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Article title SYNTHESIS OF DIGITAL CONTROL ALGORITHMS O THE MULTIFUNCTIONAL AIRCRAFT-TYPE UNMANNED AERIAL VEHICLE BASED ON OPTIMISED DELTA-TRANSFORMATIONS OF THE SECOND ORDER
Authors P.P. Kravchenko, N.S. Khusainov, V.V. Scherbinin
Section SECTION VI. MANAGEMENT SYSTEM
Month, Year 01-02, 2017 @en
Index UDC 629.7.05
DOI
Abstract The paper analyses the known problems of synthesis of UAV control algorithms based on linearization of motion equations and use of PID-controllers. The considered methods of synthesis of algorithms for aircraft-type UAV use the optimized for high speed response and accuracy delta-transformations of the second order, including forecast functions, and the principles of two UAV conditions control (angle of attack/angle of list and center-of-gravity mass position of height / lateral deviation) with one command. The methodology aims to provide complex solutions on increasing of mission practical possibilities and UAV multifunctional performance, which include: handling with non-linear model descriptions, implementation of large deviations in height and lateral deviation on the basis of common algorithms in parameter nonstationarity, intended high altitude movements, opportunity to manage lateral deviation only with an angle of list, robustness of control algorithms, highly accurate capture of specified coordinates over a distance and on ground throughout the height and lateral deviation, automatic landing with small runtime errors, optimizing for timing while step-function responses, steadiness, essential simplicity of theoretical synthesis and engineering implementation. When moving from a height of 1000m with a lateral deviation 600m and the initial velocity of 20 m/s the presented version of computer automatic landing experiment has shown the average velocity height descent rate of ~ 12 m/s, the average velocity lateral deviation rate of ~ 7.5 m/s, and the glide-path capture with little or no overdriving and high accuracy on long sections of stationary while glissading (by both channels within ~ 0.1m when glissading).

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Keywords Unmanned aerial vehicle; aircraft; synthesis of control algorithms; delta-transformations; high speed response; error; robustness.
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