CN104155989B - 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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- CN104155989B CN104155989B CN201410395703.9A CN201410395703A CN104155989B CN 104155989 B CN104155989 B CN 104155989B CN 201410395703 A CN201410395703 A CN 201410395703A CN 104155989 B CN104155989 B CN 104155989B
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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, particularly relate to a kind of attitude of flight vehicle compensating control method based on sports coupling characteristic and device.
Background technology
Aircraft is in flight course, and its flight attitude can be divided into rolling, driftage and the motion of pitching three attitude motion passages usually.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, usually according to microvariations Aerodynamic Model, three independently attitude controllers are set in rotational symmetry aircraft, are respectively used to the angular velocity controlling this aircraft pitch channel, jaw channel and roll channel.
But rotational symmetry aircraft is a special case of the symmetrical aircraft in face.The aircraft of flying speed higher (such as more than 5 Mach) adopts the aerodynamic arrangement of face symmetry usually, the symmetrical aircraft in the face that is, and in its flight course, it rolls, coupling between driftage and pitching three passages is stronger.Usual interchannel coupled characteristic can comprise inertia coupled characteristic, sports coupling characteristic and pneumatic coupled characteristic; At present, for the symmetrical aircraft in face three passages between sports coupling characteristic often only carry out qualitative analysis, lack the quantitative analysis comparatively accurately of the crosslinked impact on interchannel sports coupling characteristic; Nature cannot compensate control according to the crosslinked impact of the sports coupling characteristic quantized to aircraft.And according to the crosslinked impact of the sports coupling characteristic quantized, control is compensated to aircraft, 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 based on sports coupling characteristic and device, more accurately, reliably to control aircraft.
Summary of the invention
For the defect that above-mentioned prior art exists, embodiments provide a kind of attitude of flight vehicle compensating control method based on sports coupling characteristic and device, more accurately, reliably to control aircraft.
Technical scheme of the present invention is according to an aspect, and provide 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, it also comprises:
Roll angle rate compensation branch road, for described aircraft detected roll angle speed after, described roll angle speed is multiplied by tan α, obtains yawrate offset; Wherein, α is the angle of attack of described aircraft;
Angular speed compensator, for receiving the yawrate command value that described angle controller exports respectively, and the yawrate offset of described roll angle rate compensation branch road; And after using yawrate offset to compensate described yawrate command value, export the yawrate command value after compensating;
Angular rate control unit, for the yawrate command value after the compensation that exports according to described angular speed compensator, export corresponding control surface deflection angle command to described servo-drive system, controlled the attitude of described aircraft by described servo-drive system according to the control surface deflection angle command of input.
Further, the described attitude of flight vehicle compensate control apparatus based on sports coupling characteristic, also comprises:
Yawrate compensates branch road, for the yawrate of described aircraft that will detect
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 compensates branch road, angular compensator; Wherein,
Described crab angle compensates branch road and is used for the yaw angle β of the described aircraft detected to feed back to described angular compensator;
Angular compensator, for receiving yaw angle command value respectively, and described crab angle compensates the yaw angle β of branch road output; And after using yaw angle β to compensate the yaw angle command value received, export the yaw angle command value after compensating to described angle controller.
Technical scheme of the present invention is according to another aspect, and additionally provide 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, it also comprises:
Roll angle rate compensation branch road, for described aircraft detected roll angle speed after, described roll angle speed is multiplied by tan α, obtains yawrate offset and export; Wherein, α is the angle of attack of described aircraft;
Yawrate compensates branch road, for the yawrate of described aircraft that will detect
export;
Crab angle compensates branch road and is used for the crab angle β of the described aircraft detected to export;
Angular compensator, for receiving yaw angle command value respectively, and described crab angle compensates the crab angle β of branch road output; And after using crab angle β to compensate the yaw angle command value received, export the yaw angle command value after compensating to described angle controller, export corresponding yawrate command value by described angle controller according to the yaw angle command value after the compensation received;
Angular speed compensator, for receive respectively described angle controller export yawrate command value, the yawrate offset of described roll angle rate compensation branch road, described yawrate compensate branch road export yawrate
and use yawrate offset, yawrate
after described yawrate command value is compensated, export the yawrate command value after compensating;
Angular rate control unit, for the yawrate command value after the compensation that exports according to described angular speed compensator, export corresponding control surface deflection angle command to described servo-drive system, controlled the attitude of described aircraft by described servo-drive system according to the control surface deflection angle command of input.
