Every year, unmanned aircraft systems are increasingly used in both the civilian and military spheres. Stable communication with an unmanned aerial vehicle is provided by high-precision pointing of the antenna of the ground control point. In the automatic tracking mode of an unmanned aerial vehicle, the antenna guidance is carried out by the automatic tracking system in the direction. It is shown that the main requirement that is put forward in the direction of the auto tracking system is high dynamic accuracy under conditions of disturbances and noises of various kinds. The traditional directional tracking system is not able to provide high precision antenna pointing. It is proposed to improve the quality of the tracking system in both transient and steady-state operating modes by supplementing the existing analog system with a digital correction subsystem. That is why the work is devoted to the synthesis of the digital control algorithm for the electric drive of the antenna of the ground receiving and transmitting station of an unmanned aircraft complex. The digital control algorithm is synthesized as a result of solving difference equations determined by the discrete transfer function of the digital controller. In practice, preference is given to simple controls, the dimension of which is less than the dimension of the object. A simplification of the controller structure was achieved by using
a reduced model of the antenna control system in the synthesis process. The reduction is implemented by a method that is based on the proximity of the transition characteristics of mathematical models of initial and reduced control objects covered by a single negative feedback. To assess the degree of proximity, indirect indicators of the quality of the transition process are used. The direct synthesis of the controller is performed by a method that is based on the theory of invariance and provides for the compensation of zeros and poles of the transfer function of the control object. A distinctive feature of the method used is the ability to take into account the stability requirements and the given dynamic accuracy of the control system at the stage of synthesis of the digital controller. The simulation results confirming the efficiency and effectiveness of the synthesized control algorithm are presented.
ALGORITHM FOR DIGITAL CONTROL OF THE ANTENNA OF THE GROUND CONTROL POINT OF THE UNMANNED AVIATION COMPLEX