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1. 发明授权

US07539561B2 Autonomous control system apparatus and program for a small, unmanned helicopter 有权
标题翻译：一种小型无人直升机的自动控制系统装置和程序
公开(公告)号：US07539561B2
公开(公告)日：2009-05-26
申请号：US11644893
申请日：2006-12-26
申请人： Kenzo Nonami , Jin Ok Shin , Daigo Fujiwara , Kensaku Hazawa , Keitaro Matsusaka
发明人： Kenzo Nonami , Jin Ok Shin , Daigo Fujiwara , Kensaku Hazawa , Keitaro Matsusaka
IPC分类号： G01C23/00
CPC分类号： G05D1/0033
摘要： An objective of the invention, focusing on these issues involved in the use of a small, hobby-type, unmanned helicopter, is to develop an autonomous control system comprising autonomous control systems for a small unmanned helicopter, to be mounted on said small unmanned helicopter; a servo pulse mixing/switching unit; a radio-controlled pulse generator; and autonomous control algorithms that are appropriate for the autonomous control of the aforementioned small unmanned helicopter, thereby providing an autonomous control system that provides autonomous control on the helicopter toward target values. The autonomous control system for a small unmanned helicopter of the present invention comprises: Sensors that detect the current position, the attitude angle, the altitude relative to the ground, and the absolute azimuth of the nose of the aforementioned small unmanned helicopter; A primary computational unit that calculates optimal control reference values for driving the servo motors that move five rudders on the helicopter from the target position or velocity values that are set by the ground station and the aforementioned current position and attitude angle of the small unmanned helicopter that are detected by the aforementioned sensors; An autonomous control system equipped with a secondary computational unit that converts the data collected by said sensors and the computational results as numeric values that are output by said primary computational unit into pulse signals that can be accepted by the servo motors, Such that these components are assembled into a small frame box, thereby achieving both size and weight reductions.
摘要翻译：本发明的目标是关注使用小型爱好型无人直升机所涉及的这些问题，是开发一种自主控制系统，包括用于小型无人直升机的自主控制系统，安装在所述小型无人直升机上 ; 伺服脉冲混合/切换装置; 无线电脉冲发生器; 以及适用于上述小型无人直升机的自主控制的自主控制算法，从而提供了一种自主控制系统，其向直升机提供朝向目标值的自主控制。本发明的小型无人直升机的自主控制系统包括：检测当前位置，姿态角度，相对于地面的高度的传感器和上述小型无人直升机的鼻子的绝对方位角; 计算最佳控制参考值的主要计算单元，用于驱动从目标位置移动直升机上的五个方向舵的伺服电机或由地面站设定的速度值以及上述当前的小型无人直升机的位置和姿态角度的伺服电机，由上述传感器检测; 一种配备有二次计算单元的自主控制系统，其将由所述传感器收集的数据和计算结果转换为由所述主要计算单元输出的数字值作为可由伺服电动机接受的脉冲信号。这些组件是组装成小框架盒，从而实现尺寸和重量的减轻。

2. 发明申请

US20050027406A1 Autonomous control system apparatus and program for a small, unmanned helicopter 审中-公开
标题翻译：一种小型无人直升机的自动控制系统装置和程序
公开(公告)号：US20050027406A1
公开(公告)日：2005-02-03
申请号：US10786049
申请日：2004-02-26
申请人： Kenzo Nonami , Jin Shin , Daigo Fujiwara , Kensaku Hazawa , Keitaro Matsusaka
发明人： Kenzo Nonami , Jin Shin , Daigo Fujiwara , Kensaku Hazawa , Keitaro Matsusaka
IPC分类号： B64C13/20 , B64C39/02 , G05D1/00 , G06F17/00
CPC分类号： G05D1/0033
摘要： An objective of the invention, focusing on these issues involved in the use of a small, hobby-type, unmanned helicopter, is to develop an autonomous control system comprising autonomous control systems for a small unmanned helicopter, to be mounted on said small unmanned helicopter; a servo pulse mixing/switching unit; a radio-controlled pulse generator; and autonomous control algorithms that are appropriate for the autonomous control of the aforementioned small unmanned helicopter, thereby providing an autonomous control system that provides autonomous control on the helicopter toward target values. The autonomous control system for a small unmanned helicopter of the present invention comprises: Sensors that detect the current position, the attitude angle, the altitude relative to the ground, and the absolute azimuth of the nose of the aforementioned small unmanned helicopter; A primary computational unit that calculates optimal control reference values for driving the servo motors that move five rudders on the helicopter from the target position or velocity values that are set by the ground station and the aforementioned current position and attitude angle of the small unmanned helicopter that are detected by the aforementioned sensors; An autonomous control system equipped with a secondary computational unit that converts the data collected by said sensors and the computational results as numeric values that are output by said primary computational unit into pulse signals that can be accepted by the servo motors, Such that these components are assembled into a small frame box, thereby achieving both size and weight reductions.
摘要翻译：本发明的目标是关注使用小型爱好型无人直升机所涉及的这些问题，是开发一种自主控制系统，包括用于小型无人直升机的自主控制系统，安装在所述小型无人直升机上 ; 伺服脉冲混合/切换装置; 无线电脉冲发生器; 以及适用于上述小型无人直升机的自主控制的自主控制算法，从而提供了一种自主控制系统，其向直升机提供朝向目标值的自主控制。本发明的小型无人直升机的自主控制系统包括：检测当前位置，姿态角度，相对于地面的高度的传感器和上述小型无人直升机的鼻子的绝对方位角; 计算最佳控制参考值的主要计算单元，用于驱动从目标位置移动直升机上的五个方向舵的伺服电机或由地面站设定的速度值以及上述当前的小型无人直升机的位置和姿态角度的伺服电机，由上述传感器检测; 一种配备有二次计算单元的自主控制系统，其将由所述传感器收集的数据和计算结果转换为由所述主要计算单元输出的数字值作为可由伺服电动机接受的脉冲信号。这些组件是组装成小框架盒，从而实现尺寸和重量的减轻。