Technical scheme of the present invention, according to another aspect, additionally 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, α is the angle of attack of described aircraft;
After using described yawrate offset to compensate yawrate command value, the yawrate command value after being compensated; Wherein, described yawrate command value obtains after carrying out corresponding conversion by the crab angle command value inputted;
Output to described servo-drive system after yawrate command value after compensation is converted to corresponding control surface deflection angle command, controlled the attitude of described aircraft by described servo-drive system according to the control surface deflection angle command of input.
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:
The yaw angle β of described aircraft is used to compensate described yaw angle command value, the yaw angle command value after being compensated; And
Described yawrate command value obtains after specifically carrying out corresponding conversion by the yaw angle command value after compensating.
Technical scheme of the present invention, according to another aspect, additionally 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, α is the angle of attack of described aircraft; And
Use the yaw angle command value of the yaw angle β of described aircraft to input to compensate, the yaw angle command value after being compensated, the yaw angle command value after compensating is converted to corresponding yawrate command value;
Use described yawrate offset, and the yawrate of described aircraft
after described yawrate command value is compensated, the yawrate command value after being compensated;
Output to described servo-drive system after yawrate command value after compensation is converted to corresponding control surface deflection angle command, controlled the attitude of described aircraft by described servo-drive system according to the control surface deflection angle command of input.
In technical scheme of the present invention, the crosslinked impact of roll angle speed on the sports coupling characteristic of jaw channel of aircraft is quantized; And generate numerically equal with the crosslinked impact quantized offset; According to offset, control is compensated to aircraft, 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 two kinds of schematic flow sheets based on the attitude of flight vehicle compensating control method of sports coupling characteristic of the embodiment of the present invention;
Fig. 4, Fig. 5 are the schematic diagram of the contrast experiment of the embodiment of the present invention.
Embodiment
For making object of the present invention, technical scheme and advantage clearly understand, enumerate preferred embodiment referring to accompanying drawing, the present invention is described in more detail.But it should be noted that, the many details listed in instructions are only used to make reader to have a thorough understanding, even if do not have these specific details also can realize these aspects of the present invention to one or more aspect of the present invention.
The term such as " module " used in this application, " system " is intended to comprise the entity relevant to computing machine, such as but not limited to hardware, firmware, combination thereof, software or executory software.Such as, module can be, but be not limited in: the thread of the process that processor runs, processor, object, executable program, execution, program and/or computing machine.For example, application program computing equipment run and this computing equipment can be modules.One or more module can be positioned at an executory process and/or thread.
The present inventor considers, when aircraft moves with larger roll angle speed, there is the crosslinked impact of comparatively significant sports coupling characteristic between roll channel and pitching, jaw channel.Now, the equation of motion of aircraft can by shown in following formula 1-2:
(formula 1)
In above-mentioned formula 1-2, α, β represent the angle of attack, the yaw angle of aircraft respectively;
represent the angle of attack angular speed of the sports coupling characteristic of aircraft, yaw angle angular speed respectively; Pitch channel controls the angle of attack, and angle of attack angular speed is the angular speed (abbreviation pitch rate) of pitch channel; Jaw channel controls yaw angle, and yaw angle angular speed is the angular speed (abbreviation yawrate) of jaw channel;
represent the pitch rate of aircraft, yawrate, roll angle speed respectively, δ
p, δ
yrepresent the control surface deflection angle of the pitching rudder of aircraft, driftage rudder respectively; a
4, a
5, b
4, b
5it is all constant coefficient.
Above-mentioned formula 1-2 embodies in the mode quantized, and roll angle speed is on the crosslinked impact of the sports coupling characteristic of pitch channel, jaw channel.2 is example with the formula, and the sports coupling of jaw channel is cross-linked item
existence cause
increase, cause the dynamic increase of yaw angle, have impact on aircraft and keep the flat ability flying (namely keeping β=0).
The present inventor considers, due to very strict with restriction to the requirement of yaw angle, therefore can be cross-linked item according to the sports coupling quantized, compensate control to aircraft, contribute to more accurate to the control of aircraft, reliable.
