放射線モニタリング無人固定翼機の予見制御による高度制御性能向上

Altitude control performance improvement via preview controller for unmanned airplane for radiation monitoring system

佐藤 昌之*; 村岡 浩治*; 穂積 弘毅*; 眞田 幸尚   ; 山田 勉*; 鳥居 建男  

Sato, Masayuki*; Muraoka, Koji*; Hozumi, Koki*; Sanada, Yukihisa; Yamada, Tsutomu*; Torii, Tatsuo

宇宙航空研究開発機構(JAXA)と原子力機構(JAEA)は福島第一原子力発電所事故の環境影響を評価するための放射線モニタリング用の無人機の開発を実施している。本論文では、無人飛行機開発コンセプト及び自律飛行のための基礎的なアルゴリズムについてまとめた。開発した機体は福島県浪江町で飛行試験を行い、放射線を計測できることを実証した。

This paper is concerned with the design problem of preview altitude controller for Unmanned Airplane for Radiation Monitoring System (UARMS) to improve its control performance. UARMS has been developed for radiation monitoring around Fukushima Daiichi Nuclear Power Plant which spread radiation contaminant due to the huge tsunamis caused by the Great East Japan Earthquake. The monitoring area contains flat as well as mountain areas. The basic flight controller has been confirmed to have satisfactory performance with respect to altitude holding; however, the control performance for variable altitude commands is not sufficient for practical use in mountain areas. We therefore design preview altitude controller with only proportional gains by considering the practicality and the strong requirement of safety for UARMS. Control performance of the designed preview controller was evaluated by flight tests conducted around Fukushima Sky Park.