CN103792848B - Longitudinal Flight model cluster man-machine loop compound root locus multistage PID robust Controller Design method - Google Patents
Longitudinal Flight model cluster man-machine loop compound root locus multistage PID robust Controller Design method Download PDFInfo
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- CN103792848B CN103792848B CN201410073348.3A CN201410073348A CN103792848B CN 103792848 B CN103792848 B CN 103792848B CN 201410073348 A CN201410073348 A CN 201410073348A CN 103792848 B CN103792848 B CN 103792848B
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Abstract
The invention provides a kind of Longitudinal Flight model cluster man-machine loop compound root locus multistage PID robust Controller Design method, the method directly determines to obtain by frequency sweep flight test the model cluster that amplitude-frequency in whole envelope and phase-frequency characteristic form under given differing heights, Mach number condition; According to the amplitude-frequency nargin in flight envelope and the mark requirement of phase margin army, give corresponding root locus and describe lower Distribution of Closed Loop Poles restriction index, by adding multistage PID controller and the identification Method that Distribution of Closed Loop Poles in aircraft whole envelope limits in index and System Discrimination determines multistage PID robust controller sum of series parameter value; The concept that Distribution of Closed Loop Poles under root locus describes limits is designed the non-driver meeting full flight envelope and is brought out vibration, little, the stable low-latitude flying controller of overshoot.
Description
Technical field
The present invention relates to a kind of controller of aircraft method for designing, particularly Longitudinal Flight model cluster man-machine loop compound root locus multistage PID robust Controller Design method, belongs to the category such as observation and control technology and flight mechanics.
Background technology
The control of aircraft landing process plays an important role to flight safety; Because flying speed in aircraft landing process changes greatly, even if also can face strong nonlinearity problem according to longitudinal model; On the other hand, there is the phenomenons such as saturated, dead band in the control vane of aircraft; Consider from flight safety, time hedgehopping (as take off/land), controller must ensure that system has certain stability margin, non-overshoot and stationarity, like this, just make hedgehopping Controller gain variations very complicated, directly can not apply mechanically the design that existing control theory carries out flying vehicles control.
In the design of modern practical flight controller, a small part adopts state-space method to design, and great majority still to adopt with PID be that the modem frequency method that the classical frequency domain method of representative and reverse Northern are representative carries out Controller gain variations.Modern control theory take state-space method as feature, take analytical Calculation as Main Means, to realize the modern control theory that performance index are optimum, then develop again method for optimally controlling, model reference control method, self-adaptation control method, dynamic inversion control method, feedback linearization method, direct nonlinear optimization controls, Gain-scheduling control method, neural network control method, fuzzy control method, a series of controller design methods such as robust control method and multiple Combination of Methods control, the scientific paper delivered is ten hundreds of, such as GhasemiA in 2011 devises the reentry vehicle (GhasemiA of Adaptive Fuzzy Sliding Mode Control, MoradiM, MenhajMB.AdaptiveFuzzySlidingModeControlDesignforaLow-Li ftReentryVehicle [J] .JournalofAerospaceEngineering, 2011, 25 (2): 210-216), BabaeiAR in 2013 is that non-minimum phase and Nonlinear Flight device devise fuzzy sliding mode tracking control robot pilot (BabaeiAR, MortazaviM, MoradiMH.Fuzzyslidingmodeautopilotdesignfornonminimumpha seandnonlinearUAV [J] .JournalofIntelligentandFuzzySystems, 2013, 24 (3): 499-509), a lot of research only rests on the Utopian simulation study stage, and this design existence three problems: (1), owing to cannot carry out the extreme low-altitude handling and stability experiment of aircraft, is difficult to the mathematical model obtaining accurate controlled device, (2) stability margin etc. specified for army's mark evaluates the important performance indexes of flight control system, and state-space method far can be expressed with obvious form unlike classical frequency method, (3) too complicated, the constraint of not considering working control device and state of flight of controller architecture, the controller of design physically can not realize.
