Title:
CONTROL METHOD, CONTROL DEVICE, AND UNMANNED HELICOPTER
Document Type and Number:
WIPO Patent Application WO/2006/107017
Kind Code:
A1
Abstract:
A condition judgment unit (10) judges the condition of a control object according to a deviation (9) between the control amount from a target value calculation circuit calculated by respective basic feedback control systems and a current value. A characteristic use judgment unit (11) judges whether an operation characteristic to the control object associated with the condition can be used such as reduction of the wind pressure and calculates a correction value (12) of the operation amount signal by an operation correction value calculation unit (11a). Moreover, when the control amount is directly inputted, the characteristic use judgment unit (11) calculates a direct control amount (13) by a direct control amount calculation unit (11b). The calculated correction value (12) corrects the operation amount signal (6) of the corresponding control item. Thus, according to a deviation of a control item, the condition of the control object is judged and according tot he characteristic of the control object corresponding to the condition, an operation amount of another control item is corrected to change the target value of the control item, thereby reducing the deviation oft he control item as the reference of the condition judgment.
Inventors:
NAKAMURA KATSU (JP)
Application Number:
PCT/JP2006/307041
Publication Date:
October 12, 2006
Filing Date:
April 03, 2006
Export Citation:
Assignee:
YAMAHA MOTOR CO LTD (JP)
NAKAMURA KATSU (JP)
NAKAMURA KATSU (JP)
International Classes:
G05B11/32
Foreign References:
| JPH07210202A | 1995-08-11 | |||
| JP2004256022A | 2004-09-16 | |||
| JP2001306103A | 2001-11-02 | |||
| JP2000118498A | 2000-04-25 | |||
| JPH0857518A | 1996-03-05 |
Attorney, Agent or Firm:
Yamakawa, Masaki c/o Yamakawa International Patent Office (8th Floor, Shuwa-Tameike Building,, 4-2,
Nagatacho 2-chome, Chiyoda-ku Tokyo 14, JP)
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