CN103809456B - Longitudinal Flight model cluster man-machine loop's PID robust Controller Design method - Google Patents

Abstract

The invention provides a kind of Longitudinal Flight model cluster man-machine loop's PID 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 under the conditions of given differing heights, Mach number by frequency sweep flight test；Directly determine that open-loop cut-off frequency is interval according to the amplitude versus frequency characte in flight envelope；Directly determine interval with the phase margin corresponding to cut-off frequency interval according to the phase-frequency characteristic in flight envelope；Multistage PID robust controller sum of series parameter value is determined by adding multistage PID controller the phase margin index in aircraft whole envelope and the identification Method in System Discrimination；Magnitude margin index in the full flight envelope of aircraft

Description

Longitudinal Flight model cluster man-machine loop's PID robust Controller Design method

Technical field

The present invention relates to a kind of controller of aircraft method for designing, particularly to Longitudinal Flight model cluster man-machine loop PID Robust Controller Design method, belongs 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；Due to flying speed during aircraft landing Change is big, even if also can face strong nonlinearity problem according to longitudinal model；On the other hand, the control vane of aircraft exist saturated, The phenomenons such as dead band；Considering from flight safety, during hedgehopping (such as take off/land), controller must assure that system has There is certain stability margin, non-overshoot and stationarity, so, allow for the design of hedgehopping 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 uses state space method to be designed, and most of Still the classical frequency domain method with PID as representative and the reverse Northern modem frequency method as representative is used to be controlled device Design.Modern control theory is characterized with state space method, with analytical Calculation as Main Means, to realize performance indications for Excellent modern control theory, have the most again developed method for optimally controlling, model reference control method, self-adaptation control method, Dynamic inversion control method, the control of feedback linearization method, direct nonlinear optimization, Gain-scheduling control method, ANN Control side Method, fuzzy control method, a series of controller design methods such as robust control method and multiple Combination of Methods control, deliver Art paper is ten hundreds of, and within such as 2011, Ghasemi A devises the reentry vehicle of Adaptive Fuzzy Sliding Mode Control (Ghasemi A, Moradi M, Menhaj M B. Adaptive Fuzzy Sliding Mode Control Design for a Low-Lift Reentry Vehicle[J]. Journal of Aerospace Engineering, 2011, 25 (2): 210-216), Babaei A R in 2013 be non-minimum phase and Nonlinear Flight device devise fuzzy sliding mode tracking control from Dynamic pilot (Babaei A R, Mortazavi M, Moradi M H. Fuzzy sliding mode autopilot design for nonminimum phase and nonlinear UAV[J]. Journal of Intelligent and Fuzzy Systems, 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 Modeling of accurate controlled device；(2) stability margin etc. for army's mark regulation evaluates the importance of flight control system Energy index, state space method far can be expressed with obvious form unlike classical frequency method；(3) controller architecture mistake In complicated, do not account for the constraint of actual controller and state of flight, the controller of design physically can not realize.

The scholar Rosenbrock of Britain have studied how frequency domain method is generalized to multi-variable system systematically, in a creative way Design in, utilize matrix diagonals imperative conception, Multivariable is converted into can be with the list of widely known classical approach The design problem of variable system, occurs in that Mayne sequence return difference method, MacFarlane System with Characteristic Locus Method, Owens the most in succession The methods such as dyadic expansion, common feature is the design of the multi-variable system association serious between multi input one multi output, loop, Turn to the design problem of a series of single-variable system, and then can be selected for a certain classical approach (frequency of Nyquist and Bode Response method, the root-locus technique etc. of Evans) design of completion system, these methods above-mentioned retain and inherit classic graphic-arts technique Advantage, do not require particularly accurate Mathematical Modeling, readily satisfy the restriction in engineering.Particularly figure is had to show when employing When the people one conversational computer-aided design system of machine of terminal realizes, experience and the wisdom of designer can be given full play to, Design and both meet quality requirements, be again the most attainable, the controller of simple in construction；Both at home and abroad to variable frequency Method has carried out linguistic term, and (tall and big far, Luo Cheng, Shen Hui, Hu Dewen, Flexible Satellite Attitude solution lotus root controller multivariable is frequently Rate territory method for designing, 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 consider system uncertain problem time conservative excessive, under aircraft control rudder limited case not Rational design result can be obtained.

