Modal Control of Unmanned Aerial Vehicle Roll Angle
DOI:
https://doi.org/10.18372/1990-5548.88.20979Keywords:
аutopilot, observer, automatic control system, roll angle, unmanned aerial vehicle, PID controllerAbstract
The article deals with the problem of automatic control of the roll angle of an unmanned aerial vehicle. Based on the complete mathematical model of the unmanned aerial vehicle and modal control methods, two variants of the automatic control system are considered: an autopilot implemented as a closed-loop feedback system and a system with an observer device. The controllability and observability conditions of the system are analyzed, and the autopilot equation with a structure corresponding to a PID controller is obtained. Numerical simulation results are presented in the form of time dependences of the roll angle, roll rate, and aileron deflection angle for different natural frequencies. Analytical verification confirms the steady-state value of the roll angle obtained by simulation. The parameters of the autopilot for different transient processes are determined. The roots of the characteristic equations for the binomial and Butterworth standard forms are calculated, and analytical expressions for the gain matrix of the Luenberger observer are obtained. The results show that the use of an observer device significantly changes the transient response of the system. The proposed approach based on modal control methods can be applied not only to roll control but also to the design of automatic control systems for pitch and yaw angles of unmanned aerial vehicles and other aircraft.
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