CN104155989A - Aircraft attitude compensation control method based on motion coupling characteristic, and aircraft attitude compensation control device based on motion coupling characteristic - Google Patents
Aircraft attitude compensation control method based on motion coupling characteristic, and aircraft attitude compensation control device based on motion coupling characteristic Download PDFInfo
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Abstract
The present invention discloses an aircraft attitude compensation control method based on a motion coupling characteristic, and an aircraft attitude compensation control device based on the motion coupling characteristic. The device comprises an angle controller, a servo system of an aircraft, and also comprises a roll angle rate compensation branch used for detecting a roll angle rate of the aircraft, and then multiplying roll angle rate with tana to obtain a yaw angle rate compensation value; an angular rate compensator used for receiving the yaw angle rate compensation value and a yaw angle rate instruction value outputted by the angle controller separately, compensating the yaw angle rate instruction value by the yaw angle rate compensation value, and then outputting the compensated yaw angle rate instruction value; an angular velocity controller used for outputting a corresponding control plane deflection angle instruction to the servo system according to the compensated yaw angle rate instruction value, and controlling the attitude of the aircraft by the servo system. According to the technical scheme of the present invention, the compensation control is carried out on the aircraft according to a compensation value which is equal to the numerical value of the quantized crosslinking influence, thereby facilitating controlling the aircraft more accurately and reliably.
Description
Technical field
The present invention relates to aerospace field, relate in particular to a kind of attitude of flight vehicle compensating control method and device based on sports coupling characteristic.
Background technology
Aircraft is in flight course, and its flight attitude can be divided into the motion of rolling, driftage and three attitude motion passages of pitching conventionally.For rotational symmetry aircraft, the coupling between its three passages is very weak, thus can using coupling for the impact of the flight attitude of rotational symmetry aircraft as random microvariations, build the microvariations Aerodynamic Model of rotational symmetry aircraft.At present, conventionally according to microvariations Aerodynamic Model, three independently attitude controllers are set in rotational symmetry aircraft, are respectively used to control the angular velocity of this aircraft pitch channel, jaw channel and roll channel.
Yet rotational symmetry aircraft is a special case of the symmetrical aircraft of face.The aircraft of flying speed higher (for example, over 5 Mach) adopts the aerodynamic arrangement of face symmetry conventionally, the symmetrical aircraft of the face that is, and in its flight course, the coupling between its rolling, driftage and three passages of pitching is stronger.Common interchannel coupled characteristic can comprise inertia coupled characteristic, sports coupling characteristic and pneumatic coupled characteristic; At present, for the sports coupling characteristic between three passages of the symmetrical aircraft of face, often only carry out qualitative analysis, lack the quantitative analysis comparatively accurately on the crosslinked impact of interchannel sports coupling characteristic; Nature cannot compensate control to aircraft according to the crosslinked impact of the sports coupling characteristic quantizing.And according to the crosslinked impact of the sports coupling characteristic quantizing, aircraft is compensated to control, contribute to more accurate to the control of aircraft, reliable.
Therefore, be necessary to provide a kind of attitude of flight vehicle compensating control method and device based on sports coupling characteristic, to control more accurately, reliably aircraft.
Summary of the invention
The defect existing for above-mentioned prior art, the embodiment of the present invention provides a kind of attitude of flight vehicle compensating control method and device based on sports coupling characteristic, to control more accurately, reliably aircraft.
Technical scheme of the present invention, according to an aspect, provides a kind of attitude of flight vehicle compensate control apparatus based on sports coupling characteristic, comprising: the servo-drive system of angle controller, described aircraft, and it also comprises:
Roll angle rate compensation branch road, for detection of after the roll angle speed of described aircraft, is multiplied by tan α by described roll angle speed, obtains yawrate offset; Wherein, the angle of attack that α is described aircraft;
Angular speed compensator, for receiving respectively the yawrate command value of described angle controller output, and the yawrate offset of described roll angle rate compensation branch road; And after using yawrate offset to compensate described yawrate command value, the yawrate command value after output compensation;
Angular rate control unit, for the yawrate command value after the compensation of exporting according to described angular speed compensator, export the instruction of corresponding control surface deflection angle to described servo-drive system, by described servo-drive system, according to the control surface deflection angle instruction of input, controlled the attitude of described aircraft.
Further, the described attitude of flight vehicle compensate control apparatus based on sports coupling characteristic, also comprises:
Yawrate compensation branch road, for by the yawrate of the described aircraft detecting
feed back to described angular speed compensator; And
Described angular speed compensator is also for also using yawrate
described yawrate command value is compensated.
