MODELLING OF ROBUST INERTIALLY STABILIZED PLATFORMS

Authors

  • O. A. Sushchenko National Aviation University, Kyiv

DOI:

https://doi.org/10.18372/1990-5548.60.13817

Keywords:

Inertially stabilized platforms, modelling, robustness, Simulink, stabilization

Abstract

The article focuses on problems of development of the robust systems for control of platforms motion. The main goal is to consider structure and features of data ware, hardware, and software necessary for the efficient modelling of inertially stabilized platforms with payload assigned for operation on moving vehicles of the wide class. To solve this problem methods of robust parametrical optimization and robust structural synthesis are used. The proposed approaches to modelling of inertially stabilized platforms are based on MATLAB. The analysis of appropriate software tools is represented. The advantages of MATLAB are described. The basic stages of the robust control system modelling are given. The list of models necessary for the design of the robust inertially platforms is represented. The model of the stabilization plant was developed. The model includes models of the actuator and the measuring system. The basic features of modelling of the robust inertially stabilized platforms are given. The results of modelling are shown. The results have been obtained in conditions of parametrical uncertainty. The presented example was based on the inertially stabilized platform assigned for the ground moving vehicle operated in difficult conditions of the real operation accompanied with parametrical disturbances. Proposed ways to modelling of inertially stabilized platforms allow us to decrease time and cost losses of design. The presented results can be useful for inertially stabilized platforms operated on moving objects of the wide class.

Author Biography

O. A. Sushchenko, National Aviation University, Kyiv

Aerospace Control Systems Department, Faculty of Air Navigation, Electronics and Telecommunications

Doctor of Engineering Science. Professor

orcid.org/ 0000-0002-8837-1521

 

 

 

Faculty of Air Navigation, Elctronics and Telecommunications

 

References

J. M. Hilkert, “Inertially stabilized platform technology,” IEEE Control Systems Magazine, 1, 26–46, 2008.

K. Zhou, Essentials of Robust Control. Prentice-Hall, Oxford, 1999.

S. Skogestad and I. Postlethwaite, “Multivariable Feedback Control,” 2nd edn. Wiley, New York, 2007.

D. W. Gu and M. M. Konstantinov, Robust Control Design with MATLAB. Springer–Verlag, London, 2013.

O. A Sushchenko and O. V. Shyrokyi, “H2/H∞ optimization of system for stabilization and control by line-of-sight orientation of devices operated at UAV,” in IEEE CONFERENCE 2015, 3rd International Conference Actual Problems of Unmanned Aerial Vehicles Developments, APUAVD, Kyiv, 2015, pp. 235–238.

O. A. Sushchenko, “Design of two-axis robust system for stabilization of information-measuring devices operated at UAVs,” in IEEE CONFERENCE 2015, 3rd International Conference Actual Problems of Unmanned Aerial Vehicles Developments, APUAVD, Kyiv, 2015, pp. 198–201.

B. D. Anderson and J. B. Moore, Optimal Control Linear Quadratic Methods. Prentice Hall, New Jersey, 1989.

W. Y. Yang, T. S. Cao, I. Chung, and J. Morris, Applied Numerical Methods Using MATLAB. John Wiley and Sons, New York, 2005.

H. J. Bungartz, S. Zimmer, H. Buchholz, and D. Pfluger, Modeling and Simulation. Springer, London, 2014.

O. A. Sushchenko, “Robust control of angular motion of platform with payload based on H∞-synthesis,” Journal of Automation and Information Sciences, 48(12), 13 – 26, 2016.

Downloads

Issue

Vol. 2 No. 60 (2019)

Section

MATHEMATICAL MODELING OF PROCESSES AND SYSTEMS

License

Authors who publish with this journal agree to the following terms:

Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.

Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.

Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).