CN103823376B - Longitudinal Flight model cluster Composite PID controller design method - Google Patents
Longitudinal Flight model cluster Composite PID controller design method Download PDFInfo
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Abstract
The invention provides a kind of Longitudinal Flight model cluster Composite PID 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-frequency characteristic 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 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 identification；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, control particularly to Longitudinal Flight model cluster Composite PID
Device method for designing, 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 flight 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 super low altitude flight (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 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 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, has developed the most again method for optimally controlling, model reference control method, self-adaptation control method, has moved
State inverse control method, the control of feedback linearization method, direct nonlinear optimization, 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 science delivered
Paper is ten hundreds of, and within such as 2011, Ghasemi A devises the reentry vehicle (Ghasemi of Adaptive Fuzzy Sliding Mode Control
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 is non-minimum phase and Nonlinear Flight device devises fuzzy sliding mode tracking control automatic Pilot
Instrument (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 this
Plant design and there are three problems: (1) is owing to cannot be carried out the extreme low-altitude handling and stability experiment of aircraft, it is difficult to obtain accurate
The mathematical model of controlled device；(2) stability margin etc. for army's mark regulation is evaluated the important performance of flight control system and is referred to
Mark, state space method far can be expressed with obvious form unlike classical frequency method；(3) controller architecture is the most multiple
Miscellaneous, 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 model, 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 Rhizoma Nelumbinis controller multivariate 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 sum, current control method can't change at dummy vehicle, according to stablizing in full flight envelope
Margin index designs overshoot low altitude flight 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
Closing the technological deficiency of the overshoot low altitude flight controller little, steady of stability margin index in full flight envelope, the present invention carries
Having supplied a kind of Longitudinal Flight model cluster Composite PID controller design method, the method is under the conditions of given differing heights, Mach number
The model cluster that the amplitude-frequency obtained in whole envelope and phase-frequency characteristic are constituted directly is determined by frequency sweep flight test；According to flight envelope
Interior amplitude-frequency characteristic directly determines that open-loop cut-off frequency is interval；Directly determine and cutoff frequency according to the phase-frequency characteristic in flight envelope
Phase margin corresponding to rate interval is interval；By adding multistage PID controller the phase margin in aircraft whole envelope
Identification Method in index and system identification determines multistage PID controller sum of series parameter value；Entirely fly bag at aircraft
Magnitude margin index in lineIt is controlled device compliance test result in the case of decibels is given；From phase margin and magnitude margin
Concept is set out and is designed the overshoot low altitude flight controller little, stable meeting full flight envelope.
The technical solution adopted for the present invention to solve the technical problems: a kind of Longitudinal Flight model cluster Composite PID 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 multinomial
In withThe coefficient bunch of change；
2, directly determine that open-loop cut-off frequency interval determines that method is according to the amplitude-frequency characteristic in flight envelope:
FromI.e.In, obtain open-loop cut-off frequencySolve
MaximumAnd minima, open-loop cut-off frequencyInterval is;
In formula,For the variable in frequency characteristic,Represent for imaginary part,For angular frequency；
3, according to the phase-frequency characteristic in flight envelope, maximum phase nargin in envelope curve is calculated
With minimum phase nargin in envelope curve
Directly determine with the phase margin interval corresponding to cut-off frequency interval and be:；
4, the transmission function of the multistage PID controller of candidate is:
In formula,NFor integer, represent 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 minima, 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 of multistage PID controllerN, constant、、,；
5, the magnitude margin index in aircraft whole envelopeIn the case of decibels is given,
FromI.e.
In,
To frequencyThe maximum solvedAnd minima,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 controller, designs the overshoot low altitude flight controller little, stable meeting full flight envelope.
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) and to aircraft exciter, the amplitude-frequency in the whole envelope allowing flight and phase can be directly obtained
Frequently 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
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 multinomial
In withThe coefficient bunch of change；
2, directly determine that open-loop cut-off frequency interval determines that method is according to the amplitude-frequency characteristic in flight envelope:
FromI.e.In, obtain open-loop cut-off frequencySolve
MaximumAnd minima, open-loop cut-off frequencyInterval is;
In formula,For the variable in frequency characteristic,Represent for imaginary part,For angular frequency；
3, according to the phase-frequency characteristic in flight envelope, maximum phase nargin in envelope curve is calculated
With minimum phase nargin in envelope curve
Directly determine with the phase margin interval corresponding to cut-off frequency interval and be:；
4, the transmission function of the multistage PID controller of candidate is:
In formula,NFor integer, represent 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 minima, 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 of multistage PID controllerN, constant、、,；
5, the magnitude margin index in aircraft whole envelopeIn the case of decibels is given,
FromI.e.
In,
To frequencyThe maximum solvedAnd minima,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. a Longitudinal Flight model cluster Composite PID controller design method, its feature comprises the following steps:
(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 with
The coefficient bunch of change；
(2) directly determine that open-loop cut-off frequency interval determines that method is according to the amplitude-frequency characteristic in flight envelope:
FromI.e.In, obtain open-loop cut-off frequencyThe maximum solved
ValueAnd minima, open-loop cut-off frequencyInterval is;
In formula,For the variable in frequency characteristic,Represent for imaginary part,For angular frequency；
(3) according to the phase-frequency characteristic in flight envelope, maximum phase nargin in envelope curve is calculated
With minimum phase nargin in envelope curve
Directly determine with the phase margin interval corresponding to cut-off frequency interval and be:；
(4) the transmission function of the multistage PID controller of candidate is:
In formula,NFor integer, represent 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 minima, 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 of multistage PID controllerN, constant、、,；
(5) the magnitude margin index in aircraft whole envelopeIn the case of decibels is given,
FromI.e.
In, obtain frequency
RateThe maximum solvedAnd minima,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.
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| CN102073270A (en) * | 2011-01-27 | 2011-05-25 | 浙江工业大学 | Fractional order PID (proportion integration differentiation) control method of single input single output time lag system |
| EP2447792A1 (en) * | 2005-09-19 | 2012-05-02 | Cleveland State University | Controllers, observer, and applications thereof |
| CN102540875A (en) * | 2011-12-26 | 2012-07-04 | 浙江工业大学 | Discrete time-delay system control method based on satisfaction digital PID (Proportion Integration Differentiation) controller |
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| CN103309238A (en) * | 2013-06-05 | 2013-09-18 | 山东大学 | Control method on basis of discrete incremental distribution-order PI (proportion and integration) controller |
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| EP2447792A1 (en) * | 2005-09-19 | 2012-05-02 | Cleveland State University | Controllers, observer, and applications thereof |
| CN102073270A (en) * | 2011-01-27 | 2011-05-25 | 浙江工业大学 | Fractional order PID (proportion integration differentiation) control method of single input single output time lag system |
| CN102540875A (en) * | 2011-12-26 | 2012-07-04 | 浙江工业大学 | Discrete time-delay system control method based on satisfaction digital PID (Proportion Integration Differentiation) controller |
| CN103197542A (en) * | 2013-02-07 | 2013-07-10 | 浙江工业大学 | Time delay system PID controller stabilization method based on data drive |
| CN103309238A (en) * | 2013-06-05 | 2013-09-18 | 山东大学 | Control method on basis of discrete incremental distribution-order PI (proportion and integration) controller |
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