Further, the described attitude of flight vehicle compensate control apparatus based on sports coupling characteristic, also comprises: crab angle compensation branch road, angle compensation device; Wherein,
Described crab angle compensation branch road is for feeding back to described angle compensation device by the yaw angle β of the described aircraft detecting;
Angle compensation device, for receiving respectively yaw angle command value, and the yaw angle β of described crab angle compensation branch road output; And after using yaw angle β to compensate the yaw angle command value receiving, the yaw angle command value after output compensation is to described angle controller.
Technical scheme of the present invention, according to another aspect, also provides a kind of attitude of flight vehicle compensate control apparatus based on sports coupling characteristic, comprising: the servo-drive system of angle controller, described aircraft, and it also comprises:
Roll angle rate compensation branch road, for detection of after the roll angle speed of described aircraft, is multiplied by tan α by described roll angle speed, obtains the output of yawrate offset; Wherein, the angle of attack that α is described aircraft;
Yawrate compensation branch road, for by the yawrate of the described aircraft detecting
output;
Crab angle compensation branch road is for exporting the crab angle β of the described aircraft detecting;
Angle compensation device, for receiving respectively yaw angle command value, and the crab angle β of described crab angle compensation branch road output; And after using crab angle β to compensate the yaw angle command value receiving, yaw angle command value after output compensation, to described angle controller, is exported corresponding yawrate command value by described angle controller according to the yaw angle command value after the compensation receiving;
Angular speed compensator, for receiving respectively the yawrate of the yawrate command value of described angle controller output, the yawrate offset of described roll angle rate compensation branch road, the output of described yawrate compensation branch road
and use yawrate offset, yawrate
after described yawrate command value is compensated, the yawrate command value after output compensation;
Angular rate control unit, for the yawrate command value after the compensation of exporting according to described angular speed compensator, export the instruction of corresponding control surface deflection angle to described servo-drive system, by described servo-drive system, according to the control surface deflection angle instruction of input, controlled the attitude of described aircraft.
Technical scheme of the present invention, according to another aspect, also provides a kind of attitude of flight vehicle compensating control method based on sports coupling characteristic, comprising:
The roll angle speed of described aircraft is multiplied by tan α, obtains yawrate offset; Wherein, the angle of attack that α is described aircraft;
After using described yawrate offset to compensate yawrate command value, the yawrate command value after being compensated; Wherein, described yawrate command value is to be undertaken obtaining after corresponding conversion by the crab angle command value of inputting;
After yawrate command value after compensation is converted to the instruction of corresponding control surface deflection angle, output to described servo-drive system, by described servo-drive system, according to the control surface deflection angle instruction of input, controlled the attitude of described aircraft.
Further, when the described yawrate offset of described use compensates yawrate command value, also comprise:
Also use the yawrate of described aircraft
described yawrate command value is compensated.
Further, before the described yawrate offset of described use compensates yawrate command value, also comprise:
Use the yaw angle β of described aircraft to compensate described yaw angle command value, the yaw angle command value after being compensated; And
Described yawrate command value is specifically undertaken obtaining after corresponding conversion by the yaw angle command value after compensation.
Technical scheme of the present invention, according to another aspect, also provides a kind of attitude of flight vehicle compensating control method based on sports coupling characteristic, comprising:
The roll angle speed of described aircraft is multiplied by tan α, obtains yawrate offset; Wherein, the angle of attack that α is described aircraft; And
Use the yaw angle β of described aircraft to compensate the yaw angle command value of input, the yaw angle command value after being compensated, is converted to corresponding yawrate command value by the yaw angle command value after compensation;
Use described yawrate offset, and the yawrate of described aircraft
after described yawrate command value is compensated, the yawrate command value after being compensated;
After yawrate command value after compensation is converted to the instruction of corresponding control surface deflection angle, output to described servo-drive system, by described servo-drive system, according to the control surface deflection angle instruction of input, controlled the attitude of described aircraft.
In technical scheme of the present invention, the roll angle speed of aircraft is quantized the crosslinked impact of the sports coupling characteristic of jaw channel; And generate on numerical value the offset equating with the crosslinked impact quantizing; According to offset, aircraft is compensated to control, contribute to more accurate to the control of aircraft, reliable.
