CN105843076A - Flexible aircraft aeroelasticity modeling and controlling method - Google Patents
Flexible aircraft aeroelasticity modeling and controlling method Download PDFInfo
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Abstract
The invention relates to a flexible aircraft aeroelasticity modeling and controlling method, comprising describing a flexible aircraft aeroelasticity model by employing an aeroelasticity theory, simplifying the model by using a balance cross cutting model reduced-order method, designing a gain scheduling PID controller and designing flight control computer hardware. According to actual requirements, the flexible aircraft in the invention is an elastic aircraft, and a state space expression is obtained by employing an aeroelasticity design theory; according to the high order characteristic of a state equation, a Hankel singular value is calculated, and a model is simplified into ten more orders of models; a PID control strategy based on gain scheduling is employed, and each 1000m of a flight height is used as a work location; a PID controller after order reduction is designed on each work location, and a Hanus method is adopted to perform unrolling-resistant non-error switching among local controls; finally, a flight control computer hardware structure is designed specific to the flexible aircraft by employing a DSP+FPGA method.
Description
Technical field
The present invention relates to a kind of flexible flier aeroelastic model Setting and control method, belong to Modeling of Vehicle and control
Field processed.
Background technology
In recent years, along with developing rapidly of space flight and aviation technology, the task that flexible flier undertakes also gets more and more, in state
Important function in anti-industry and national economy has the most gradually manifested out.Flexible flier aeroelastic model refers to that consideration flies
The kinetic model of row device aeroelasticity coupling effect.Owing to the rigidity of flexible aircraft structure is less, the pneumatic bomb of its structure
Property characteristic can not ignore, it is impossible to simply the kinetic model of this type of aircraft is reduced to Rigid Body Dynamics Model, it is necessary to will
Flexible flier considers as a class Elastic Vehicles.Relative to rigid model, aeroelastic model air force to be considered,
Coupled relation between elastic force and inertia force, thus complicated more than the modeling of simple conventional aircraft.
In Flight Vehicle Design, flexible flier control system just develops towards the direction of aviation synthesization, melts flight control
The suppression of system, aeroelasticity, the integrated flight management system such as steady is in one, and makes these system high efficiency work compounds, safety
Complete every aerial mission.Meanwhile, flexible flier controls many factors to be considered, parameter rule to be controlled
Mould is the biggest, and the exponent number of dummy vehicle is more and more higher, so that design flight control system becomes increasingly complex.
Aeroelasticity suppression problem is also a main aspect of vehicle dynamics characteristic research, and flexible flier is flying
During row, can be by various external disturbance.To this end, use gain scheduling PID controller, this nonlinear system is existed
The enterprising line linearity in each operating point, for the design of each operating point by the PID controller of higher order controller depression of order.Empirical tests should
Control method has preferable robust stability for flexible flier, and is easily achieved in engineering.According to task needs, this
The flight-control computer of bright involved flexible flier needs to carry out individually designed, to this end, the present invention devises special use
In the flight-control computer of this flexible flier, have employed the group method of DSP+FPGA, it is achieved that to flexible flier
Aerodynamic grid division, the simplification of aeroelastic model and the gain scheduling PID control to flexible flier.
Summary of the invention
The present invention is directed to flexible flier, it is proposed that the foundation of a kind of aeroelastic model and control method.The method is deep
Enter to consider flexible flier aeroelasticity coupling effect, apply aeroelasticity theoretical description for the feature that its rigidity is less
The aeroelastic model of such aircraft, the method can be good at making aircraft tackle various fitful winds, make displacement structure and
Elastic acceleration can be restrained timely.And set up this type of flight by calculating Hankel singular values of a matrix application balance truncation method
The Controlling model of device, and model is simplified so that the model after simplification is with relatively small model error preferably
Approximation master mould.According to the flexible flier aeroelastic model set up, use and become to be permitted by Nonlinear System Design Task-decomposing
The strategy divided and rule of many linear subtasks, devises gain scheduling PID controller, achieves and preferably control effect.
Finally, according to task needs, the present invention devises the flight-control computer being specifically designed to this type of flexible flier, have employed
The group method of DSP+FPGA, it is achieved that the aerodynamic grid of flexible flier is divided, the simplification of aeroelastic model and to soft
Property aircraft gain scheduling PID control.
The present invention is made up of following four part: 1) with the aeroelasticity mould of aeroelasticity theoretical description flexible flier
Type.2) model is simplified by application balance truncation model order reducing method.3) design of gain scheduling PID controller.4) flight
Control the realization of computer.
