CN103809449B - Aircraft multiloop model bunch Flutter Suppression Composite PID robust Controller Design method - Google Patents
Aircraft multiloop model bunch Flutter Suppression Composite PID robust Controller Design method Download PDFInfo
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Abstract
The invention provides a kind of aircraft multiloop model bunch Flutter Suppression Composite 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; Directly determine that open-loop cut-off frequency is interval according to the amplitude versus frequency characte in flight envelope; Directly determine with the phase margin corresponding to cutoff frequency interval interval according to the phase-frequency characteristic in flight envelope; By adding multistage PID controller and the phase margin index in aircraft whole envelope and the identification Method in System Discrimination determine multistage PID robust controller sum of series parameter value; Magnitude margin index in the full flight envelope of aircraft
Description
Technical field
The present invention relates to a kind of controller of aircraft method for designing, particularly aircraft multiloop model bunch Flutter Suppression Composite 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 have and developed 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, when this method for designing can consider system uncertain problem, conservative property is excessive, can not obtain rational design result under aircraft control rudder limited case; Particularly when aircraft generation flutter, designed control system is likely difficult to the stability of guarantee system.
In sum, current control method can't change at dummy vehicle, design according to the stability margin index in full flight envelope and can suppress flutter, little, the stable low-latitude flying controller of overshoot.
Summary of the invention
Can not design when full flight envelope inner model changes greatly at aircraft meet stability margin index in full flight envelope and the technological deficiency that can suppress little, the steady low-latitude flying controller of the overshoot of flutter to overcome existing method, the invention provides a kind of aircraft multiloop model bunch Flutter Suppression Composite 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; Directly determine that open-loop cut-off frequency is interval according to the amplitude versus frequency characte in flight envelope; Directly determine with the phase margin corresponding to cutoff frequency interval interval according to the phase-frequency characteristic in flight envelope; By adding multistage PID controller and the phase margin index in aircraft whole envelope and the identification Method in System Discrimination determine multistage PID robust controller sum of series parameter value; Magnitude margin index in the full flight envelope of aircraft
decibels carries out controller's effect checking under stable condition; From the concept of phase margin and magnitude margin design meet full flight envelope can suppress flutter, little, the stable low-latitude flying robust controller of overshoot.
The technical solution adopted for the present invention to solve the technical problems: a kind of aircraft multiloop model bunch Flutter Suppression Composite PID robust Controller Design method, is characterized in comprising the following steps:
Directly be made up of the model cluster of primary control surface in aircraft whole envelope and flying height the amplitude-frequency allowed in the whole envelope of flight and phase-frequency characteristic by frequency sweep flight test under step 1, given differing heights, Mach number, and can cross over the flutter frequency that flight envelope obtains aircraft, obtaining open-loop transfer function model cluster matrix between corresponding aircraft control rudder face and flying height is:
Wherein,
for
square formation,
for positive integer,
for the independent variable of Laplace transformation,
for aircraft altitude,
for Mach number,
for uncertain vector,
for
single mode square formation,
for
polynomial expression diagonal matrix,
for
single mode square formation,
for polynomial expression,
for positive integer;
Choose
Satisfy condition:
and
Wherein,
for
square formation,
for
single mode square formation,
for
polynomial expression diagonal matrix,
for
?
row, the
column element,
for
?
row, the
column element,
,
for
single mode square formation,
for polynomial expression,
for phase angle mathematic sign;
The controller of aircraft multiloop system is set to:
Wherein,
for
square formation,
for
diagonal matrix;
for
?
