CN103809453B - Longitudinal Flight model cluster man-machine loop's compound root locus compensates robust Controller Design method - Google Patents
Longitudinal Flight model cluster man-machine loop's compound root locus compensates robust Controller Design method Download PDFInfo
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Abstract
The invention provides a kind of Longitudinal Flight model cluster man-machine loop's compound root locus and compensate robust Controller Design method, the method directly determines the model cluster that the amplitude-frequency obtained in whole envelope and phase-frequency characteristic are constituted when given differing heights, Mach number by frequency sweep flight test；Requirement is marked according to the amplitude-frequency nargin in flight envelope and phase margin army, give the Distribution of Closed Loop Poles restriction index under corresponding root locus describes, determine the sum of series parameter value of plural serial stage lag-lead compensation robust controller by adding the identification Method in plural serial stage lag-lead compensation controller the restriction index of the Distribution of Closed Loop Poles in aircraft whole envelope and system identification；The concept of the Distribution of Closed Loop Poles restriction describing from root locus is designed the non-driver meeting full flight envelope and is brought out vibration, overshoot low altitude flight robust controller little, stable.
Description
Technical field
The present invention relates to a kind of controller of aircraft method for designing, compensate robust Controller Design method particularly to Longitudinal Flight model cluster man-machine loop's compound root locus, belong to the category such as observation and control technology and flight mechanics.
Background technology
Flight safety is played an important role by the control of aircraft landing process；Owing in aircraft landing process, flight speed changes greatly, even if strong nonlinearity problem also can be faced 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, during super low altitude flight (as take off/land), controller must assure that system has certain stability margin, non-overshoot and stationarity, so, allow for the design of super low altitude flight controller extremely complex, it is impossible to directly apply mechanically existing control theory and carry out the design of flying vehicles control.
In the design of modern practical flight controller, a small part adopts state space method to be designed, and great majority still adopt the modem frequency method being representative with the PID classical frequency domain method being representative and reverse Northern to be controlled device design.Modern control theory is with state space method for feature, with analytical Calculation for Main Means, to realize performance indications for optimum modern control theory, 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 non-minimum phase and Nonlinear Flight device devises fuzzy sliding mode tracking control automatic pilot (BabaeiAR, MortazaviM, MoradiMH.Fuzzyslidingmodeautopilotdesignfornonminimumpha seandnonlinearUAV [J] .JournalofIntelligentandFuzzySystems, 2013, 24 (3): 499-509), a lot of researchs only reside within the Utopian simulation study stage；And there are three problems in this design: (1) is owing to cannot be carried out the extreme low-altitude handling and stability experiment of aircraft, it is difficult to obtain the mathematical model of accurate controlled device；(2) stability margin etc. of army's mark regulation being evaluated to the important performance indexes of flight control system, state space method far can be expressed with obvious form unlike classical frequency method；(3) controller architecture is excessively complicated, do not account for the constraint of actual controller and state of flight, and the controller of design physically can not realize.
The scholar Rosenbrock of Britain is systematically, have studied in a creative way and how frequency domain method is generalized in the design of multi-variable system, utilize matrix diagonals imperative conception, Multivariable is converted into can with the design problem of the single-variable system of widely known classical approach, in succession occur in that 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 can be selected for a certain classical approach (frequency response method of Nyquist and Bode, the root-locus technique etc. of Evans) design of completion system, the advantage that these methods above-mentioned retain and inherit classic graphic-arts technique, do not require particularly accurate mathematical model, readily satisfy the restriction in engineering.Particularly when adopt have the people one conversational computer-aided design system of machine of graphic display terminal to realize time, it is possible to give full play to experience and the wisdom of designer, design and both meet quality requirements, be again the controller of physically attainable, simple in construction；Both at home and abroad multi-variable fuzzy control has been carried out linguistic term (tall and big far, 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, and 2011, Vol.31 (3), pp25-28) but, this method for designing when consider system uncertain problem time conservative excessive, rational design result can not be obtained under aircraft control rudder limited case.
