Optymalne sterowanie hybrydowe układem giroskopowym

pol Artykuł w języku polskim DOI: 10.14313/PAR_251/15

Izabela Krzysztofik , wyślij Zbigniew Koruba Politechnika Świętokrzyska, Aleja Tysiąclecia Państwa Polskiego 7, 25-314 Kielce

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Streszczenie

W pracy dokonana została analiza doboru optymalnych sterowań (LQR, SMC oraz PD) mechatronicznego układu giroskopowego znajdującego zastosowanie w głowicach skanująco-śledzących obiektów ruchomych takich jak: statki kosmiczne, bezzałogowe pojazdy lądowe, drony latające, czy też samonaprowadzające pociski rakietowe. Za kryterium jakości przyjęta została całka z bezwzględnej wartości błędu odchylenia ruchu zadanego od ruchu rzeczywistego obiektu ruchomego oraz całka z kwadratu stanu i sterowania. Przedstawione zostały wyniki badań symulacji komputerowych.

Słowa kluczowe

regulator LQR, regulator PD, regulator SMC, śledzenie celu, sterowanie hybrydowe, układ giroskopowy, żyroskop

Optimal Hybrid Control of a Gyroscope System

Abstract

The paper analyses the selection of optimal controllers (LQR, SMC and PD) for a mechatronic gyroscope system used in scanning-tracking heads of mobile objects such as spacecrafts, unmanned land vehicles, flying drones or self-guided missiles. The integral of the absolute value of the deviation error of the set motion from the real moving object and the integral of the square of the state and control have been taken as the quality criterion. The results of computer simulation studies are presented.

Keywords

gyroscope, hybrid control, LQR controller, PD controller, SMC controller, target tracking

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