SYNERGETIC SYNTHESIS OF AN ASTATIC CONTROLLER FOR THE “FLYING PLATFORM” CONTROL SYSTEM

Abstract

The work is devoted to the synergetic synthesis of the astatic guaranteeing controller for the aircraft 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 implementation of technological invariants, the estimation of immeasurable external influences from the current values of the measurable state-space variables, & the parry of piecewise constant external disturbances (for example, wind) that cause random changes in flight height, in pitch & in roll angles. The article also presents an extended mathematical model of the “flying platform” in the vertical movement mode under external piecewise constant disturbing influences, including disturbance estimation equations, & the upper hierarchy level control algorithms based on the given technological invariants are synthesized. In addition, the integrators’ equations are given; such must be included into the astatic controller & are related to the equations of disturbing influences estimates. In the framework of synergetic control theory, integrators don’t lead to worst stability of a closed-loop system because the method of aggregated controllers’ analytical design guarantees the dynamic system asymptotic stability. Finally, the results of computer simulation of the upper & the lower hierarchy levels’ nonlinear dynamics under disturbed motion with parry of external disturbances by astatic controller integrators are shown, as well as the results of computer simulation of the vehicle’s nonlinear dynamics under disturbed motion without this controller to allow a visual assessment of the controller’s performance by comparison. The relevance of the work consists in the necessity of “flying platform” type vertical take-off & landing aircraft creation to 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 consists in synergetic approach application to the design of the vehicle’s spatial position system equipped with an astatic guaranteeing controller to parry disturbing influences.