Accompanying drawing explanation
Fig. 1 is the structural framing schematic diagram of the attitude of flight vehicle compensate control apparatus based on sports coupling characteristic of the embodiment of the present invention;
Fig. 2, Fig. 3 are respectively the schematic flow sheet of two kinds of the embodiment of the present invention attitude of flight vehicle compensating control method based on sports coupling characteristic;
Fig. 4, Fig. 5 are the contrast experiment's of the embodiment of the present invention schematic diagram.
Embodiment
For making object of the present invention, technical scheme and advantage clearer, referring to accompanying drawing and enumerate preferred embodiment, the present invention is described in more detail.Yet, it should be noted that, many details of listing in instructions are only used to make reader to have a thorough understanding to one or more aspects of the present invention, even if do not have these specific details also can realize these aspects of the present invention.
The terms such as " module " used in this application, " system " are intended to comprise the entity relevant to computing machine, such as but not limited to hardware, firmware, combination thereof, software or executory software.For example, module can be, but be not limited in: the thread of the process of moving on processor, processor, object, executable program, execution, program and/or computing machine.For instance, the application program of moving on computing equipment and this computing equipment can be modules.One or more modules can be positioned at an executory process and/or thread.
The present inventor considers, when aircraft moves with larger roll angle speed, has the crosslinked impact of comparatively significant sports coupling characteristic between roll channel and pitching, jaw channel.Now, the equation of motion of aircraft can be by shown in following formula 1-2:
(formula 1)
In above-mentioned formula 1-2, α, β represent respectively the angle of attack, the yaw angle of aircraft;
the angle of attack angular speed, the yaw angle angular speed that represent respectively the sports coupling characteristic of aircraft; Pitch channel is controlled the angle of attack, and angle of attack angular speed is the angular speed (abbreviation pitch rate) of pitch channel; Jaw channel is controlled yaw angle, and yaw angle angular speed is the angular speed (abbreviation yawrate) of jaw channel;
the pitch rate, yawrate, the roll angle speed that represent respectively aircraft, δ
p, δ
yrepresent respectively the pitching rudder of aircraft, the control surface deflection angle of driftage rudder; a
4, a
5, b
4, b
5it is all constant coefficient.
Above-mentioned formula 1-2 has embodied in the mode quantizing, the crosslinked impact of roll angle speed on the sports coupling characteristic of pitch channel, jaw channel.Take formula 2 as example, crosslinked of the sports coupling of jaw channel
existence cause
increase, cause the dynamic increase of yaw angle, affected aircraft and kept the flat ability that flies (keeping β=0).
The present inventor considers, due to very strict to the requirement of yaw angle and restriction, therefore can to aircraft, compensate control according to crosslinked of the sports coupling quantizing, and contributes to more accurate to the control of aircraft, reliable.
Below in conjunction with accompanying drawing, describe technical scheme of the present invention in detail.
The attitude of flight vehicle compensate control apparatus based on sports coupling characteristic of the embodiment of the present invention, its structural framing schematic diagram as shown in Figure 1, comprising: the servo-drive system 102 of angle controller 101, aircraft, roll angle rate compensation branch road 103, angular speed compensator 104 and angular rate control unit 105.
An input end of angle controller 101 can be connected with the airborne computer (not marking in figure) of aircraft; The output terminal of the output terminal of angle controller 101, roll angle rate compensation branch road 103 is connected respectively to two input ends of angular speed compensator 104.The input end of angular rate control unit 105, output terminal are connected with the output terminal of angular speed compensator 104, the input end of servo-drive system 102 respectively.Servo-drive system 102 is all connected with the rolling rudder in aircraft, the airvanes such as rudder, pitching rudder of going off course.
More excellent, as shown in Figure 1, the attitude of flight vehicle compensate control apparatus based on sports coupling characteristic, also comprises: yawrate compensation branch road 106.
The output terminal of yawrate compensation branch road 106 is connected to another input end of angular speed compensator 104.
More excellent, as shown in Figure 1, the attitude of flight vehicle compensate control apparatus based on sports coupling characteristic, also comprises: crab angle compensation branch road 107 and angle compensation device 108.
The output terminal of crab angle compensation branch road 107 is connected to an input end of angle compensation device 108.Another input end of angle compensation device 108 can be connected with airborne computer, and output terminal is connected with another input end of angle controller 101.
