Application of an actuator model to improve the performance of an unmanned aerial vehicle lateral g-load control system

This article examines the problem of improving the performance and accuracy of g-load control loops for highly maneuverable unmanned aerial vehicles. It is noted that traditional approaches based on a full range of physical sensors and linearized models lead to design complexity and are insufficient to compensate for significant aerodynamic nonlinearities and parameter spreads. A proposed solution is a transition to model-based control, replacing the steering actuator position sensor signal with the output signal of its virtual mathematical model. The study aims to develop the structure of an astatic loop implementing this approach. A three-loop system with an integral angular velocity stabilizer and compensation for the nonlinear torque characteristic is presented, ensuring astatic control without additional integrating links. To implement the approach in practice, the introduction of correcting devices in the high-frequency loop considers the total phase delays is proposed. The effectiveness of the solution is demonstrated using statistical modeling with random variations in the system parameters. It is shown that replacing a real actuator signal with its model does not lead to a statistically significant deterioration in the quality of transient processes, which confirms the possibility of increasing the speed and reliability of the system while simultaneously simplifying its hardware implementation.

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