(1) theoretically, any aircraft can be reduced to rigid model under certain condition, thus applies rigid body to move
Mechanical model is theoretical to be analyzed aircraft and controls.But when aircraft causes material structure to pursue lightweight
When rigidity constantly reduces, simply aircraft is reduced to rigid model and has not met practical situation, aircraft control can be caused
Make existing relatively large deviation, even result in the appearance of the unstable situation of system.The rigidity of flexible flier is less, and it moves at air
Can produce very large deformation under the effect of power, this deformation can cause additional air force, and this additional air force
Structure is made to produce additional deformation in turn.The pneumatic of its structure is taken into full account this type of aircraft is modeled when
Elastic characteristic, it is necessary to flexible flier is designed as a special class aircraft.This patent is for this type of aircraft, application
Aeroelasticity theoretical to load distribution, driving efficiency, dissipate, tremor, the problem such as buffeting and dynamic response are modeled, and use gas
Dynamic elasticity grid describes the aeroelasticity feature of Flight Vehicle Structure infinitesimal, such aircraft based on aeroelasticity theoretical description
Aeroelastic model, finally given the state-space expression of this aeroelastic system.
(2) model is simplified by application balance truncation model order reducing method.In order to be controlled for flexible flier
The design of rule, it is contemplated that state equation high-order and the feature of morbid state, the first step seeks to simplify state equation.Through right
The observation of state equation, analyzes and finds that this flexible flier control object has the advantages that exponent number is high, and this makes has it
Effect control becomes the most difficult, and this is being difficult in engineering practice；Even if being capable of, amount of calculation is also quite huge
Greatly, it is difficult to accomplish the real-time control to aircraft, can cause controlling not in time accident occurs.Through to system state equation
The calculating of Hankel singular value, finds out from analysis result: system can preferably be approximated by the state equation on tens rank,
System after approximation is stable, also is able to well approach the dynamic of original system and steady-state behaviour simultaneously.After tens rank
State is little (less than 5 percent) on the impact of system, so using the method for balance truncation that model is simplified, thus
The system of enabling to is easy to calculate and control, and increases the real-time controlled.Balance truncation method is effectively reduced this high order system
Order, and controllability and observability and the stability of original system can be kept, and be readily available reduced order system and original system
Between error relationship.
(3) design of gain scheduling PID controller.Flexible flier model has non-linear, the feature of parameter consolidation.As
What ensure this control object of flexible flier under various flight environment of vehicle can safe and stable and efficient operation, for flying
The task actual demand of row device has very important significance.To this end, the present invention devises a kind of gain scheduling PID controller,
Involved flexible flier can be control effectively by this controller, has preferable robust stability.
Although the order of system being fallen below from tens rank tens rank, but the system order after depression of order being the highest,
Engineering is still difficulty with and applies.So for flexible flier involved in the present invention, wanting to apply in engineering, first
Being first PID controller by the higher order controller depression of order obtained, the concrete method application Maclaurin series used is launched
Method, tries to achieve the PID controller of correspondence with former higher order controller to the Maclaurin expansion of variable s, can be directly by launching
Formula obtains KP, Ki, KdParameter arrange.Based on this Controller order-reduction method, finally obtaining PID controller can in low-frequency range
Well approximate higher order controller, and integral action have also been obtained well approximation.
Gain scheduling PID control method for flexible flier application involved in the present invention, it is first determined this type of is soft
Property aircraft each operating point: owing to a parameter most important when flexible flier works is flying height, thus flight
Highly every 1000m is taken as an operating point, takes several operating points.Behind the operating point of this nonlinear system selected, in each work
Make the enterprising line linearity of point, obtain Local Linear Model, original non-with the Local Linear Model replacement on these operating points
Linear system；Then for the PID controller after flexible flier each operating point design depression of order, thus can be obtained by multiple
Local control.After local control design, need the switching being controlled between device, any method all must solve control
The problem that device processed unrolls because this non-linear cause unroll control system performance can be made significantly to change, bigger such as output
Overshoot, sometimes even result in instability.Another problem is precisely due to when Mode-switch, the output of different controllers is not
The jump of the same input that can cause controlled device and discontinuous change；So needing seamlessly transitting or nothing between different modalities
Difference switching.The controller design simultaneously meeting two above condition is referred to as anti-indifference switching of unrolling.Solution is application Hanus
The anti-indifference switching of unrolling that method is controlled between device, thus it is nonlinear to connect these local linear controllers composition one
Global controller, completes the control to whole nonlinear system.Control effect for the gain scheduling PID controller to design
Fruit has and recognizes intuitively, has done this flexible flier respectively when fitful wind arrives, with or without the displacement corresponding to controller with add
Speed effect figure.
