SYNTHESIS OF A UNIVERSAL UAV REGULATOR FOR A VIRTUAL NON-ORTHOGONALLY CONFIGURATIVE INERCIAL SENSORS

Abstract

The article is focused on the problems of the synthesis of robust control systems designed for operation on unmanned aerial vehicles. The main goal of the research is to develop an algorithm for synthesizing the robust law of unmanned aerial vehicle movement using a non-orthogonal measuring instrument, which represents the redundant configuration of gyroscopic sensors based on the technology of microelectromechanical systems. The development of the controller was carried out on the basis of robust structural synthesis. To achieve this goal, a model of the longitudinal movement of an unmanned aerial vehicle was developed. The state, control, and observation matrices of this model were determined using Aerosim technology using the MatLab system.

To solve this problem, methods of the theory of flight control were used in terms of creating a model of the longitudinal movement of the unmanned aerial vehicle; methods for constructing redundant non-orthogonal configurations of inertial sensors of moving vehicles; methods of modern control theory regarding the creation of robust structural synthesis algorithms,  and methods of mathematical modeling.

The article presents the results of modeling a synthesized system in the form of transient processes for step and impulse inputs. The given graphical dependences demonstrate a high quality of control processes under the action of disturbing influences. The results can be useful for moving vehicles of a wide class, which use redundant measuring systems, but it is the most appropriate to use them in the problems of controlling unmanned aerial vehicles.