row, the
column element,
;
Step 2, controller
,
design process as follows:
(1) make
, the form of embodying is:
Flutter frequency is:
;
Wherein
、
for polynomial expression,
for 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 in model;
(2) judge in the uncertain part of known models
time, directly determine that the interval defining method of open-loop cut-off frequency is according to the amplitude versus frequency characte in flight envelope:
From
namely
in, be approximately
, do not added the open-loop cut-off frequency of controller system
the maximal value of separating
and minimum value
, do not add the open-loop cut-off frequency of controller system
interval is
;
In formula,
for arithmetic number,
for the variable in frequency characteristic,
for imaginary part represents,
for angular frequency;
(3) judge in the uncertain part of known models
time, according to the phase-frequency characteristic in flight envelope, calculate maximum phase nargin in envelope curve
with minimum phase nargin in envelope curve
Directly determine with the phase margin interval corresponding to cutoff frequency interval be:
;
Wherein,
for arithmetic number;
(4) 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,
for Flutter Suppression gain;
After adding multistage PID controller,
From
namely
in, obtain the open-loop cut-off frequency after access control device
the maximal value of separating
and minimum value
, the open-loop cut-off frequency after access control device
interval is
,
Phase margin index in aircraft whole envelope
to under stable condition, add the phase margin of system after multistage PID controller
should meet:
Namely meet:
Meanwhile, at flutter frequency
place also should meet:
Namely meet:
Under These parameters and maximum likelihood criterion or other criterion retrain jointly, progression N, the constant of multistage PID controller can be determined according to the maximum likelihood method in system model Structure Identification or discrimination method
,
,
with Flutter Suppression gain
;
(5) the magnitude margin index in aircraft whole envelope
decibels under stable condition,
From
namely
in, obtain frequency
the maximal value of separating
and minimum value
,
interval is
,
Judge:
Namely meet:
If meet, then Flight Controller Design completes; If do not meet, then increase the progression of multistage PID controller.
The invention has the beneficial effects as follows: from the concept of phase margin and magnitude margin, by adding multistage PID controller, in full flight envelope, determine the parameter of multistage PID robust controller according to the requirement and identification Method that meet given phase margin and magnitude margin, design meet full flight envelope can suppress flutter, little, the stable low-latitude flying robust controller of overshoot.
Below in conjunction with embodiment, the present invention is elaborated.
Embodiment
Linear chirp is used under step 1, 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, directly can obtain allowing the amplitude-frequency in the whole envelope of flight and phase-frequency characteristic, and can cross over the flutter frequency that flight envelope obtains aircraft, obtaining open-loop transfer function model cluster matrix between corresponding aircraft control rudder face and flying height is:
Wherein,
for
square formation,
for positive integer,
for the independent variable of Laplace transformation,
for aircraft altitude,
for Mach number,
for uncertain vector,
for
single mode square formation,
for
polynomial expression diagonal matrix,
for
single mode square formation,
for polynomial expression,
for positive integer;
Choose
Satisfy condition:
and
Wherein,
for
square formation,
for
single mode square formation,
for
polynomial expression diagonal matrix,
for
?
row, the
column element,
for
?
row, the
column element,
,
for
single mode square formation,
for polynomial expression,
for phase angle mathematic sign;
The controller of aircraft multiloop system is set to:
Wherein,
for
square formation,
for
diagonal matrix;
for
?
row, the
column element,
;
Step 2, controller
,
design process as follows:
(1) make
, the form of embodying is:
Flutter frequency is:
;
Wherein
、
for polynomial expression,
for 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 in model;
(2) judge in the uncertain part of known models
time, directly determine that the interval defining method of open-loop cut-off frequency is according to the amplitude versus frequency characte in flight envelope:
From
namely
in, be approximately
, do not added the open-loop cut-off frequency of controller system
the maximal value of separating
and minimum value
, do not add the open-loop cut-off frequency of controller system
interval is
;
In formula,
for arithmetic number,
for the variable in frequency characteristic,
for imaginary part represents,
for angular frequency;
(3) judge in the uncertain part of known models
time, according to the phase-frequency characteristic in flight envelope, calculate maximum phase nargin in envelope curve
with minimum phase nargin in envelope curve
Directly determine with the phase margin interval corresponding to cutoff frequency interval be:
;
Wherein,
for arithmetic number;
(4) 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,
for Flutter Suppression gain;
After adding multistage PID controller,
From
namely
in, obtain the open-loop cut-off frequency after access control device
the maximal value of separating
and minimum value
, the open-loop cut-off frequency after access control device
interval is
,
Phase margin index in aircraft whole envelope
to under stable condition, add the phase margin of system after multistage PID controller
should meet:
Namely meet:
Meanwhile, at flutter frequency
place also should meet:
Namely meet:
Under These parameters and maximum likelihood criterion or other criterion retrain jointly, progression N, the constant of multistage PID controller can be determined according to the maximum likelihood method in system model Structure Identification or discrimination method
,
,
with Flutter Suppression gain
;
(5) the magnitude margin index in aircraft whole envelope
decibels under stable condition,
From
namely
in, obtain frequency
the maximal value of separating
and minimum value
,
interval is
,
Judge:
Namely meet:
if meet, then Flight Controller Design completes; If do not meet, then increase the progression of multistage PID controller.
