Computer simulation of control contour of unmanned aviation complex to provide robustness and controllability

The article describes an approach to ensuring stability and controllability of unmanned aerial vehicle (UAV) with unknown aerodynamic characteristics by computer simulation of the airplane flight along a given route in the meteorological standard atmosphere. This computer model takes into account the programmed flight of an unmanned aerial vehicle in the meteorological atmosphere along a given route with waypoints. For this purpose the model incorporates 5 feedback systems (FS) with autopilot (AP) that ensure the stability and controllability of an airplane. Besides the autopilot and the airplane glider the control system encompasses the Kalman filter and a strapdown inertial navigation system. The appropriate structure and parameters of the control system of the model were chosen on the basis of practical technical solutions of the de veloped UAVs. The closed control systems of the model are developed according to the equations considering generation of aerodynamic forces and moments, a model of the standard atmosphere, the routing scheme and the feedback system with autopilot. The stability and controllability of  the model were analyzed according to  the theory of feedback systems with the graphic plotting of Bode magnitude plot and Bode phase plot. With a view to the assessment of dynamic and fluctuation errors of the control systems the model is represented by stochastic differential control system with the Kalman filter and the strapdown inertial navigation system in quaternions. The results of the computer simulation showed that the Kalman filter estimates the measured parameters with the noise reduction under 10 dB. The strapdown inertial navigation system influences the general dynamics of the control system during the assessment of its stability and controllability. Changing the band of the control system at the expense of external perturbations affecting the plane can lead to instability, and in order to avoid it the robust autopilot is recommended.

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