In the development of high performance airplane, evaluate the quality of an airplane flight quality, depend not only on aircraft itself With driver-operated dynamics, additionally depend on and coordinate between driver with aircraft highly consistently, and driver And the reasonability of function distribution between Advanced Aircraft flight control system.Until after 1980, evaluating flying qualifies of aircraft American army mark remains major defect, i.e. do not account for driver in the effect handled in loop, thus thus gained Evaluate the result of gained after taking a flight test with Aviatrix and still have certain gap.In recent years, developing one has driver to participate in system Closed loop criterion (Neil 2 Smith's criterion), but how to realize the most still without efficient algorithm.Neil Smith's criterion be Within 1970, proposing, it is a closed loop following in elevation criterion.The method that it considers a problem is: at driver aircraft Time with aircraft constitute a closed-loop system, driver easily handles and just can reach specific flight index, then flight quality It is good.In order to obtain the evaluation opinion to aircraft consistent with driver, then driver must be included in theory analysis Including.Generally, the Mathematical Modeling of driving behavior is nonlinear, it may be that discrete, but when research has stability During manipulating objects, useful approximate model is still linear.Shown by a large amount of flight practices and simulation study, the behavior of driver The task to be done by his psychological characteristic, physiological property, surrounding environment, steerable system, manipulating objects determines, although driving The person of sailing has respective feature, but in completing single aerial mission, the action of most of drivers can be by determining completely Mathematical Modeling describe, it is the mean state of the lot of experiments of driving behavior, with actual conditions very close to, therefore existing Mostly using man-machine loop's characteristic pilot model of following form:

Man-machine loop's characteristic is estimated with system open loop transmission function or frequency characteristic.

Wherein:For driver's link static gain,For driver inherent delay characteristic,Advanced for driver Compensation time constant,For driver's lag compensation time constant；After this model adds, flight controller to consider reaction The induction oscillation problem that slower driver brings, in thru-flight envelope curve, allows controller to reacting slower driver Design does not also have systematic method, simply single state of flight is had part research.

In sum, current control method can't change at dummy vehicle, according to stablizing in full flight envelope Margin index designs non-driver induction vibration, overshoot low-latitude flying controller little, stable.

Summary of the invention

In order to overcome existing method can not design symbol in the case of model change greatly at aircraft in full flight envelope Close the non-driver induction vibration of stability margin index in full flight envelope, overshoot low-latitude flying controller little, steady Technological deficiency, the invention provides a kind of Longitudinal Flight model cluster man-machine loop's PID robust Controller Design method, and the method exists Directly determined the amplitude-frequency obtained in whole envelope and phase-frequency characteristic by frequency sweep flight test under the conditions of given differing heights, Mach number The model cluster constituted；Directly determine that open-loop cut-off frequency is interval according to the amplitude versus frequency characte in flight envelope；According in flight envelope Phase-frequency characteristic directly determine and phase margin corresponding to cut-off frequency interval is interval；By adding multistage PID controller also 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 aircraftDevice effect it is controlled in the case of decibels is given Fruit checking；Design from the concept of phase margin and magnitude margin meet full flight envelope non-driver induction vibration, Overshoot low-latitude flying 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 PID Shandong Stick controller method for designing, its feature comprises the following steps:

1, the amplitude-frequency in the whole envelope directly flown by permission by frequency sweep flight test under given differing heights, Mach number With the model cluster that phase-frequency characteristic constitutes the elevator in aircraft whole envelope and flying height, corresponding craft elevator with fly Between line height, open-loop transfer function bunch is described as:

Wherein

、

For multinomial Formula,For the variable after laplace transform conventional in transmission function,It is 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 withBecome The coefficient bunch changed,For the indeterminate in model；

Pilot model during consideration man-machine loop's characteristic:

Man-machine loop's characteristic is estimated with system open loop transmission function or frequency characteristic；

Wherein:For driver's link static gain,For driver inherent delay characteristic,Surpass for driver Precompensation time constant,For driver's lag compensation time constant；

So, the open loop models of system man-machine system just becomes:

Wherein:；

2, judge in the uncertain part of known modelsTime, according to the amplitude versus frequency characte in flight envelope Directly determine that open-loop cut-off frequency interval determines that method is:

FromI.e.In, closely It is seemingly, obtain open-loop cut-off frequencySolve MaximumAnd minimum of a value, open-loop cut-off frequencyInterval is;

In formula,For arithmetic number,For the variable in frequency characteristic,Represent for imaginary part,For angular frequency；

