Algorithm for Control of the Stabilization Drive of an Object with a Rotating Basis

Abstract

The article describes the technique of synthesis of the algorithm for control of the stabilization drive. The actuating element of the control system is a brushless direct current motor. So, the rotor of the executive motor rotates due to an external torque, and the position of the stator should be controlled. The objectives imposed on the transient process: no position overshoot and the maximum allowed range of the controlled object rotation velocity. A feature of the considered drive is the fact that the rotor of the executive motor rotates with a variable frequency and the rotation angle of the stator should be stabilized in its value. The velocity of the rotation of the drive rotor under an external torque significantly exceeds (almost two orders of the magnitude) the maximum allowed rotation velocity of the controlled object associated with the motor stator. The above requirements to the time-varying rotation velocity are satisfied by the developed control algorithm. The article describes the system of mathematical models of the executive motor, which takes into account its features, the algorithm of the synthesis of quasi-optimal control law and its modification with the maximum speed limit. The article presents the results of the computer simulation of the systems with such control algorithm, which prove the efficiency of the proposed system. The technique is used in the development of the stabilization drive of correction module for the small-size roll rotating aircraft. Experimental tests have shown the efficiency of the developed control algorithm.