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.
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