Control of a ground-based wheeled gyrostabilizer as a carrier of equipment for optical monitoring of defects in the outer surface of an aircraft

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.