Vol 55, No 4 (2019)

The problem of estimating the state vector of a bilinear dynamic system with vector input is under consideration. It is shown that, with fulfillment of multiple constraints, a Luenberger state observer can be formed, with an estimation error tending to zero. A step-by-step algorithm for determining the observer coefficient matrices is proposed, based on matrix canonization and modal control methods.

Results of investigations of the flight control system for a hybrid unmanned aerial vehicle prototype in transitional modes are presented. The hybrid vehicle is equipped with a quadrotor and main propulsion units. The control system developed in the study includes subsystems for attitude stabilization, vertical take-off, hovering, and landing, as well as a control subsystem operating in transitional modes from quadrotor to aircraft modes and back.

A procedure for designing PID controllers for the class of second-order nonlinear non-stationary plants is proposed. The proportional and differential components of the controller are transferred to the system feedback channel to reduce possible control jumps. It is shown that the presence of a special fast-response differentiating device in the system generates fast processes against the background of slow working processes, which are identified using the motion separation method. The controller designed on this basis ensures invariance of the system under external uncontrolled disturbances as well as under a change in the plant parameters. The results of numerical simulation of the system in MATLAB illustrate the basic properties of the system.

A numerical method for designing operating software for digital controllers of hybrid discrete-continuous control systems is considered. The method is based on implementing control algorithms on digital controller in the form of rule-based systems and uses a fuzzy optimization procedure to define controller operation rules. The continuous part of hybrid control systems consists of multiple-operation technological chains, which are nonlinear, multidimensional and multi-loop plants, and the discrete part consists of digital controllers. The developed digital controllers ensure satisfaction of the most general requirements for controlled processes, including fuzzy ones.

This paper presents the results of analysis of the effect of disturbing factors on changes in the informative parameter of a single-coil eddy-current sensor, which are used as input data in studies of a radial clearance measurement system with self-compensation of temperature effects on the sensor. Conversion functions of the measuring circuit with the connected single-coil eddy-current sensor are obtained in analytical form. The conversion functions are dependences of the extreme code values at the measuring circuit output on radial clearances and temperature effects on the sensor taking into account disturbing factors (adjacent blades, blade temperature, axial displacements of the gas turbine engine compressor rotor). Quantitative estimates are obtained for influence functions of these disturbing factors on the calculated difference of the extreme code values in the system, which characterizes the measured parameter.

A problem of detection of 3D objects on the basis of imagery information provided by two or three different sensors is considered. The efficiency of object detection with the use of algorithms of integration and fusion of information from different sensors and also by means of formation of a unified synthetic image from two initial images is estimated. Conditions are determined at which the use of the data integration algorithm and the method of forming a single synthetic image provides a lower efficiency as compared to the use of only one image among those available for detection.