The scholar Rosenbrock of Britain systematically, have studied in a creative way in the design how frequency domain method being generalized to multi-variable system and go, utilize matrix diagonals imperative conception, Multivariable is converted into the design problem of the single-variable system of the classical approach can known with people, in succession there is Mayne sequence return difference method later, MacFarlane System with Characteristic Locus Method, the methods such as Owens dyadic expansion, common feature is multi input one multi output, the design of the multi-variable system of serious association between loop, turn to the design problem of a series of single-variable system, and then a certain classical approach (frequency response method of Nyquist and Bode can be selected, the root-locus technique etc. of Evans) design of completion system, these methods above-mentioned retain and inherit the advantage of classic graphic-arts technique, do not require accurate especially mathematical model, easily meet the restriction in engineering.Particularly when adopt have the conversational computer-aided design system of people one machine of graphic display terminal to realize time, can give full play to experience and the wisdom of deviser, design and both met quality requirements, be again the physically simple controller of attainable, structure; Both at home and abroad to multi-variable fuzzy control carried out linguistic term (far tall and big, Luo Cheng, Shen Hui, Hu Dewen, Flexible Satellite Attitude Decoupling Controller Design Using Multiple Variable Frequency Domain Method, aerospace journal, 2007, Vol.28 (2), pp442-447; Xiong Ke, Xia Zhixun, Guo Zhenyun, banked turn hypersonic cruise air vehicle multivariable frequency domain approach Decoupling design, plays arrow and guidance journal, 2011, Vol.31 (3), pp25-28) but, this method for designing conservative property when consideration system uncertain problem is excessive, can not obtain rational design result under aircraft control rudder limited case.
In the development of high performance airplane, evaluate the quality of an airplane flight quality, not only depend on aircraft itself and driver-operated dynamics, also depend on and highly as one man coordinate between driver with aircraft, and the rationality that between driver and Advanced Aircraft flight control system, function is distributed.Until after 1980, evaluate the American army mark of flying qualifies of aircraft and still there is major defect, namely do not consider that driver is handling the effect in loop, thus thus the evaluation of gained and Aviatrix take a flight test after the result of gained still have certain gap.In recent years, developing the closed loop criterion (Neil 2 Smith criterion) that a kind of driver of having participates in system, but how to realize so far still without efficient algorithm.Neil-Smith's criterion proposed in 1970, and it is a closed loop following in elevation criterion.The method that it considers a problem is: when driver aircraft and aircraft form a closed-loop system, driver handles like a cork and just can reach specific airmark, then flight quality is good.In order to obtain the evaluation opinion to aircraft consistent with driver, then driver must be included in theoretical analysis.Usually, the mathematical model of driving behavior is nonlinear, may be discrete, but when research has the manipulating objects of stability, useful approximate model is still linear.Shown by a large amount of flight practice and simulation study, the task that the behavior of driver will be completed by his psychological characteristic, physiological property, surrounding environment, control system, manipulating objects decides, although driver has respective feature, but complete in single aerial mission, the action of most of driver can be described by completely specified mathematical model, it is the mean state of the lot of experiments of driving behavior, very close with actual conditions, therefore mostly adopt now man-machine loop's characteristic pilot model of following form:
Man-machine loop's characteristic is estimated with system open loop transport function or frequency characteristic.
Wherein:
for driver's link static gain,
for driver inherent delay characteristic,
for driver's lead compensation time constant,
for driver's lag compensation time constant; After this model adds, that will consider in flight controller that the driver reacting slower brings brings out oscillation problem, in thru-flight envelope curve, the slower driver of reaction is allowed that Controller gain variations does not also have systematic method, just to single state of flight, there is part research.
In sum, current control method can't change at dummy vehicle, design non-driver according to the stability margin index in full flight envelope brings out vibration, little, the stable low-latitude flying controller of overshoot.
Summary of the invention
The non-driver can not designing at aircraft the stability margin index met in full flight envelope when full flight envelope inner model changes greatly to overcome existing method brings out the technological deficiency of vibration, little, the steady low-latitude flying controller of overshoot, the invention provides a kind of Longitudinal Flight model cluster man-machine loop compound root locus multistage PID robust Controller Design method, the method directly determines to obtain by frequency sweep flight test the model cluster that amplitude-frequency in whole envelope and phase-frequency characteristic form under given differing heights, Mach number condition; According to the amplitude-frequency nargin in flight envelope and the mark requirement of phase margin army, give corresponding root locus and describe lower Distribution of Closed Loop Poles restriction index, by adding multistage PID controller and the identification Method that Distribution of Closed Loop Poles in aircraft whole envelope limits in index and System Discrimination determines multistage PID robust controller sum of series parameter value; The concept that Distribution of Closed Loop Poles under root locus describes limits is designed the non-driver meeting full flight envelope and is brought out vibration, little, the stable low-latitude flying controller of overshoot.
