Study on the Sensitivity of a Gyroscope System Homing a Quadcopter onto a Moving Ground Target under the Action of External Disturbance
Abstract
:1. Introduction
2. Determining Optimal Parameters for a Controlled Gyroscope System
- —state vector, —control vector,
- —state matrix, —control matrix,
- , , , ,
- —angles defining the position of the GS axis in space,
- —control moments,
- —damping coefficients in GS frame suspension bearings,
- —moment of inertia of a GS rotor relative to the longitudinal axis,
- —moment of inertia of a GS rotor relative to the transverse axis,
- —rotary speed of the GS rotor.
3. Test Results
3.1. Test Results Regarding the Sensitivity of a Gyroscope System during Tracking and Laser Illumination of a Ground Target
3.2. Simulation Studies Involving the Control over an Optimum Gyroscope System for Homing onto a Ground Target from Onboard a Quadcopter
- IAE (Integral Absolute Error) quality indicator:
- 2.
- ISSC (Integral Square State and Control) quality indicator:
4. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
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Variant | Regulator Parameters | ISSC | IAE |
---|---|---|---|
1 | 9.2403 × 108 | 5.3726 × 103 | |
2 | 9.6861 × 108 | 7.2331 × 103 | |
3 | − optimum | 1.1070 × 109 | 4.3352 × 103 |
4 | − optimum | 1.6691 × 109 | 1.7290 × 103 |
5 | 1.6845 × 109 | 1.8137 × 103 | |
6 | 1.6263 × 109 | 1.9237 × 103 |
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Krzysztofik, I.; Koruba, Z. Study on the Sensitivity of a Gyroscope System Homing a Quadcopter onto a Moving Ground Target under the Action of External Disturbance. Energies 2021, 14, 1696. https://doi.org/10.3390/en14061696
Krzysztofik I, Koruba Z. Study on the Sensitivity of a Gyroscope System Homing a Quadcopter onto a Moving Ground Target under the Action of External Disturbance. Energies. 2021; 14(6):1696. https://doi.org/10.3390/en14061696
Chicago/Turabian StyleKrzysztofik, Izabela, and Zbigniew Koruba. 2021. "Study on the Sensitivity of a Gyroscope System Homing a Quadcopter onto a Moving Ground Target under the Action of External Disturbance" Energies 14, no. 6: 1696. https://doi.org/10.3390/en14061696