3. 发明授权

US07510141B2 Autonomous control method for small unmanned helicopter 有权
标题翻译：小型无人直升机自主控制方法
公开(公告)号：US07510141B2
公开(公告)日：2009-03-31
申请号：US11194466
申请日：2005-08-02
申请人： Kenzo Nonami , Jin Ok Shin , Daigo Fujiwara , Kensaku Hazawa , Keitaro Matsusaka
发明人： Kenzo Nonami , Jin Ok Shin , Daigo Fujiwara , Kensaku Hazawa , Keitaro Matsusaka
IPC分类号： B64C13/16
CPC分类号： G05D1/0033 , A63H27/12 , A63H30/04 , G05D1/0858
摘要： An autonomous control method autonomously controls a small unmanned helicopter toward target values, such as a set position and velocity, by deriving model formulas well suited for the autonomous control of small unmanned helicopters, by designing an autonomous control algorithm based on the model formulas, and by calculating the autonomous control algorithm. The autonomous control system includes sensors that detect current position, attitude angle, altitude relative to the ground, and absolute azimuth of a nose of the small unmanned helicopter; a primary computational unit that calculates optimal control reference values for driving the helicopter from a target position or velocity values; a secondary computational unit that converts data collected by the sensors and the computational results as numeric values that are output by the primary computational unit into pulse signals; a ground station host computer used as the computational unit for the autonomous control system; and so on.
摘要翻译：一种自主控制方法，通过基于模型公式设计自主控制算法，通过推导出适合于小型无人直升机自主控制的模型公式，将小型无人直升机自动控制到目标值，如设定位置和速度，以及通过计算自主控制算法。自主控制系统包括检测当前位置，姿态角度，相对地面高度以及小型无人直升机鼻子绝对方位角的传感器; 计算用于从目标位置或速度值驱动直升机的最佳控制参考值的主要计算单元; 二次计算单元，其将由传感器收集的数据和计算结果转换为由主计算单元输出的数值作为脉冲信号; 用作自主控制系统的计算单元的地面站主机; 等等。