Technical scheme of the present invention is described in detail below in conjunction with accompanying drawing.
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 of aircraft (not marking in figure); The output terminal of angle controller 101, the output terminal of roll angle rate compensation branch road 103 are connected respectively to two input ends of angular speed compensator 104.Input end, the output terminal of angular rate control unit 105 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 airvane such as rudder, pitching rudder of going off course.
More excellent, as shown in Figure 1, based on the attitude of flight vehicle compensate control apparatus of sports coupling characteristic, also comprise: yawrate compensates 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, based on the attitude of flight vehicle compensate control apparatus of sports coupling characteristic, also comprise: crab angle compensates branch road 107 and angular compensator 108.
The output terminal of crab angle compensation branch road 107 is connected to an input end of angular compensator 108.Another input end of angular compensator 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 method 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 roll angle speed of aircraft is multiplied by tan α by the attitude of flight vehicle compensate control apparatus based on sports coupling characteristic, obtains yawrate offset.
Particularly, compensate based on the angular velocity in roll in the attitude of flight vehicle compensate control apparatus of sports coupling characteristic the roll angle speed that branch road 103 detects aircraft
after, roll angle speed is multiplied by tan α, obtains yawrate offset and export; Wherein, α is the angle of attack of aircraft.
S202: after using yawrate offset to compensate yawrate command value based on the attitude of flight vehicle compensate control apparatus of sports coupling characteristic, the yawrate command value after being compensated.
Particularly, receive the yaw angle command value of airborne computer output of aircraft based on the angle controller 101 in the attitude of flight vehicle compensate control apparatus of sports coupling characteristic after, export the angular speed compensator 104 of corresponding yawrate command value to 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 yawrate command value of angular speed compensator 104 difference receiving angle controller 101 output of aircraft, and the yawrate offset that roll angle rate compensation branch road 102 exports; And after using yawrate offset to compensate yawrate command value, export the yawrate command value after compensating.
S203: output to servo-drive system 102 after the yawrate command value after compensating being converted to corresponding control surface deflection angle command based on the attitude of flight vehicle compensate control apparatus of sports coupling characteristic, control the attitude of aircraft by servo-drive system 102 according to the control surface deflection angle command of input.
Particularly, yawrate command value after the compensation exported according to angular speed compensator 104 based on the angular rate control unit 105 in the aircraft in the attitude of flight vehicle compensate control apparatus of sports coupling characteristic, exports corresponding control surface deflection angle command to servo-drive system 102; By the control surface deflection angle command of servo-drive system 102 according to input, control driftage rudder and carry out control surface deflection, thus reach the object of the attitude controlling aircraft.The concrete structure of servo control mechanism 102, and it controls the concrete grammar of driftage rudder kick according to control surface deflection instruction, is the conventional techniques means of art technology, repeats no more herein.
In fact, when the roll angle speed of aircraft in flight course is
time, the generation of aircraft own numerically equals
roll channel on the crosslinked impact of the sports coupling characteristic of the yaw angle of jaw channel; And angular velocity in roll compensates branch road 103 and produces one and numerically also equal
offset, by compensate eliminate the crosslinked impact of roll channel on the sports coupling characteristic of the yaw angle of jaw channel; Thus make driftage rudder obtain stronger passage decoupling effect, can more stably control aircraft and fly.
More excellent, the yawrate based on the attitude of flight vehicle compensate control apparatus of sports coupling characteristic compensates branch road 106 can the yawrate of sense aircraft
and will to detect
feed back to angular speed compensator 104.
And angular speed compensator 104 can also use yawrate to compensate the yawrate of branch road 106 feedback
the yawrate command value that angle controller 101 exports is compensated.
More excellent, compensating branch road 107 based on the crab angle in the attitude of flight vehicle compensate control apparatus of sports coupling characteristic can the yaw angle β of sense aircraft; And the β detected is fed back to angular compensator 108.
And, the yaw angle command value that the airborne computer that angular compensator 108 receives aircraft respectively exports, and crab angle compensates the yaw angle β of branch road 107 output; And after using yaw angle β to compensate the yaw angle command value received, export the yaw angle command value after compensating to angle controller 101.Yaw angle command value is compensated, contributes to the crosslinked impact of the sports coupling characteristic of the yaw angle eliminating 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 roll angle speed of aircraft is multiplied by tan α by the attitude of flight vehicle compensate control apparatus based on sports coupling characteristic, obtains yawrate offset.