3, judge in the uncertain part of known modelsTime, special according to the phase frequency in flight envelope Property, maximum phase nargin in calculating envelope curve:

With minimum phase nargin in envelope curve

Directly determine with the phase margin interval corresponding to cut-off frequency interval and be:；

Wherein,For arithmetic number；

4, the transmission 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,

FromI.e. In, obtain open-loop cut-off frequencyThe maximum solvedAnd minimum of a value, open-loop cut-off frequencyInterval is,

Phase margin index in aircraft whole envelopeIn the case of Gei Ding, add system after multistage PID controller Phase marginShould meet:

The most satisfied:

Under the common constraint of These parameters and maximum likelihood criterion, according to the maximum likelihood in system model Structure Identification Method determines the progression N of multistage PID controller, constant、、,；

5, the magnitude margin index in aircraft whole envelopeIn the case of decibels is given,

FromI.e.

In, Obtain frequencyThe maximum solvedAnd minimum of a value,Interval is,

Judge:

The most satisfied:

If meeting, then Flight Controller Design completes, if being unsatisfactory for, is further added by the progression of multistage PID controller.

The invention has the beneficial effects as follows: from phase margin and the concept of magnitude margin, control by adding multistage PID Device, determines multistage according to the requirement and identification Method meeting given phase margin and magnitude margin in full flight envelope The parameter of PID robust controller, design meet full flight envelope non-driver induction vibration, overshoot little, the lowest Empty flight robust controller.

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, the amplitude-frequency in the whole envelope allowing flight and phase-frequency characteristic can be directly obtained, constitute flight Elevator in device whole envelope and the model cluster of flying height, open loop transmission between corresponding craft elevator and flying height Function bunch is described as:

Wherein

、

For multinomial Formula,For the variable after laplace transform conventional in transmission function,It is 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 with The coefficient bunch of change,For the indeterminate in model；

Pilot model during consideration man-machine loop's characteristic:

Man-machine loop's characteristic is estimated with system open loop transmission function or frequency characteristic；

Wherein:For driver's link static gain,For driver inherent delay characteristic,Surpass for driver Precompensation time constant,For driver's lag compensation time constant；

So, the open loop models of system man-machine system just becomes:

Wherein:；

2, judge in the uncertain part of known modelsTime, according to the amplitude versus frequency characte in flight envelope Directly determine that open-loop cut-off frequency interval determines that method is:

FromI.e.In, closely It is seemingly, obtain open-loop cut-off frequencySolve MaximumAnd minimum of a value, open-loop cut-off frequencyInterval is;

In formula,For arithmetic number,For the variable in frequency characteristic,Represent for imaginary part,For angular frequency；

3, judge in the uncertain part of known modelsTime, according to the phase-frequency characteristic in flight envelope, Maximum phase nargin in calculating envelope curve:

And bag Minimum phase nargin in line

Directly determine with the phase margin interval corresponding to cut-off frequency interval and be:；

Wherein,For arithmetic number；

4, the transmission 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,

FromI.e. In, obtain open-loop cut-off frequencyThe maximum solvedAnd minimum of a value, open-loop cut-off frequencyInterval is,

Phase margin index in aircraft whole envelopeIn the case of Gei Ding, add system after multistage PID controller Phase marginShould meet:

The most satisfied:

Under the common constraint of These parameters and maximum likelihood criterion, according to the maximum likelihood in system model Structure Identification Method determines the progression N of multistage PID controller, constant、、,；

5, the magnitude margin index in aircraft whole envelopeIn the case of decibels is given,

FromI.e.

In, Obtain frequencyThe maximum solvedAnd minimum of a value,Interval is,

Judge:

The most satisfied:

If meeting, then Flight Controller Design completes, if being unsatisfactory for, is further added by the progression of multistage PID controller.

1, a kind of Longitudinal Flight model cluster man-machine loop's PID robust Controller Design method, its feature comprises the following steps:

(1) width in the whole envelope directly flown by permission by frequency sweep flight test under given differing heights, Mach number Frequency and phase-frequency characteristic constitute the model cluster of the elevator in aircraft whole envelope and flying height, corresponding craft elevator with Between flying height, open-loop transfer function bunch is described as:

Wherein

、

For multinomial,For the variable after laplace transform conventional in transmission function,It is 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 with The coefficient bunch of change,For the indeterminate in model；

Pilot model during consideration man-machine loop's characteristic:

Man-machine loop's characteristic is estimated with system open loop transmission function or frequency characteristic；