4. 发明申请

US20070162196A1 Autonomous control system apparatus and program for a small, unmanned helicopter 有权
标题翻译：一种小型无人直升机的自动控制系统装置和程序
公开(公告)号：US20070162196A1
公开(公告)日：2007-07-12
申请号：US11644893
申请日：2006-12-26
申请人： Kenzo Nonami , Jin Shin , Daigo Fujiwara , Kensaku Hazawa , Keitaro Matsusaka
发明人： Kenzo Nonami , Jin Shin , Daigo Fujiwara , Kensaku Hazawa , Keitaro Matsusaka
IPC分类号： G01C23/00
CPC分类号： G05D1/0033
摘要： An objective of the invention, focusing on these issues involved in the use of a small, hobby-type, unmanned helicopter, is to develop an autonomous control system comprising autonomous control systems for a small unmanned helicopter, to be mounted on said small unmanned helicopter; a servo pulse mixing/switching unit; a radio-controlled pulse generator; and autonomous control algorithms that are appropriate for the autonomous control of the aforementioned small unmanned helicopter, thereby providing an autonomous control system that provides autonomous control on the helicopter toward target values. The autonomous control system for a small unmanned helicopter of the present invention comprises: Sensors that detect the current position, the attitude angle, the altitude relative to the ground, and the absolute azimuth of the nose of the aforementioned small unmanned helicopter; A primary computational unit that calculates optimal control reference values for driving the servo motors that move five rudders on the helicopter from the target position or velocity values that are set by the ground station and the aforementioned current position and attitude angle of the small unmanned helicopter that are detected by the aforementioned sensors; An autonomous control system equipped with a secondary computational unit that converts the data collected by said sensors and the computational results as numeric values that are output by said primary computational unit into pulse signals that can be accepted by the servo motors, Such that these components are assembled into a small frame box, thereby achieving both size and weight reductions.
摘要翻译：本发明的目标是关注使用小型爱好型无人直升机所涉及的这些问题，是开发一种自主控制系统，包括用于小型无人直升机的自主控制系统，安装在所述小型无人直升机上 ; 伺服脉冲混合/切换装置; 无线电脉冲发生器; 以及适用于上述小型无人直升机的自主控制的自主控制算法，从而提供了一种自主控制系统，其向直升机提供朝向目标值的自主控制。本发明的小型无人直升机的自主控制系统包括：检测当前位置，姿态角度，相对于地面的高度的传感器和上述小型无人直升机的鼻子的绝对方位角; 计算最佳控制参考值的主要计算单元，用于驱动从目标位置移动直升机上的五个方向舵的伺服电机或由地面站设定的速度值以及上述当前的小型无人直升机的位置和姿态角度的伺服电机，由上述传感器检测; 一种配备有二次计算单元的自主控制系统，其将由所述传感器收集的数据和计算结果转换为由所述主要计算单元输出的数字值，使其能够被伺服电机接受的脉冲信号。这些组件是组装成小框架盒，从而实现尺寸和重量的减轻。

5. 发明申请

US20060060694A1 Autonomous control method for small unmanned helicopter 有权
公开(公告)号：US20060060694A1
公开(公告)日：2006-03-23
申请号：US11194466
申请日：2005-08-02
申请人： Kenzo Nonami , Jin Shin , Daigo Fujiwara , Kensaku Hazawa , Keitaro Matsusaka
发明人： Kenzo Nonami , Jin Shin , Daigo Fujiwara , Kensaku Hazawa , Keitaro Matsusaka
IPC分类号： B64C27/54
CPC分类号： G05D1/0033 , A63H27/12 , A63H30/04 , G05D1/0858
摘要： An objective of the present invention is to provide an autonomous control method that autonomously controls a small unmanned helicopter toward target values, such as a set position and velocity, by deriving model formulas that are well suited for the autonomous control of small unmanned helicopters, by designing an autonomous control algorithm based on the model formulas, and by calculating the autonomous control algorithm. The autonomous control system for a small unmanned helicopter of the present invention comprises: sensors that detect the current position, the attitude angle, the altitude relative to the ground, and the absolute azimuth of the nose of the aforementioned small unmanned helicopter; a primary computational unit that calculates optimal control reference values for driving the servo motors that move five rudders on the helicopter from target position or velocity values that are set by the ground station and the aforementioned current position and attitude angle of the small unmanned helicopter that are detected by the aforementioned sensors; an autonomous control system equipped with a secondary computational unit that converts the data collected by said sensors and the computational results as numeric values that are output by said primary computational unit into pulse signals that can be accepted by the servo motors, such that these components are assembled into a small frame box, thereby achieving both size and weight reductions; a ground station host computer that can also be used as the aforementioned computational unit for the aforementioned autonomous control system; if the aforementioned ground station host computer is used as the aforementioned computational unit for the aforementioned autonomous control system, in the process of directing the computational results that are output from said ground station host computer to said servo motors through a manual operation transmitter, a radio control generator that converts said computational results as numerical values into pulse signals that said manual operation transmitter can accept; a servo pulse mixing/switching apparatus, on all said servo motors for said small unmanned helicopter, that permits the switching of manual operation signals and said control signals that are output from said autonomous control system or mixing thereof in any ratio; an autonomous control algorithm wherein the mathematical model for transfer function representation encompassing pitching operation input through pitch axis attitude angles in the tri-axis orientation control for said small unmanned helicopter is defined as G θ ⁡ ( s ) = e - Ls ⁢ K θ ⁢ ω ns 2 ( s 2 + 2 ⁢  s ⁢ ω n ⁢ ⁢ s ⁢ s + ω n ⁢ ⁢ s 2 ) ⁢ ( T θ ⁢ s + 1 ) ⁢ s wherein Gθ: parameter e−Ls: dead time element Kθ: model gain Tθ: model gain ωns: natural frequency s: laplace operator ξs: damped ratio such that the aforementioned small unmanned helicopter is controlled autonomously based on the aforementioned mathematical model.

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