The attitude of flight vehicle compensate control apparatus based on sports coupling characteristic of the embodiment of the present invention, has several attitude of flight vehicle compensating control methods based on sports coupling characteristic.Wherein, a kind of attitude of flight vehicle compensating control method based on sports coupling characteristic, its schematic flow sheet as shown in Figure 2, comprises the steps:
S201: the attitude of flight vehicle compensate control apparatus based on sports coupling characteristic is multiplied by tan α by the roll angle speed of aircraft, obtains yawrate offset.
Particularly, the compensation of the angular velocity in roll in the attitude of flight vehicle compensate control apparatus based on sports coupling characteristic branch road 103 detects the roll angle speed of aircraft
after, roll angle speed is multiplied by tan α, obtain yawrate offset output; Wherein, the angle of attack that α is aircraft.
S202: after the attitude of flight vehicle compensate control apparatus based on sports coupling characteristic is used yawrate offset to compensate yawrate command value, the yawrate command value after being compensated.
Particularly, after the yaw angle command value of the airborne computer output of the angle controller 101 reception aircraft in the attitude of flight vehicle compensate control apparatus based on sports coupling characteristic, export corresponding yawrate command value to the angular speed compensator 104 of aircraft.The concrete structure of angle controller 101 and function, be well known to those skilled in the art, and repeats no more herein.
The angular speed compensator 104 of aircraft is the yawrate command value of receiving angle controller 101 outputs respectively, and the yawrate offset of roll angle rate compensation branch road 102 outputs; And after using yawrate offset to compensate yawrate command value, the yawrate command value after output compensation.
S203: the attitude of flight vehicle compensate control apparatus based on sports coupling characteristic outputs to servo-drive system 102 after the yawrate command value after compensation is converted to the instruction of corresponding control surface deflection angle, is controlled the attitude of aircraft according to the control surface deflection angle instruction of input by servo-drive system 102.
Particularly, angular rate control unit 105 in aircraft in attitude of flight vehicle compensate control apparatus based on sports coupling characteristic, according to the yawrate command value after the compensation of angular speed compensator 104 outputs, is exported the instruction of corresponding control surface deflection angle to servo-drive system 102; By servo-drive system 102, according to the control surface deflection angle instruction of input, control driftage rudder and carry out control surface deflection, thereby reach the object of the attitude of controlling aircraft.The concrete structure of servo control mechanism 102, with and according to control surface deflection instruction, control the concrete grammar of driftage rudder kick, the conventional techniques means for art technology repeat no more herein.
In fact, when the roll angle speed of aircraft in flight course is
time, aircraft itself produces on numerical value and equals
the crosslinked impact of roll channel on the sports coupling characteristic of the yaw angle of jaw channel; And also equal on a numerical value of angular velocity in roll compensation branch road 103 generations
offset, by compensation, eliminate the crosslinked impact of roll channel on the sports coupling characteristic of the yaw angle of jaw channel; Thereby the rudder that makes to go off course obtains stronger passage decoupling zero effect, can more stably control aircraft and fly.
The yawrate more excellent, the yawrate compensation branch road 106 of the attitude of flight vehicle compensate control apparatus based on sports coupling characteristic can sense aircraft
and will detect
feed back to angular speed compensator 104.
And angular speed compensator 104 can also use the yawrate of yawrate compensation branch road 106 feedbacks
yawrate command value to angle controller 101 outputs compensates.
The yaw angle β more excellent, the crab angle compensation branch road 107 in the attitude of flight vehicle compensate control apparatus based on sports coupling characteristic can sense aircraft; And the β detecting is fed back to angle compensation device 108.
And angle compensation device 108 receives respectively the yaw angle command value of the airborne computer output of aircraft, and the yaw angle β of crab angle compensation branch road 107 outputs; And after using yaw angle β to compensate the yaw angle command value receiving, the yaw angle command value after output compensation is to angle controller 101.Yaw angle command value is compensated, contribute to eliminate the crosslinked impact of sports coupling characteristic of the yaw angle of jaw channel.
In the embodiment of the present invention, the another kind of attitude of flight vehicle compensating control method based on sports coupling characteristic, its schematic flow sheet as shown in Figure 3, comprises the steps:
S301: the attitude of flight vehicle compensate control apparatus based on sports coupling characteristic is multiplied by tan α by the roll angle speed of aircraft, obtains yawrate offset.
Particularly, the compensation of the angular velocity in roll in the attitude of flight vehicle compensate control apparatus based on sports coupling characteristic branch road 103 detects the roll angle speed of aircraft
after, roll angle speed is multiplied by tan α, obtain yawrate offset output; Wherein, the angle of attack that α is aircraft.