Claims (1)
1. an aircraft multiloop model bunch Flutter Suppression Composite PID robust Controller Design method, is characterized in comprising the following steps:
Directly be made up of the model cluster of primary control surface in aircraft whole envelope and flying height the amplitude-frequency allowed in the whole envelope of flight and phase-frequency characteristic by frequency sweep flight test under step 1, given differing heights, Mach number, and can cross over the flutter frequency that flight envelope obtains aircraft, obtaining open-loop transfer function model cluster matrix between corresponding aircraft control rudder face and flying height is:
Wherein,
for
square formation,
for positive integer,
for the independent variable of Laplace transformation,
for aircraft altitude,
for Mach number,
for uncertain vector,
for
single mode square formation,
for
polynomial expression diagonal matrix,
for
single mode square formation,
for polynomial expression,
for positive integer;
Choose
Satisfy condition:
and
Wherein,
for
square formation,
for
single mode square formation,
for
polynomial expression diagonal matrix,
for
?
row, the
column element,
for
?
row, the
column element,
,
for
single mode square formation,
for polynomial expression,
for phase angle mathematic sign;
The controller of aircraft multiloop system is set to:
Wherein,
for
square formation,
for
diagonal matrix;
for
?
row, the
column element,
;
Step 2, controller
,
design process as follows:
(1) make
, the form of embodying is:
Flutter frequency is:
;
Wherein
、
for polynomial expression,
for 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 in model;
(2) judge in the uncertain part of known models
time, directly determine that the interval defining method of open-loop cut-off frequency is according to the amplitude versus frequency characte in flight envelope:
From
namely
in, be approximately
, do not added the open-loop cut-off frequency of controller system
the maximal value of separating
and minimum value
, do not add the open-loop cut-off frequency of controller system
interval is
;
In formula,
for arithmetic number,
for the variable in frequency characteristic,
for imaginary part represents,
for angular frequency;
(3) judge in the uncertain part of known models
time, according to the phase-frequency characteristic in flight envelope, calculate maximum phase nargin in envelope curve
with minimum phase nargin in envelope curve
Directly determine with the phase margin interval corresponding to cutoff frequency interval be:
;
Wherein,
for arithmetic number;
(4) 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,
for Flutter Suppression gain;
After adding multistage PID controller,
From
namely
in, obtain the open-loop cut-off frequency after access control device
the maximal value of separating
and minimum value
, the open-loop cut-off frequency after access control device
interval is
,
Phase margin index in aircraft whole envelope
to under stable condition, add the phase margin of system after multistage PID controller
should meet:
Namely meet:
Meanwhile, at flutter frequency
place also should meet:
Namely meet:
Under These parameters and maximum likelihood criterion or other criterion retrain jointly, progression N, the constant of multistage PID controller can be determined according to the maximum likelihood method in system model Structure Identification or discrimination method
,
,
with Flutter Suppression gain
;
(5) the magnitude margin index in aircraft whole envelope
decibels under stable condition,
From
namely
in, obtain frequency
the maximal value of separating
and minimum value
,
interval is
,
Judge:
Namely meet:
If meet, then Flight Controller Design completes; If do not meet, then increase the progression of multistage PID controller.
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