A.M. Bronnikov – Dr. Sc. (Eng.), Associate Professor, Deputy Main Designer, JSC MRPC «Avionica» (Moscow) E-mail: bronnikov_a_m@mail.ru

E.O. Karavashkina – Head of Department, JSC MRPC «Avionica» (Moscow) E-mail: informpo4ta@mail.ru

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.

1. Wang X.Y., Wang Y., Li Z.S. Research of the 3-dof helicopter system based on adaptive inverse control // Applied Mechanics and Materials. 2013. V. 389. P. 623−631.
2. Lorenz S. Adaptive control for flight envelope extension of the rotorcraft uav artis // DLR-Forschungsberichte. 2010. № 25. P. 1−195.
3. Aleksandrov A.G. Metody' postroeniya sistem avtomaticheskogo upravleniya. M.: Fizmatlit. 2008.
4. Bunich A.L., Baxtadze N.N. Sintez i primenenie diskretny'x sistem upravleniya s identifikatorom. M.: Nauka. 2003.
5. Mirkin B., Gutman P.O. Tube model reference adaptive control // Automatica. 2013. V. 49. № 4. P. 1012−1018.
6. Bobtsov A.A., Kolyubin S.A., Kremlev A.S., Pyrkin A.A. An iterative algorithm of adaptive output control with complete compensation for unknown sinusoidal disturbance // Automation and Remote Control. 2012. V. 73. № 8. P. 1327−1336.
7. Bukov V.N., Kruglov S.P., Reshetnyak E.P. Adaptiruemost' linejnoj dinamicheskoj sistemy' s identifikatorom i e'talonnoj model'yu // Avtomatika i telemexanika. 1994. № 3. S. 99−107.
8. Kruglov S.P. Utochnenie uslovij adaptiruemosti sistem upravleniya s identifikatorom i e'talonnoj model'yu // Avtomatika i telemexanika. 2002. № 12. S. 78−91.
9. Bronnikov A.M. Vneshnyaya i parametricheskaya invariantnost' vy'xoda adaptivnoj sistemy' s identifikatorom i e'talonnoj model'yu // Informaczionno-izmeritel'ny'e i upravlyayushhie sistemy'. 2008. T. 6. № 2. S. 15−23.
10. Bronnikov A.M. Metodika sinteza adaptivnogo zakona upravleniya sistemy' uluchsheniya ustojchivosti i upravlyaemosti samoleta // Izvestiya YuFU. Texnicheskie nauki. 2011. № 3 (116). S. 215−221.
11. Bronnikov A.M., Karavashkina E.O. Vy'sokotochny'j algoritm upravleniya malovy'sotny'm poletom bespilotnogo vertoleta pri prostranstvennom manevrirovanii // Izvestiya YuFU. Texnicheskie nauki. 2013. № 3 (140). S. 169−176.
12. Bronnikov A.M., Karavashkina E.O., Kulabuxov V.S., Chekin A.Yu. Sintez upravleniya v prodol'nom kanale malovy'sotnogo kontura bespilotnogo vertoleta // Nauchny'j vestnik Moskovskogo gosudarstvennogo texnicheskogo universiteta grazhdanskoj aviaczii. 2015. № 213 (3). S. 5−12.
13. L'yung L. Identifikacziya sistem. Teoriya dlya pol'zovatelya: Per. s angl / Pod red. Ya.Z. Czy'pkina. M.: Nauka. 1991.
14. Metody' klassicheskoj i sovremennoj teorii avtomaticheskogo upravleniya: Uchebnik v 5-ti tomax. Izd. 2-e, pererab. i dop. T. 1: Matematicheskie modeli, dinamicheskie xarakteristiki i analiz sistem avtomaticheskogo upravleniya / Pod red. K.A. Pupkova, N.D. Egupova. M.: Izd. MGTU im. N.E'. Baumana. 2004. 656 s.