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Control of a ground-based wheeled gyrostabilizer as a carrier of equipment for optical monitoring of defects in the outer surface of an aircraft
https://doi.org/10.17586/0021-3454-2025-68-7-576-589
Abstract
A single-axis ground wheeled gyrostabilizer (GWG) with gravity-flywheel control of its two-stage platform, which is understood as a carrier of equipment for optical monitoring of defects in the lower part of the outer surface of an aircraft (AC) at its parking lot, is considered. The purpose of the study is to develop a method for forming the GWG motion trajectory, algorithms for controlling this motion and the angular orientation of the GWG platform during monitoring. The design scheme of a two-wheeled GWG, on the platform of which a camera with an optical axis passing through the center of the wheelset axis is installed, is analyzed. The motion trajectory of the GWG wheelset axis center is formed in a horizontal plane parallel to the plane of the underlying surface of the AC parking lot. Based on the use of a modified dynamic model of GWG motion, an algorithm for its trajectory control of moments developed by the motor-wheel engines as a function of the control linear and angular velocities of GWG motion is considered. An algorithm for controlling the angular orientation of the NCG platform relative to the horizon plane is developed using flywheels as sources of control reactive, gyroscopic, and gravitational moments. The results of simulation modeling confirmed the effectiveness of the decisions made.
Keywords
photo monitoring,
single-axis ground-based wheeled gyro-stabilizer,
trajectory formation,
trajectory control,
platform orientation control
Supporting agencies: the work was supported by the Russian Science Foundation, project 23-29-00958.
About the Authors
B. S. Aleshin
Moscow Aviation Institute
Russian Federation
Russian Federation
Boris S. Aleshin — Dr. Sci., Professor, Academician of the RAS; Department of Flight-Navigation and Information-Measuring Systems; Head of the Department
Moskow
A. I. Chernomorsky
Moscow Aviation Institute
Russian Federation
Russian Federation
Alexander I. Chernomorsky — PhD, Associate Professor; Scientific Department 305; Senior Researcher
Moskow
V. A. Petrukhin
Moscow Aviation Institute
Russian Federation
Russian Federation
Vladimir A. Petrukhin —Department of Flight-Navigation and InformationMeasuring Systems; Senior Lecturer
Moskow
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For citations:
Aleshin B.S., Chernomorsky A.I., Petrukhin V.A. Control of a ground-based wheeled gyrostabilizer as a carrier of equipment for optical monitoring of defects in the outer surface of an aircraft. Journal of Instrument Engineering. 2025;68(7):576-589. (In Russ.) https://doi.org/10.17586/0021-3454-2025-68-7-576-589
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