Open AccessASTATIC IDENTIFIER IN THE CONTROL SYSTEM OF THE GYROTHEODOLITE’S SENSITIVE ELEMENT
Author(s) -
Anatolii Boyarchuk,
Pavlo Mironenko,
Sergiy A. Murakhovsky,
Ruslan Ivanenko
Publication year - 2021
Publication title -
vìsnik kiïvsʹkogo polìtehnìčnogo ìnstitutu. serìâ priladobuduvannâ/vìsnik kiïvsʹkogo polìtehnìčnogo ìnstitutu. serìâ priladobuduvannâ
Language(s) - English
Resource type - Journals
eISSN - 2663-3450
pISSN - 0321-2211
DOI - 10.20535/1970.61(1).2021.237067
Subject(s) - observability , identifier , control theory (sociology) , basis (linear algebra) , observer (physics) , vibration , state vector , azimuth , controller (irrigation) , computer science , mathematics , control (management) , geometry , artificial intelligence , physics , classical mechanics , quantum mechanics , agronomy , biology , programming language
The basic features of working conditions of means of ground orientation are considered. It is shown that in the presence of external vibration the appearance of additional measurement error is possible. The main characteristics of external vibration are given.A new feedback controller structure has been proposed, which includes an astatic state identifier. The mathematical model of the device in the form of space of states taking into account external vibration is considered. It is proposed to control the position of the sensitive element by the method of modal control by an incomplete state vector. It is assumed that the measured parameter for identifying the state vector is the angle of deviation of the sensitive element of the gyrotheodolite in azimuth.The analysis of observability at the set structure of matrices of a condition and measurements is carried out. To reduce the estimation error that occurs due to the presence of uncontrolled vibration, the state identifier uses both proportional and integrated feedback channels. The coefficients of an observer with an astatic component in the equation of state are determined under the assumption that the evaluation process should be aperiodic.Simulation of the work of the astatic identifier on the basis of the developed software model is carried out. The coefficients of the software model are selected on the basis of constructive solutions used at the present stage of development of systems for determining azimuthal directions based on gyrotheodolites. The coefficients of the observer for the given parameters of the device are calculated.The simulation results showed that the application of the proposed method can significantly reduce the impact of the constant component of external vibration. The error of estimating the angular coordinates and velocities used in the control system of the position of the sensing element, the astatic status identifier goes to zero, while the static system has a constant component of the error.In further research it is planned to build a generalized system, which includes control of the motion of the sensing element both in the azimuth and in the non-gyrostabilized plane.