Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Aeronautical vehicle
Patent
1999-03-09
2000-07-11
Cuchlinski, Jr., William A.
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Aeronautical vehicle
701 14, 318609, 318610, 364160, G06F 700
Patent
active
060886331
ABSTRACT:
A mobile body controlling gear is provided that can suppress an occurrence of yaw motion due to an offset when the P control is switched to the PID control. The yaw-axis control signal Ep is added to the control signal from the P/PID controller. The added signal is input to the actuator. The yaw-axis driving unit performs yaw-axis control. The yaw-axis angular velocity detection sensor signal Sa is compared with the reference signal r. Then the P/PID controller receives the comparison signal. The reference value memory holds the yaw-axis control signal Ep immediately before the P/PID switching unit switches the P control mode to the PID control mode. The yaw-axis control signal Ep is handled as the reference signal rb for the PID control. The reference value rb is added to the angular velocity zero detection reference value rz and to the yaw-axis control signal Ep. The resultant sum is input to the PID terminal of the P/PID switching unit. The error between the resultant sum and the yaw-axis angular velocity sensor output Sa is output as an error to the P/PID controller.
REFERENCES:
patent: 4641235 (1987-02-01), Yamashita et al.
patent: 4882526 (1989-11-01), Lino et al.
patent: 5082096 (1992-01-01), Yamashita et al.
Beaulieu Yonel
Cuchlinski Jr. William A.
Futaba Denshi Kogyo Kabushiki Kaisha
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