OPTIMIZATION OF TUNING OF A GYRODIN SYSTEM WITH MINIMAL REDUNDANCY

The tuning of a gyrodin system with minimal redundancy [1-3] pursues two basic aims-the removal of singular states in the operation of the powered gyro system (PGS) and the maximization of the controllability region. Criteria for tuning of the PGS were suggested in [5]. The measure of remoteness of the PGS operating point from singular states is the Gram determinant [6]. The range of variation of the control torque plays the role of a generalized characteristic of controllability properties of the system [7, 8]. The tuning law must drive the PGS to a state in which the chosen performance index is minimum. In the general case, the tuning criterion is a multidimensional function of the precession angles of the gyrodins [5]. In the present paper, relations are obtained which permit one to represent the tuning criterion as a function of the angular momentum of the PGS and one tuning parameter. This facilitates the search for an extremum and simplifies the control law. In particular cases the tuning parameter can be defined as a function of the angular momentum of the PGS.