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形態: カラー図版あり, Physical characteristics: Original contains color illustrations, Accepted: 2016-10-28, 資料番号: PA1720006000

Fukushima Dai-ichi nuclear power plant received a severe damage due to huge tsunami waves caused by the Great East Japan Earthquake in 2011. This tragedy requires radiation monitoring around the plant using unmanned systems, this paper therefore addresses the flight controller design for an unmanned airplane which is developed for the radiation monitoring. The flight controller has a conventional structure, i.e. Stability/Control Augmentation System (S/CAS) and guidance loops using PID controllers. The controller gains are determined by minimizing appropriately defined cost functions for several models; that is, the worst control performance among multiple models is minimized to obtain robust flight controller gains (so-called “multiple model approach”). Control performance of our flight controller was evaluated through flight tests and preliminary demonstration flights were conducted near the plant.

In 2011, Fukushima Dai-ichi nuclear power plant received a severe damage from the Great East Japan Earthquake, and spread massive radioactive contaminants. Due to this tragedy, the necessity of unmanned radiation monitoring system has been increasing in Japan. Therefore, Japan Aerospace Exploration Agency (JAXA) and Japan Atomic Energy Agency (JAEA) have been jointly developing Unmanned Airplane for Radiation Monitoring System, in short UARMS, as one of such systems. The basic flight controller of UARMS was designed and the usefulness of UARMS has already been well illustrated by demonstration flight in Fukushima; however path-tracking controller has been required for precise monitoring because radiation monitoring is planned to be conducted not only in town areas but also in mountain areas. To this end, the path-tracking controller is designed as a preview controller with its gains being optimized off-line by using multiple model approach for robust control performance. Demonstration flight was conducted in Fukushima to confirm the integrity of the designed preview path-tracking controller.

The performance of the Direct Lift Control system of NAL’s new in-flight simulator, “MuPAL-α ”, was evaluated by wind tunnel and flight tests. As a result, it was proved that: 1) The vertical acceleration generated by the DLC system satisfies the design requirements; 2) The maximum rolling and yawing moments created by asymmetric deflection of the DLC flaps are easily cancelled by aileron deflection, so malfunction of the DLC system has little effect on the safety of the aircraft.

航空宇宙技術研究所では，航空機の航法・誘導・制御技術やヒューマン・ファクタ等に関する研究，ならびに航空機搭載用機器の運用評価等を行うための実験環境として，多目的実証実験機MuPAL (Multi-Purpose Aviation Laboratoryの略)プロジェクトを推進してきた。三菱式MH2000A型ヘリコプタを母機とする実験機はMuPAL-ε（ミューパル・イプシロン）と名付けられ，実験用システムの設計開発や改修工事を終えて2000年3月に完成した。MuPAL-εにはDGPS/INS（ディファレンシャルGPSと慣性航法装置の複合システム）やホバリング状態でも正確に機能する超音波対気速度計などのさまざまなセンサが搭載されており，機体の飛行状態を高精度に計測することができる。また，研究者が表示内容を自由にプログラムできる実験用ディスプレイがコクピットの計器板に装備されているほか，外視界を記録するためのビデオカメラ等も搭載されている。フライ・バイ・ワイヤ化された固定翼実験機のMuPAL-αとは異なり，MuPAL-εの操縦系統は母機の機械式リンケージのままであるが，自動飛行制御装置（AFCS）のソフトウェアを変更することにより，限られた範囲においてではあるが可変安定機能も実現されている。本資料は，これらの実験用システムの機能および仕様の詳細についてまとめたものである。, The National Aerospace Laboratory of Japan has developed a new research helicopter, MuPAL-ε, which is designed to flexibly meet the requirements of flight testing in the fields of helicopter guidance, navigation, and control, especially pilot-vehicle interfaces. MuPAL-ε is based on a Mitsubishi Heavy Industries MH2000A and is equipped with four systems for supporting research experiments:a data acqulsition system that provides extensive flight data; a cockpit display system driven by a high-performance graphics computer that enables researchers to experiment with various types of display; a video recording system that captures external views to allow image processing technology to be applied to helicopter navigation ; and a variable stability system that realizes different dynamic responses to pilot control inputs. Installed sensors include a hybrid DGPS/INS that povides highly accurate navigation data, and an ultrasonic velocimeter that can measure 3-axis airspeeds even in the hover. This paper describes the detailed design of these experiment systems., 資料番号: NALTM0764000, レポート番号: NAL TM-764

Simulation errors associated with in-flight simulations of linear and unstable aircraft systems are discussed from flight mechanical viewpoint. I t is pointed out that response feedback control schemes are desirable for simulating gust response of any models and control response of stable models but are not applicable for simulating control response of unstable models, and that explicit model-follow system must be exclusively used for simulating unstable models. Flight test results using a variable stability and response airplane are included to support the statement.