotic Systems, Vol. 54(29), pp (17),,,, C, Vol. 77, o. 781 (211), pp (18) OAMI LABORATORY, MAV/UGV onami Lab., nonami/research/mav/home.html( ). 152

28 Horizontal angle correction using straight line detection in an equirectangular image

28 Horizontal angle correction using straight line detection in an equirectangular image 1170283 2017 3 1 2 i Abstract Horizontal angle correction using straight line detection in an equirectangular image