In the development of high performance airplane, evaluate the quality of an airplane flight quality, depend not only on aircraft itself and driver-operated dynamics, additionally depend on and coordinate between driver with aircraft highly consistently, and the reasonability of function distribution between driver and Advanced Aircraft flight control system.Until after 1980, the American army mark evaluating flying qualifies of aircraft yet suffers from major defect, does not namely account for driver's effect in handling loop, thus after thus the evaluation of gained is taken a flight test with test pilot, the result of gained still has certain gap.In recent years, developing a kind of driver of having and participating in the closed loop criterion (Neil 2 Smith's criterion) of 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: constituting a closed loop system when driver aircraft with aircraft, driver easily handles and just can reach specific flight index, then flight quality is good.In order to obtain the evaluation opinion to aircraft consistent with driver, then driver must be included in theory analysis.Generally, the mathematical model of driving behavior is nonlinear, it may be that discrete, but when research has the manipulating objects of stability, useful approximate model is still linear.Shown by a large amount of flight practices and simulation study, the behavior of driver is determined by the task that his psychological characteristic, physiological property, surrounding, manipulation system, manipulating objects are to be done, although driver has respective feature, but in completing single aerial mission, the action of most of drivers can be described by completely specified mathematical model, it is the mean state of the lot of experiments of driving behavior, with practical situation very close to, therefore mostly adopt now man-machine loop's characteristic pilot model of following form:
Transmit function with system open loop or frequency characteristic estimates man-machine loop's 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, flight controller to consider to react slower driver brings brings out oscillation problem, in thru-flight envelope curve, allow the controller design method but without system to reacting slower driver, simply single state of flight is had 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, overshoot low altitude flight controller little, stable.
Summary of the invention
In order to overcome existing method can not when aircraft the change of full flight envelope inner model greatly design the non-driver of the stability margin index met in full flight envelope and bring out the technological deficiency of vibration, overshoot low altitude flight controller little, steady, the invention provides a kind of Longitudinal Flight model cluster man-machine loop's compound root locus and compensate robust Controller Design method, the method directly determines the model cluster that the amplitude-frequency obtained in whole envelope and phase-frequency characteristic are constituted when given differing heights, Mach number by frequency sweep flight test；Requirement is marked according to the amplitude-frequency nargin in flight envelope and phase margin army, give the Distribution of Closed Loop Poles restriction index under corresponding root locus describes, determine the sum of series parameter value of plural serial stage lag-lead compensation robust controller by adding the identification Method in plural serial stage lag-lead compensation controller the restriction index of the Distribution of Closed Loop Poles in aircraft whole envelope and system identification；The concept of the Distribution of Closed Loop Poles restriction describing from root locus is designed the non-driver meeting full flight envelope and is brought out vibration, overshoot low altitude flight robust controller little, stable.
The technical solution adopted for the present invention to solve the technical problems: a kind of Longitudinal Flight model cluster man-machine loop's compound root locus compensates robust Controller Design method, is characterized in comprising the following steps:
1, be directly made up of the model cluster of the elevator in aircraft whole envelope and flying height under given differing heights, Mach number the amplitude-frequency in the whole envelope allowing flight and phase-frequency characteristic frequency sweep flight test, between corresponding craft elevator and flying height, open-loop transfer function bunch is described as:
Wherein
、For multinomial,For the variable after laplace transform conventional in transmission function,Respectively flying height and Mach number,It is the time delay of pitch channel,For withThe gain of change,, for multinomialIn withThe coefficient bunch of change,, for multinomialIn withThe coefficient bunch of change,Indeterminate for model；
Consider pilot model during man-machine loop's characteristic:
Transmit function with system open loop or frequency characteristic estimates man-machine loop's 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；
So, the open loop models of man-machine system just becomes:
；
2, the transmission function of candidate's plural serial stage lag-lead compensation link is:
In formula,For constant gain to be determined, N is integer, represents the progression of lag-lead compensation link to be determined,、、、, for time constant to be determined,, for parameter to be determined；
After adding plural serial stage lag-lead compensation link, the open-loop transfer function of whole system is:
Corresponding root locus equation is:
；
3, set, wherein:ForReal part,ForImaginary part,For the imaginary part of symbol；The stability margin index of system is set as:,, wherein,For non-zero real,For to fixed number；The lagging phase angle that model indeterminate causes is set up according to flight test or wind tunnel testRadian, amplitude, the stability margin index of system is adjusted to:With, wherein,WithIt is whole real number；So, the stability margin index of system can be converted into: according to
Or
Obtained root locus must is fulfilled forWith, jointly retrain down according to this index and maximum likelihood criterion or other criterion, it is possible to determine the progression N of lag-lead compensation link, constant gain according to the maximum likelihood method in system model Structure Identification or discrimination method, time constant、、、With parameter to be determined。
The invention has the beneficial effects as follows: the concept of the Distribution of Closed Loop Poles restriction under describing from root locus, by adding plural serial stage lag-lead compensation controller, require and identification Method determines the parameter of plural serial stage lag-lead compensation robust controller according to meeting the restriction of given Distribution of Closed Loop Poles in full flight envelope, design the overshoot meeting full flight envelope low altitude flight robust controller little, stable.
