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Identification algorithms in real time in adaptive control system of helicopter


A.M. Bronnikov – Dr. Sc. (Eng.), Associate Professor, Deputy Main Designer, JSC MRPC «Avionica» (Moscow)
E.O. Karavashkina – Head of Department, JSC MRPC «Avionica» (Moscow)

Development of helicopter control algorithms is usually carried out in conditions of incomplete certainty of the parameters of its ma-thematical model. One of the directions of modern management theory in conditions of incomplete a priori certainty is the methods of adaptive control. The use of adaptive systems in solving practical problems of control often encounters such problems as the complexity of the implementation of adaptation algorithms, the impossibility of hypotheses in practice, the observance of which is required for the adaptation of the system. For one of the class of adaptive algorithms with an identifier and a reference model, conditions are obtained under which the tracking accuracy does not directly depend on the accuracy of the parameter estimates. Tracking accuracy is determined by the norm of identification discrepancy. The identification discrepancy is used in most identification algorithms to configure parameter estimates. This approach is used in the article. The quality of adaptive systems with an identifier is largely determined by the correctness of the setting of the identification algorithm. In the article, the task of adjusting the algorithm of the current identification in the helicopter control system is solved. Models of helicopter flight dynamics, algorithms for identification, information processing and control are presented in a discrete form. As the algorithm of the current identification, a recurrent method of least squares with a forgetting factor is used. On the basis of the second Lyapunov method, the limitation of the identification discrepancy for the object under consideration is justified. Defined the boundaries of the region of stability of the discrepancy identification. Proposes measures for improvement of the identification algorithm in adaptive system. They are reduced to the control of the positive definiteness of the covariance matrix of estimation errors and the restriction of its norms from above and below.
Discusses the problem of controlling flight altitude of the helicopter at an arbitrary horizontal maneuvers. The tracking of the reference model occurs at the vertical speed. The helicopter can maneuver in roll and pitch. This should not affect the control channel altitude. The system provides compensation for disturbances in the altitude channel. It is believed that the parameters of the mathematical model of the helicopter are unknown. Here a method is proposed to determine the parameters of the identifier for the task at hand. This technique can be used to solve other problems when using the considered scheme of adaptive control.

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