Usage of natural balance mode in automatic trajectory control of aircraft with non-standard configurations

Abstract

Currently, especially with the development of unmanned aircraft, a lot of aerial vehicles are being developed, the layout of which differs from traditional ones. These include flying wing aircrafts, multi-rotor vehicles with symmetry breaking, carrying loads, especially on flexible hitch, ekranoplans and ekranolyot, winged missiles with an asymmetric arrangement of bearing and control surfaces, and others. When developing control systems, it is necessary to take into account that atypical schemes introduce effects into the flight dynamics of such aerial vehicles that complicate and even prevent the use of conventional simplifying schemes for them: dividing into control channels, dividing the control system into trajectory control and stabilizing angular motion, using linearized models.The paper proposes to ensure the coarseness of the system by refusing to solve intermediate problems and providing movement to the natural balancing modes. Moreover, in the structures under consideration, for feedbacks, precisely those measurements are used (overloads, angular velocities), which even with the simplest sensors give relatively small or relatively easily eliminated errors. Worse with measurement errors used for constraints (angles, heights). Here you will either have to narrow the boundaries or enter different settings of the control signals depending on the ratio of proximity to the borders and estimates of the measurement error, using, for example, fuzzy logic.