公开(公告)号：US20190196476A1

公开(公告)日：2019-06-27

申请号：US16230389

申请日：2018-12-21

Applicant: CASIO COMPUTER CO., LTD.

Inventor： Hideaki MATSUDA ,  Takahiro MIZUSHINA ,  Shunsuke YAMADA ,  Toshihiro TAKAHASHI ,  Masanori OHTA ,  Shinji DAZAI

IPC: G05D1/02 ,  B64C39/02

CPC classification number: G05D1/0202 ,  B64C39/024 ,  B64C2201/027 ,  B64C2201/141

Abstract: In automatic travel control of a flying device towards a target, when a current distance from the target is large in comparison to a prescribed distance threshold, a controller of the flying device performs velocity feedback PID control to control the flight propulsion unit of the flying device. When the current distance becomes small in comparison to the prescribed distance threshold, the controller performs a hybrid of the velocity feedback PID control and position feedback PID control to control the flight propulsion unit such that as the flying device approaches the target, the position feedback PID control becomes more dominant than the velocity PID control. The processor calculates a weighted average of the respective manipulated variables with dynamically adjusted weights to achieve the hybrid control.