Below in conjunction with embodiment, the present invention is elaborated.
Detailed description of the invention
1, Linear chirp is used under given differing heights, Mach number(For initial frequency,For cut-off frequency,,For the frequency sweep time) or logarithm swept-frequency signal(For initial frequency,For cut-off frequency,T is the frequency sweep time) to aircraft exciter, can directly obtaining the amplitude-frequency in the whole envelope allowing flight and phase-frequency characteristic, constitute the model cluster of the elevator in aircraft whole envelope and flying height, between corresponding craft elevator and flying height, open-loop transfer function bunch is described as:
Wherein
、For multinomial,For the variable after laplace transform conventional in transmission function,Respectively flying height and Mach number,It is the time delay of pitch channel,For withThe gain of change,, for multinomialIn withThe coefficient bunch of change,, for multinomialIn withThe coefficient bunch of change,Indeterminate for model；
Consider pilot model during man-machine loop's characteristic:
Transmit function with system open loop or frequency characteristic estimates man-machine loop's 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；
So, the open loop models of man-machine system just becomes:
；
2, the transmission function of candidate's plural serial stage lag-lead compensation link is:
In formula,For constant gain to be determined, N is integer, represents the progression of lag-lead compensation link to be determined,、、、, for time constant to be determined,, for parameter to be determined；
After adding plural serial stage lag-lead compensation link, the open-loop transfer function of whole system is:
Corresponding root locus equation is:
；
3, set, wherein:ForReal part,ForImaginary part,For the imaginary part of symbol；The stability margin index of system is set as:,, wherein,For non-zero real,For to fixed number；The lagging phase angle that model indeterminate causes is set up according to flight test or wind tunnel testRadian, amplitude, the stability margin index of system is adjusted to:With, wherein,WithIt is whole real number；So, the stability margin index of system can be converted into: according to
Or
Obtained root locus must is fulfilled forWith, jointly retrain down according to this index and maximum likelihood criterion or other criterion, it is possible to determine the progression N of lag-lead compensation link, constant gain according to the maximum likelihood method in system model Structure Identification or discrimination method, time constant、、、With parameter to be determined。
Claims (1)
1. Longitudinal Flight model cluster man-machine loop compound root locus compensates a robust Controller Design method, is characterized in comprising the following steps:
(1) be directly made up of the model cluster of the elevator in aircraft whole envelope and flying height under given differing heights, Mach number the amplitude-frequency in the whole envelope allowing flight and phase-frequency characteristic frequency sweep flight test, between corresponding craft elevator and flying height, open-loop transfer function bunch is described as:
Wherein
、For multinomial,For the variable after laplace transform conventional in transmission function,Respectively flying height and Mach number,It is the time delay of pitch channel,For withThe gain of change,, for multinomialIn withThe coefficient bunch of change,, for multinomialIn withThe coefficient bunch of change,Indeterminate for model；
Consider pilot model during man-machine loop's characteristic:
Transmit function with system open loop or frequency characteristic estimates man-machine loop's 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；
So, the open loop models of man-machine system just becomes:
；
(2) the transmission function of candidate's plural serial stage lag-lead compensation link is:
In formula,For constant gain to be determined, N is integer, represents the progression of lag-lead compensation link to be determined,、、、, for time constant to be determined,, for parameter to be determined；
After adding plural serial stage lag-lead compensation link, the open-loop transfer function of whole system is:
Corresponding root locus equation is:
；
(3) set, wherein:ForReal part,ForImaginary part,For the imaginary part of symbol；The stability margin index of system is set as:,, wherein,For non-zero real,For to fixed number；The lagging phase angle that model indeterminate causes is set up according to flight test or wind tunnel testRadian, amplitude, the stability margin index of system is adjusted to:With, wherein,WithIt is whole real number；So, the stability margin index of system can be converted into: according to
Or
Obtained root locus must is fulfilled forWith, jointly retrain down according to this index and maximum likelihood criterion or other criterion, it is possible to determine the progression N of lag-lead compensation link, constant gain according to the maximum likelihood method in system model Structure Identification or discrimination method, time constant、、、With parameter to be determined。
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