СИНЕРГЕТИЧЕСКИЙ СИНТЕЗ АСТАТИЧЕСКОГО РЕГУЛЯТОРА ДЛЯ СИСТЕМЫ УПРАВЛЕНИЯ «ЛЕТАЮЩЕЙ ПЛАТФОРМОЙ»

Abstract

The work is devoted to the synergetic synthesis of the astatic guaranteeing controller for theaircraft hierarchical control system. The paper contains the general description of “flying platform”type vertical take-off & landing aircraft & an integrator-based astatic guaranteeing controller.An astatic controller must ensure the asymptotic stability of a reserved system, the implementationof technological invariants, the estimation of immeasurable external influences from thecurrent values of the measurable state-space variables, & the parry of piecewise constant externaldisturbances (for example, wind) that cause random changes in flight height, in pitch & in rollangles. The article also presents an extended mathematical model of the “flying platform” in thevertical movement mode under external piecewise constant disturbing influences, including disturbanceestimation equations, & the upper hierarchy level control algorithms based on the giventechnological invariants are synthesized. In addition, the integrators’ equations are given; suchmust be included into the astatic controller & are related to the equations of disturbing influencesestimates. In the framework of synergetic control theory, integrators don’t lead to worst stabilityof a closed-loop system because the method of aggregated controllers’ analytical design guaranteesthe dynamic system asymptotic stability. Finally, the results of computer simulation of theupper & the lower hierarchy levels’ nonlinear dynamics under disturbed motion with parry ofexternal disturbances by astatic controller integrators are shown, as well as the results of computersimulation of the vehicle’s nonlinear dynamics under disturbed motion without this controller toallow a visual assessment of the controller’s performance by comparison. The relevance of thework consists in the necessity of “flying platform” type vertical take-off & landing aircraft creationto increase the effectiveness of people rescue operations in those disaster areas where helicopters& other modern means don’t cope with a task. The scientific novelty of the work consistsin synergetic approach application to the design of the vehicle’s spatial position system equippedwith an astatic guaranteeing controller to parry disturbing influences.