The technical solution adopted for the present invention to solve the technical problems: a kind of Longitudinal Flight model cluster man-machine loop compound root locus multistage PID robust Controller Design method, is characterized in comprising the following steps:
1, be directly made up of the model cluster of elevating rudder in aircraft whole envelope and flying height under given differing heights, Mach number the amplitude-frequency allowed in the whole envelope of flight and phase-frequency characteristic frequency sweep flight test, between the craft elevator of correspondence and flying height, open-loop transfer function bunch is described as:
Wherein
、
for polynomial expression, s is the variable after laplace transform conventional in transport function,
be respectively flying height and Mach number,
the time delay of pitch channel,
for with
the gain of change,
for polynomial expression
in with
the coefficient bunch of change,
for polynomial expression
in with
the coefficient bunch of change,
for the indeterminate of model;
Pilot model during consideration man-machine loop's characteristic:
Man-machine loop's characteristic is estimated with system open loop transport function or frequency characteristic;
Wherein:
for driver's link static gain,
for driver inherent delay characteristic,
for driver's lead compensation time constant,
for driver's lag compensation time constant;
Like this, the open loop models of man-machine system just becomes:
；
2, the transport function of the multistage PID controller of candidate is:
In formula, N is integer, represents the progression of multistage PID controller to be determined,
,
,
,
for constant to be determined;
After adding multistage PID controller, the open-loop transfer function of whole system is:
Corresponding root locus equation is:
；
3, establish
, wherein:
for the real part of s,
for the imaginary part of s,
for the imaginary part of symbol; The stability margin index of system is set as:
,
, wherein,
for non-zero real,
for giving fixed number; According to the lagging phase angle that flight test or wind tunnel test Modling model indeterminate cause
radian, amplitude
, the stability margin index of system is adjusted to:
with
, wherein,
with
be arithmetic number;
Like this, the stability margin index of system can be converted into: according to
Or
The root locus obtained must meet
with
, jointly retrain down according to this index and maximum likelihood criterion, determine progression N, the constant of multistage PID controller according to the maximum likelihood method in system model Structure Identification
,
,
,
.
The invention has the beneficial effects as follows: the concept that the Distribution of Closed Loop Poles under root locus describes limits, by adding multistage PID controller, to require and identification Method determines the parameter of multistage PID robust controller according to meeting the restriction of given Distribution of Closed Loop Poles in full flight envelope, designing the non-driver meeting full flight envelope and bringing out vibration, little, the stable low-latitude flying controller of overshoot.
Below in conjunction with embodiment, the present invention is elaborated.
Embodiment
1, Linear chirp is used under given differing heights, Mach number
(
for initial frequency,
for cutoff frequency,
,
for the frequency sweep time) or logarithm swept-frequency signal
(
for initial frequency,
for cutoff frequency,
t is the frequency sweep time) to aircraft exciter, can directly obtain allowing the amplitude-frequency in the whole envelope of flight and phase-frequency characteristic, the elevating rudder in formation aircraft whole envelope and the model cluster of flying height, between corresponding craft elevator and flying height, open-loop transfer function bunch is described as:
Wherein
、
for polynomial expression, s is the variable after Laplace transform conventional in transport function,
be respectively flying height and Mach number,
the time delay of pitch channel,
for with
the gain of change,
for polynomial expression
in with
the coefficient bunch of change,
for polynomial expression
in with
the coefficient bunch of change,
for the indeterminate of model;
Pilot model during consideration man-machine loop's characteristic:
Man-machine loop's characteristic is estimated with system open loop transport function or frequency characteristic;
Wherein:
for driver's link static gain,
for driver inherent delay characteristic,
for driver's lead compensation time constant,
for driver's lag compensation time constant;
Like this, man-machine system open loop models just becomes:
2, the transport function of the multistage PID controller of candidate is:
In formula, N is integer, represents the progression of multistage PID controller to be determined,
,
,
,
for constant to be determined;
After adding multistage PID controller, the open-loop transfer function of whole system is:
Corresponding root locus equation is:
；
3, establish
, wherein:
for the real part of s,
for the imaginary part of s,
for the imaginary part of symbol; The stability margin index of system is set as:
,
, wherein,
for non-zero real,
for giving fixed number; According to the lagging phase angle that flight test or wind tunnel test Modling model indeterminate cause
radian, amplitude
, the stability margin index of system is adjusted to:
with
, wherein,
with
be arithmetic number;
Like this, the stability margin index of system can be converted into: according to
Or
The root locus obtained must meet
with
, jointly retrain down according to this index and maximum likelihood criterion, determine progression N, the constant of multistage PID controller according to the maximum likelihood method in system model Structure Identification
,
,
,
.
