FIELD: transport.
SUBSTANCE: invention relates to drone onboard automatic control systems. Proposed method comprises generating logical control signal other than zero in case modular function signal exceeds preset reference signal at identical-sign error and integral component signals, and equal to zero in case modular function signal is lower than or equal to preset reference signal. Logically controlled error signal is generated to equal error signal at logical control signal being zero. Integral component signal is generated by integrating logically controlled error signal. Output control signal is generated to control summed signal limitation. Proposed device comprises angle transducer 1, angular speed transducer 2, control signal generator 3, comparator 4, summing amplifier 5, adder 6, integrating amplifier 7, signal first limiter 8, reference signal generator 9, logical unit of comparison 10, controlled switch 11, modular function signal generator 12, and signal second limiter 13.
EFFECT: expanded operating performances, higher accuracy of control.
2 cl, 2 dwg
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