Research of the pendulum gravity control postural stabilization flight robot using dynamic inversion control

设计了包含控制电路，制作了输入动态反演控制软件的电路，并内置了1/3比例的测试样机，进行了对抗空中干扰的姿态控制实验。结果表明，将角速度传感器（陀螺仪传感器）反馈与高采样频率的角加速度传感器相结合，可以减小对滚动运动的控制作用。利用这些成果，在新田天空项目中，研究开发了轻量化机身的涡轮喷气发动机，开发了2轴电动大推力控制作动器，开发了采用碳纤维复合材料的轻量化机身，制造了摆稳控制型无人机。研究成果的实际应用是目的。

The design of an inclusion control circuit and the manufacture of an electric circuit which put into dynamic inversion control software were performed, and it built in the test prototype of 1/3 scale, and conducted the attitude control experiment of as opposed to aerial disturbance for an experiment. It became clear that the effect which controls rolling motion is reduced by combining angular velocity sensor (gyroscope sensor) feedback and the angular acceleration sensor of a high sampling frequency. Using these results, in the Niigata sky project, the research and development of the turbojet engine which is a lightweight body, development of the electric high thrust control actuator of 2 axes, and lightweight body using a carbon fiber composite material is developed, and a pendulum stable control type unmanned aerial vehicle is manufactured.Real application of the result of research is aimed at.