Wherein:For driver's link static gain,For driver inherent delay characteristic,Surpass for driver Precompensation time constant,For driver's lag compensation time constant；

So, the open loop models of system man-machine system just becomes:

Wherein:；

(2) judge in the uncertain part of known modelsTime, according to the amplitude versus frequency characte in flight envelope Directly determine that open-loop cut-off frequency interval determines that method is:

FromI.e.In, closely It is seemingly, obtain open-loop cut-off frequencySolve MaximumAnd minimum of a value, open-loop cut-off frequencyInterval is;

In formula,For arithmetic number,For the variable in frequency characteristic,Represent for imaginary part,For angular frequency；

(3) judge in the uncertain part of known modelsTime, special according to the phase frequency in flight envelope Property, maximum phase nargin in calculating envelope curve:

With minimum phase nargin in envelope curve

Directly determine with the phase margin interval corresponding to cut-off frequency interval and be:；

Wherein,For arithmetic number；

(4) the transmission 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,

FromI.e. In, obtain open-loop cut-off frequencyThe maximum solvedAnd minimum of a value, open-loop cut-off frequencyInterval is,

Phase margin index in aircraft whole envelopeIn the case of Gei Ding, add system after multistage PID controller Phase marginShould meet:

The most satisfied:

Under the common constraint of These parameters and maximum likelihood criterion, according to the maximum likelihood in system model Structure Identification Method determines the progression N of multistage PID controller, constant、、,；

(5) the magnitude margin index in aircraft whole envelopeIn the case of decibels is given,

FromI.e.

In, obtain frequencyThe maximum solvedAnd minimum of a value,Interval is,

Judge:

The most satisfied:

If meeting, then Flight Controller Design completes, if being unsatisfactory for, is further added by the progression of multistage PID controller.

Claims (1)

1. Longitudinal Flight model cluster man-machine loop's PID robust Controller Design method, it is characterised in that include following step Rapid:

(1) amplitude-frequency in the whole envelope directly flown by permission by frequency sweep flight test under given differing heights, Mach number and Phase-frequency characteristic constitutes the model cluster of the elevator in aircraft whole envelope and flying height, corresponding craft elevator and flight Between height, open-loop transfer function bunch is described as:

Wherein

、

For multinomial,For The variable after laplace transform conventional in transmission function,It is respectively flying height and Mach number,It is to bow Face upward the time delay in loop,For withThe gain of change,For multinomialIn withThe coefficient bunch of change,For multinomialIn withBecome The coefficient bunch changed,For the indeterminate in model；

Pilot model during consideration man-machine loop's characteristic:

Man-machine loop's characteristic is estimated with system open loop transmission function or frequency characteristic；

Wherein:For driver's link static gain,For driver inherent delay characteristic,Mend in advance for driver Repay time constant,For driver's lag compensation time constant；

So, the open loop models of system man-machine system just becomes:

Wherein:；

(2) judge in the uncertain part of known modelsTime, direct according to the amplitude versus frequency characte in flight envelope Determine that open-loop cut-off frequency interval determines that method is:

FromI.e.In, it is approximately, obtain open-loop cut-off frequencySolve Big valueAnd minimum of a value, open-loop cut-off frequencyInterval is;

In formula,For arithmetic number,For the variable in frequency characteristic,Represent for imaginary part,For angular frequency；

(3) judge in the uncertain part of known modelsTime, according to the phase-frequency characteristic in flight envelope, meter Maximum phase nargin in calculation envelope curve:

With in envelope curve Little phase margin

Directly determine with the phase margin interval corresponding to cut-off frequency interval and be:；

Wherein,For arithmetic number；

(4) the transmission 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,

FromI.e. In, obtain open-loop cut-off frequencyThe maximum solvedAnd minimum of a value, open-loop cut-off frequencyInterval is,

Phase margin index in aircraft whole envelopeIn the case of Gei Ding, add the phase place of system after multistage PID controller NarginShould meet:

The most satisfied:

Under the common constraint of These parameters and maximum likelihood criterion, according to the maximum likelihood method in system model Structure Identification Determine the progression N of multistage PID controller, constant、、,；

(5) the magnitude margin index in aircraft whole envelopeIn the case of decibels is given,

FromI.e.

In, Obtain frequencyThe maximum solvedAnd minimum of a value,Interval is,

Judge:

The most satisfied:

If meeting, then Flight Controller Design completes, if being unsatisfactory for, is further added by the progression of multistage PID controller.