S302: the attitude of flight vehicle compensate control apparatus based on sports coupling characteristic is used the yaw angle β of aircraft to compensate the yaw angle command value of input, yaw angle command value after being compensated, is converted to corresponding yawrate command value by the yaw angle command value after compensation.
Particularly, the yaw angle β of the compensation of the crab angle in the attitude of flight vehicle compensate control apparatus based on sports coupling characteristic branch road 107 sense aircraft; And the β detecting is fed back to angle compensation device 108.
Angle compensation device 108, for the yaw angle command value that receiver borne computer is exported respectively, and the crab angle β of crab angle compensation branch road 107 outputs; And after using crab angle β to compensate the yaw angle command value receiving, the yaw angle command value after output compensation is to angle controller 101.By angle controller 101, according to the yaw angle command value after the compensation receiving, export corresponding yawrate command value.
S303: the attitude of flight vehicle compensate control apparatus based on sports coupling characteristic is used yawrate offset, and the yawrate of aircraft
after the yawrate command value of angle controller 101 outputs is compensated, the yawrate command value after being compensated.
Particularly, the yawrate of the compensation of the yawrate in the attitude of flight vehicle compensate control apparatus based on sports coupling characteristic branch road 106 sense aircraft
and will detect
feed back to angular speed compensator 104.
The angular speed compensator 104 yawrate command value that receiving angle controller 101 is exported are respectively, the yawrate of the yawrate offset of roll angle rate compensation branch road 103,106 outputs of yawrate compensation branch road
and use yawrate offset, yawrate
after yawrate command value is compensated, the yawrate command value after output compensation.
S304: the attitude of flight vehicle compensate control apparatus based on sports coupling characteristic outputs to servo-drive system 102 after the yawrate command value after compensation is converted to the instruction of corresponding control surface deflection angle, is controlled the attitude of aircraft according to the control surface deflection angle instruction of input by servo-drive system 102.
The concrete grammar of step S304 is identical with the concrete grammar of step S203, repeats no more herein.
Introduce a contrast experiment in embodiment of the present invention technical scheme below.
To certain hypersonic aircraft, the control method of having set two kinds of patterns contrasts.Mode A control method is for adopting the conventional attitude control method that does not comprise compensating control method of the present invention; Mode B control method is on the basis of Mode A control method, has increased compensating control method of the present invention.Under identical flying condition, respectively Mode A, B control method are carried out to emulation.
Simulation result is as shown in Figure 4 and Figure 5: in Fig. 4, aircraft is under Mode A control method, and the peak-peak of yaw angle reaches 6.02 degree; And aircraft is under Mode B control method, the peak-peak of yaw angle is reduced to 2.89 degree.In Fig. 5, aircraft is under Mode A control method, and the angle of attack exists the oscillation mode fluctuation of certain amplitude, and convergence is comparatively slow; By contrast, aircraft is under Mode B control method, and the transient process of the angle of attack is more steady, reaches rapidly stable state, does not occur vibration.Simulation result shows: attitude of flight vehicle compensate control apparatus and the method based on sports coupling characteristic of the embodiment of the present invention, significantly reduced the yaw angle peak-peak that is unfavorable for aircraft flight, eliminate the vibration of the angle of attack, significantly improved the dynamic quality of the attitude control of aircraft.
In technical scheme of the present invention, the roll angle speed of aircraft is quantized the crosslinked impact of the sports coupling characteristic of jaw channel; And generate on numerical value the offset equating with the crosslinked impact quantizing; According to offset, aircraft is compensated to control, contribute to more accurate to the control of aircraft, reliable.
And, also yawrate, yaw angle are quantized and compensated the impact of jaw channel, further contribute to more accurate to the control of aircraft, reliable.
One of ordinary skill in the art will appreciate that all or part of step realizing in above-described embodiment method is to come the hardware that instruction is relevant to complete by program, this program can be stored in computer read/write memory medium, as: ROM/RAM, magnetic disc, CD etc.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (8)
1. the attitude of flight vehicle compensate control apparatus based on sports coupling characteristic, comprising: the servo-drive system of angle controller, described aircraft, it is characterized in that, and also comprise:
Roll angle rate compensation branch road, for detection of after the roll angle speed of described aircraft, is multiplied by tan α by described roll angle speed, obtains yawrate offset; Wherein, the angle of attack that α is described aircraft;
Angular speed compensator, for receiving respectively the yawrate command value of described angle controller output, and the yawrate offset of described roll angle rate compensation branch road; And after using yawrate offset to compensate described yawrate command value, the yawrate command value after output compensation;
Angular rate control unit, for the yawrate command value after the compensation of exporting according to described angular speed compensator, export the instruction of corresponding control surface deflection angle to described servo-drive system, by described servo-drive system, according to the control surface deflection angle instruction of input, controlled the attitude of described aircraft.