Particularly, compensate based on the angular velocity in roll in the attitude of flight vehicle compensate control apparatus of sports coupling characteristic the roll angle speed that branch road 103 detects aircraft
after, roll angle speed is multiplied by tan α, obtains yawrate offset and export; Wherein, α is the angle of attack of aircraft.
S302: the attitude of flight vehicle compensate control apparatus based on sports coupling characteristic uses the yaw angle command value of the yaw angle β of aircraft to input to compensate, yaw angle command value after being compensated, is converted to corresponding yawrate command value by the yaw angle command value after compensating.
Particularly, the yaw angle β of branch road 107 sense aircraft is compensated based on the crab angle in the attitude of flight vehicle compensate control apparatus of sports coupling characteristic; And the β detected is fed back to angular compensator 108.
Angular compensator 108, for the yaw angle command value of receiver borne computer output respectively, and crab angle compensates the crab angle β of branch road 107 output; And after using crab angle β to compensate the yaw angle command value received, export the yaw angle command value after compensating to angle controller 101.Corresponding yawrate command value is exported according to the yaw angle command value after the compensation received by angle controller 101.
S303: the attitude of flight vehicle compensate control apparatus based on sports coupling characteristic uses yawrate offset, and the yawrate of aircraft
after the yawrate command value of angle controller 101 output is compensated, the yawrate command value after being compensated.
Particularly, the yawrate of branch road 106 sense aircraft is compensated based on the yawrate in the attitude of flight vehicle compensate control apparatus of sports coupling characteristic
and will to detect
feed back to angular speed compensator 104.
The yawrate command value that angular speed compensator 104 difference receiving angle controller 101 exports, the yawrate offset of roll angle rate compensation branch road 103, yawrate compensate the yawrate that branch road 106 exports
and use yawrate offset, yawrate
after yawrate command value is compensated, export the yawrate command value after compensating.
S304: output to servo-drive system 102 after the yawrate command value after compensating being converted to corresponding control surface deflection angle command based on the attitude of flight vehicle compensate control apparatus of sports coupling characteristic, control the attitude of aircraft by servo-drive system 102 according to the control surface deflection angle command of input.
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 setting two kinds of patterns contrasts.Mode A control method is adopt the attitude control method not comprising the routine of compensating control method of the present invention; Mode B control method is on the basis of Mode A control method, adds compensating control method of the present invention.Under identical flying condition, respectively Mode A, B control method are emulated.
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 stable state rapidly, does not occur vibration.Simulation result shows: the attitude of flight vehicle compensate control apparatus based on sports coupling characteristic of the embodiment of the present invention and method, significantly reduce the yaw angle peak-peak being unfavorable for aircraft flight, eliminate the vibration of the angle of attack, significantly improve the dynamic quality of the gesture stability of aircraft.
In technical scheme of the present invention, the crosslinked impact of roll angle speed on the sports coupling characteristic of jaw channel of aircraft is quantized; And generate numerically equal with the crosslinked impact quantized offset; According to offset, control is compensated to aircraft, contribute to more accurate to the control of aircraft, reliable.
And, also yawrate, the impact of yaw angle on jaw channel quantized and compensated, contributing to more accurate to the control of aircraft, reliable further.
One of ordinary skill in the art will appreciate that all or part of step realized in above-described embodiment method is that the hardware that can carry out instruction relevant by program has come, 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. based on an attitude of flight vehicle compensate control apparatus for sports coupling characteristic, comprising: the servo-drive system of angle controller, described aircraft, is characterized in that, also comprise:
Roll angle rate compensation branch road, for described aircraft detected roll angle speed after, described roll angle speed is multiplied by tan α, obtains yawrate offset; Wherein, α is the angle of attack of described aircraft;
Angular speed compensator, for receiving the yawrate command value that described angle controller exports respectively, and the yawrate offset of described roll angle rate compensation branch road; And after using yawrate offset to compensate described yawrate command value, export the yawrate command value after compensating;
Angular rate control unit, for the yawrate command value after the compensation that exports according to described angular speed compensator, export corresponding control surface deflection angle command to described servo-drive system, controlled the attitude of described aircraft by described servo-drive system according to the control surface deflection angle command of input.