Claims (1)
1. a Longitudinal Flight model cluster man-machine loop compound root locus multistage PID robust Controller Design method, is characterized in comprising the following steps:
(1) be directly made up of the model cluster of elevating rudder in aircraft whole envelope and flying height under given differing heights, Mach number the amplitude-frequency allowed in the whole envelope of flight and phase-frequency characteristic frequency sweep flight test, between the craft elevator of correspondence and flying height, open-loop transfer function bunch is described as:
Wherein
、
for polynomial expression, s is the variable after laplace transform conventional in transport function,
be respectively flying height and Mach number,
the time delay of pitch channel,
for with
the gain of change,
for polynomial expression
in with
the coefficient bunch of change,
for polynomial expression
in with
the coefficient bunch of change,
for the indeterminate of model;
Pilot model during consideration man-machine loop's characteristic:
Man-machine loop's characteristic is estimated with system open loop transport function or frequency characteristic;
Wherein:
for driver's link static gain,
for driver inherent delay characteristic,
for driver's lead compensation time constant,
for driver's lag compensation time constant;
Like this, the open loop models of man-machine system just becomes:
；
(2) transport function of the multistage PID controller of candidate is:
In formula, N is integer, represents the progression of multistage PID controller to be determined,
,
,
,
for constant to be determined;
After adding multistage PID controller, the open-loop transfer function of whole system is:
Corresponding root locus equation is:
；
(3) establish
, wherein:
for the real part of s,
for the imaginary part of s,
for the imaginary part of symbol; The stability margin index of system is set as:
,
, wherein,
for non-zero real,
for giving fixed number; According to the lagging phase angle that flight test or wind tunnel test Modling model indeterminate cause
radian, amplitude
, the stability margin index of system is adjusted to:
with
, wherein,
with
be arithmetic number;
Like this, the stability margin index of system can be converted into: according to
Or
The root locus obtained must meet
with
, jointly retrain down according to this index and maximum likelihood criterion, determine progression N, the constant of multistage PID controller according to the maximum likelihood method in system model Structure Identification
,
,
,
.
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| US6697767B2 (en) * | 2000-10-18 | 2004-02-24 | The National University Of Singapore | Robust process identification and auto-tuning control |
| CN102929134A (en) * | 2012-10-10 | 2013-02-13 | 西北工业大学 | Method for designing controller of multiple time lag aircraft model |
| CN102929142A (en) * | 2012-10-10 | 2013-02-13 | 西北工业大学 | Method for designing controller of time-varying aircraft model with uncertainty |
| CN102929140A (en) * | 2012-10-10 | 2013-02-13 | 西北工业大学 | Method for designing approximation and controller of time lag aircraft model |
| CN102929139A (en) * | 2012-10-10 | 2013-02-13 | 西北工业大学 | Method for designing controller of multi-interval aircraft model |
| CN102929143A (en) * | 2012-10-10 | 2013-02-13 | 西北工业大学 | Control design method for aircraft time lag model |
| CN103116280A (en) * | 2013-01-16 | 2013-05-22 | 北京航空航天大学 | Microminiature unmanned aerial vehicle longitudinal control method with random delay of distributed network |
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| US9304516B2 (en) * | 2011-01-14 | 2016-04-05 | Textron Innovations Inc. | Flight control laws for vertical flight path |
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6697767B2 (en) * | 2000-10-18 | 2004-02-24 | The National University Of Singapore | Robust process identification and auto-tuning control |
| CN102929134A (en) * | 2012-10-10 | 2013-02-13 | 西北工业大学 | Method for designing controller of multiple time lag aircraft model |
| CN102929142A (en) * | 2012-10-10 | 2013-02-13 | 西北工业大学 | Method for designing controller of time-varying aircraft model with uncertainty |
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| CN102929139A (en) * | 2012-10-10 | 2013-02-13 | 西北工业大学 | Method for designing controller of multi-interval aircraft model |
| CN102929143A (en) * | 2012-10-10 | 2013-02-13 | 西北工业大学 | Control design method for aircraft time lag model |
| CN103116280A (en) * | 2013-01-16 | 2013-05-22 | 北京航空航天大学 | Microminiature unmanned aerial vehicle longitudinal control method with random delay of distributed network |
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