2. device as claimed in claim 1, is characterized in that, also comprises:
Yawrate compensation branch road, for by the yawrate of the described aircraft detecting
feed back to described angular speed compensator; And
Described angular speed compensator is also for also using yawrate
described yawrate command value is compensated.
3. device as claimed in claim 1, is characterized in that, also comprises: crab angle compensation branch road, angle compensation device; Wherein,
Described crab angle compensation branch road is for feeding back to described angle compensation device by the yaw angle β of the described aircraft detecting;
Angle compensation device, for receiving respectively yaw angle command value, and the yaw angle β of described crab angle compensation branch road output; And after using yaw angle β to compensate the yaw angle command value receiving, the yaw angle command value after output compensation is to described angle controller.
4. the attitude of flight vehicle compensate control apparatus based on sports coupling characteristic, comprising: the servo-drive system of angle controller, described aircraft, it is characterized in that, and also comprise:
Roll angle rate compensation branch road, for detection of after the roll angle speed of described aircraft, is multiplied by tan α by described roll angle speed, obtains the output of yawrate offset; Wherein, the angle of attack that α is described aircraft;
Yawrate compensation branch road, for by the yawrate of the described aircraft detecting
output;
Crab angle compensation branch road is for exporting the yaw angle β of the described aircraft detecting;
Angle compensation device, for receiving respectively yaw angle command value, and the yaw angle β of described crab angle compensation branch road output; And after using yaw angle β to compensate the yaw angle command value receiving, yaw angle command value after output compensation, to described angle controller, is exported corresponding yawrate command value by described angle controller according to the yaw angle command value after the compensation receiving;
Angular speed compensator, for receiving respectively the yawrate of the yawrate command value of described angle controller output, the yawrate offset of described roll angle rate compensation branch road, the output of described yawrate compensation branch road
and use yawrate offset, yawrate
after described yawrate command value is compensated, the yawrate command value after output compensation;
Angular rate control unit, for the yawrate command value after the compensation of exporting according to described angular speed compensator, export the instruction of corresponding control surface deflection angle to described servo-drive system, by described servo-drive system, according to the control surface deflection angle instruction of input, controlled the attitude of described aircraft.
5. the attitude of flight vehicle compensating control method based on sports coupling characteristic, is characterized in that, comprising:
The roll angle speed of described aircraft is multiplied by tan α, obtains yawrate offset; Wherein, the angle of attack that α is described aircraft;
After using described yawrate offset to compensate yawrate command value, the yawrate command value after being compensated; Wherein, described yawrate command value is to be undertaken obtaining after corresponding conversion by the crab angle command value of inputting;
After yawrate command value after compensation is converted to the instruction of corresponding control surface deflection angle, output to described servo-drive system, by described servo-drive system, according to the control surface deflection angle instruction of input, controlled the attitude of described aircraft.
6. method as claimed in claim 5, is characterized in that, when the described yawrate offset of described use compensates yawrate command value, also comprises:
Also use the yawrate of described aircraft
described yawrate command value is compensated.
7. method as claimed in claim 6, is characterized in that, before the described yawrate offset of described use compensates yawrate command value, also comprises:
Use the yaw angle β of described aircraft to compensate described yaw angle command value, the yaw angle command value after being compensated; And
Described yawrate command value is specifically undertaken obtaining after corresponding conversion by the yaw angle command value after compensation.
8. the attitude of flight vehicle compensating control method based on sports coupling characteristic, is characterized in that, comprising:
The roll angle speed of described aircraft is multiplied by tan α, obtains yawrate offset; Wherein, the angle of attack that α is described aircraft; And
Use the yaw angle β of described aircraft to compensate the yaw angle command value of input, the yaw angle command value after being compensated, is converted to corresponding yawrate command value by the yaw angle command value after compensation;
Use described yawrate offset, and the yawrate of described aircraft
after described yawrate command value is compensated, the yawrate command value after being compensated;
After yawrate command value after compensation is converted to the instruction of corresponding control surface deflection angle, output to described servo-drive system, by described servo-drive system, according to the control surface deflection angle instruction of input, controlled the attitude of described aircraft.
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