2. device as claimed in claim 1, is characterized in that, also comprise:
Yawrate compensates branch road, for the yawrate of described aircraft that will detect
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 comprise: crab angle compensates branch road, angular compensator; Wherein,
Described crab angle compensates branch road and is used for the yaw angle β of the described aircraft detected to feed back to described angular compensator;
Angular compensator, for receiving yaw angle command value respectively, and described crab angle compensates the yaw angle β of branch road output; And after using yaw angle β to compensate the yaw angle command value received, export the yaw angle command value after compensating to described angle controller.
4. based on an attitude of flight vehicle compensate control apparatus for sports coupling characteristic, comprising: the servo-drive system of angle controller, described aircraft, is characterized in that, also comprise:
Roll angle rate compensation branch road, for described aircraft detected roll angle speed after, described roll angle speed is multiplied by tan α, obtains yawrate offset and export; Wherein, α is the angle of attack of described aircraft;
Yawrate compensates branch road, for the yawrate of described aircraft that will detect
export;
Crab angle compensates branch road and is used for the yaw angle β of the described aircraft detected to export;
Angular compensator, for receiving yaw angle command value respectively, and described crab angle compensates the yaw angle β of branch road output; And after using yaw angle β to compensate the yaw angle command value received, export the yaw angle command value after compensating to described angle controller, export corresponding yawrate command value by described angle controller according to the yaw angle command value after the compensation received;
Angular speed compensator, for receive respectively described angle controller export yawrate command value, the yawrate offset of described roll angle rate compensation branch road, described yawrate compensate branch road export yawrate
; And use yawrate offset, yawrate
after described yawrate command value is compensated, export the yawrate command value after compensating;
Angular rate control unit, for the yawrate command value after the compensation that exports according to described angular speed compensator, export corresponding control surface deflection angle command to described servo-drive system, controlled the attitude of described aircraft by described servo-drive system according to the control surface deflection angle command of input.
5., based on an attitude of flight vehicle compensating control method for sports coupling characteristic, it is characterized in that, comprising:
The roll angle speed of described aircraft is multiplied by tan α, obtains yawrate offset; Wherein, α is the angle of attack of described aircraft;
After using described yawrate offset to compensate yawrate command value, the yawrate command value after being compensated; Wherein, described yawrate command value obtains after carrying out corresponding conversion by the crab angle command value inputted;
Output to servo-drive system after yawrate command value after compensation is converted to corresponding control surface deflection angle command, controlled the attitude of described aircraft by described servo-drive system according to the control surface deflection angle command of input.
6. method as claimed in claim 5, is characterized in that, 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.
7. method as claimed in claim 6, is characterized in that, before the described yawrate offset of described use compensates yawrate command value, also comprise:
The yaw angle β of described aircraft is used to compensate described yaw angle command value, the yaw angle command value after being compensated; And
Described yawrate command value obtains after specifically carrying out corresponding conversion by the yaw angle command value after compensating.
8., based on an attitude of flight vehicle compensating control method for sports coupling characteristic, it is characterized in that, comprising:
The roll angle speed of described aircraft is multiplied by tan α, obtains yawrate offset; Wherein, α is the angle of attack of described aircraft; And
Use the yaw angle command value of the yaw angle β of described aircraft to input to compensate, the yaw angle command value after being compensated, the yaw angle command value after compensating is converted to corresponding yawrate command value;
Use described yawrate offset, and the yawrate of described aircraft
after described yawrate command value is compensated, the yawrate command value after being compensated;
Output to servo-drive system after yawrate command value after compensation is converted to corresponding control surface deflection angle command, controlled the attitude of described aircraft by described servo-drive system according to the control surface deflection angle command of input.
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| CN111045449A (en) * | 2019-11-26 | 2020-04-21 | 成都飞机工业（集团）有限责任公司 | Nonlinear compensation-based unmanned aerial vehicle roller power control method |
| CN113359793B (en) * | 2021-06-01 | 2022-08-23 | 北京电子工程总体研究所 | Compensation method and device for improving airspeed control quality of low-speed aircraft |
| CN114460956B (en) * | 2021-08-06 | 2023-10-31 | 北京天兵科技有限公司 | Control network design method and system for swing angle of liquid rocket servo mechanism |
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