CN103823364B - Aircraft multiloop model bunch compound root locus compensates robust Controller Design method - Google Patents
Aircraft multiloop model bunch compound root locus compensates robust Controller Design method Download PDFInfo
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Abstract
The invention provides a kind of aircraft multiloop model bunch 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 designs the overshoot meeting full flight envelope 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 aircraft multiloop model bunch 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.nullModern 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-LiftReentryVehicle[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.FuzzyslidingmodeautopilotdesignfornonminimumphaseandnonlinearUAV[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.
nullThe 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 sum, current control method can't change at dummy vehicle, design overshoot low altitude flight controller little, stable according to the stability margin index in full flight envelope.
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 technological deficiency of overshoot low altitude flight controller little, steady of the stability margin index met in full flight envelope, the invention provides a kind of aircraft multiloop model bunch 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 designs the overshoot meeting full flight envelope low altitude flight robust controller little, stable.
The technical solution adopted for the present invention to solve the technical problems: a kind of aircraft multiloop model bunch compound root locus compensates robust Controller Design method, and its feature comprises the following steps:
Directly it is made up of the model cluster of the primary control surface in aircraft whole envelope and flying height the amplitude-frequency in the whole envelope allowing flight and phase-frequency characteristic by frequency sweep flight test under step 1, given differing heights, Mach number, and can crossing over flight envelope and obtain the flutter frequency of aircraft, obtaining open-loop transfer function model cluster matrix between aircraft control rudder face and the flying height of correspondence is:
Wherein,ForSquare formation,For positive integer,For the independent variable of Laplace transformation,For aircraft altitude,For Mach number,For uncertain vector,ForSingle mode square formation,ForMultinomial diagonal matrix,ForSingle mode square formation,ForRank multinomial,For positive integer；
Choose, satisfy condition:
And
Wherein,ForSquare formation,ForSingle mode square formation,ForMultinomial diagonal matrix,For?Row, theColumn element,For?Row, theColumn element,,ForSingle mode square formation,For multinomial,For phase angle mathematical symbol；
The controller of aircraft multiloop system is set to:
Wherein,ForSquare formation,ForDiagonal matrix；For?Row, theColumn element,；
Step 2, controller,Design process as follows:
(1) order, the form of embodying is:
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；
(2) the transmission function of candidate's plural serial stage lag-lead compensation link, i.e. controller, for:
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: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 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, under this index and maximum likelihood criterion retrain jointly, determine the progression N of lag-lead compensation link, constant gain according to the maximum likelihood method in system model Structure Identification, 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
Linear chirp is used under step 1, 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, directly it is made up of the model cluster of the primary control surface in aircraft whole envelope and flying height the amplitude-frequency in the whole envelope allowing flight and phase-frequency characteristic by frequency sweep flight test, and can crossing over flight envelope and obtain the flutter frequency of aircraft, obtaining open-loop transfer function model cluster matrix between aircraft control rudder face and the flying height of correspondence is:
Wherein,ForSquare formation,For positive integer,For the independent variable of Laplace transformation,For aircraft altitude,For Mach number,For uncertain vector,ForSingle mode square formation,ForMultinomial diagonal matrix,ForSingle mode square formation,ForRank multinomial,For positive integer；
Choose, satisfy condition:
And
Wherein,ForSquare formation,ForSingle mode square formation,ForMultinomial diagonal matrix,For?Row, theColumn element,For?Row, theColumn element,,ForSingle mode square formation,For multinomial,For phase angle mathematical symbol；
The controller of aircraft multiloop system is set to:
Wherein,ForSquare formation,ForDiagonal matrix；For?Row, theColumn element,；
Step 2, controller,Design process as follows:
(1) order, the form of embodying is:
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；
(2) the transmission function of candidate's plural serial stage lag-lead compensation link, i.e. controller, for:
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: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 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, under this index and maximum likelihood criterion retrain jointly, determine the progression N of lag-lead compensation link, constant gain according to the maximum likelihood method in system model Structure Identification, time constant、、、,With parameter to be determined,。
Claims (1)
1. aircraft multiloop model bunch compound root locus compensates a robust Controller Design method, and its feature comprises the following steps:
Directly it is made up of the model cluster of the primary control surface in aircraft whole envelope and flying height the amplitude-frequency in the whole envelope allowing flight and phase-frequency characteristic by frequency sweep flight test under step 1, given differing heights, Mach number, and can crossing over flight envelope and obtain the flutter frequency of aircraft, obtaining open-loop transfer function model cluster matrix between aircraft control rudder face and the flying height of correspondence is:
Wherein,ForSquare formation,For positive integer,For the independent variable of Laplace transformation,For aircraft altitude,For Mach number,For uncertain vector,ForSingle mode square formation,ForMultinomial diagonal matrix,ForSingle mode square formation,ForRank multinomial,For positive integer；
Choose, satisfy condition:
And
Wherein,ForSquare formation,ForSingle mode square formation,ForMultinomial diagonal matrix,For?Row, theColumn element,For?Row, theColumn element,,ForSingle mode square formation,For multinomial,For phase angle mathematical symbol；
The controller of aircraft multiloop system is set to:
Wherein,ForSquare formation,ForDiagonal matrix；For?Row, theColumn element,；
Step 2, controller,Design process as follows:
(1) order, the form of embodying is:
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；
(2) the transmission function of candidate's plural serial stage lag-lead compensation link, i.e. controller, for:
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: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 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, under this index and maximum likelihood criterion retrain jointly, determine the progression N of lag-lead compensation link, constant gain according to the maximum likelihood method in system model Structure Identification, time constant、、、,With parameter to be determined,。
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