(4) realization of flight-control computer.According to mission requirements, determine that flight control computer employing DSP+FPGA's is overall
Method.Wherein, flight-control computer is made up of flush bonding processor DSP and FPGA, and dsp chip uses TI company
TMS32F28335, supports floating-point operation, and high primary frequency, up to 150MHz, is mainly used in data and processes and flight control；Realize
The aerodynamic grid of flexible flier is divided, the simplification of aeroelastic model and the gain scheduling PID of flexible flier is controlled
System；FPGA uses the EP3C25E144C7N of altera corp, containing 25K logic gate, is mainly used in extension system and leads to
Letter interface and resource, assist DSP to carry out data acquisition and control.Wherein, logical between internal DSP and FPGA of flight-control computer
Cross SCI and CAN carry out data interaction, DSP and FPGA by peripheral hardware and sensing system, actuating system, telemetry system it
Between carry out data interaction.
Wherein, DSP gathers the navigation attitude information of gyro system by SPI, utilizes AD to gather the angular acceleration sensing of three axles
Device, serial ports RS422A sends Flight Condition Data by radio station ground station, and PWM, CAP and GPIO can be used for controlling steering wheel, connecing
By remote-controller data etc..FPGA is directly accepted by RS232TTL and is resolved gps data, utilizes RS422 bus to read big destiny
According to the angle of attack, yaw angle information, carry out data interaction by RS422 and CAN dual redundant bus and system.It addition, FPGA can connect
By the data of airborne force balance, carry out data interaction by radio station with earth station.
Accompanying drawing illustrates:
Fig. 1 is the aerodynamic grid division figure of flexible flier.
Fig. 2 is that flexible flier node has control dynamic respond design sketch.
Fig. 3 is that flexible flier node has control acceleration responsive design sketch.
Fig. 4 is that flexible flier node is without control dynamic respond design sketch.
Fig. 5 is that flexible flier node is without control acceleration responsive design sketch.
Fig. 6 is flight-control computer pictorial diagram.
Detailed description of the invention
A kind of flexible flier aeroelasticity modeling relates to control method: for this type of flight involved in the present invention
Device, with the aeroelastic model of aeroelasticity theoretical description flexible flier；Application balance truncation model order reducing method is to model
Simplify；Design for the gain scheduling PID controller of this type of system；The realization of flight-control computer.
(1) theoretically, any aircraft can be reduced to rigid model under certain condition, thus applies rigid body to move
Mechanical model is theoretical to be analyzed aircraft and controls.But when aircraft causes material structure to pursue lightweight
When rigidity constantly reduces, simply aircraft is reduced to rigid model and has not met practical situation, aircraft control can be caused
Make existing relatively large deviation, even result in the appearance of the unstable situation of system.The rigidity of flexible flier is less, and it moves at air
Can produce very large deformation under the effect of power, this deformation can cause additional air force, and this additional air force
Structure is made to produce additional deformation in turn.The pneumatic of its structure is taken into full account this type of aircraft is modeled when
Elastic characteristic, it is necessary to flexible flier is designed as a special class aircraft.This patent is for this type of aircraft, application
Aeroelasticity theoretical to load distribution, driving efficiency, dissipate, tremor, the problem such as buffeting and dynamic response are modeled, and use gas
Dynamic elasticity grid-shaped describes the aeroelasticity feature of Flight Vehicle Structure infinitesimal, such flight based on aeroelasticity theoretical description
The aeroelastic model of device.
Use the state-space expression method of Roger approximation, it is proposed that the state in state-space expression as follows
Equation:
Wherein
(state vector array)
(controlling (input) vector array)
In formula 0n, In, it is n dimension null matrix and unit matrix, referred to as degree of freedom respectively.
Thus based on this aeroelasticity modeling method, finally given the state-space expression of this aeroelastic system.
(2) model is simplified by application balance truncation model order reducing method.In order to be controlled for flexible flier
The design of rule, it is contemplated that state equation high-order and the feature of morbid state, the first step seeks to simplify state equation.Through right
The observation of state equation, analyzes and finds that this flexible flier control object has the advantages that exponent number is high, and this makes has it
Effect control becomes the most difficult, and this is being difficult in engineering practice；Even if being capable of, amount of calculation is also quite huge
Greatly, can cause controlling not in time accident occurs.Through the calculating to system state equation Hankel singular value, from analysis result
In find out: system can preferably be approximated by the state equation on tens rank, and the system after approximation is stable, also can simultaneously
Enough well approach the dynamic of original system and steady-state behaviour.State after tens rank is little (less than percentage on the impact of system
Five), so use balance truncation method model is simplified such that it is able to make system be easy to calculate and control, increase
Add the real-time of control.
(3) flexible flier model has non-linear, the feature of parameter consolidation.In order to ensure this control of flexible flier
Object under various flight environment of vehicle can safe and stable and efficient operation, the present invention devises a kind of gain scheduling PID and controls
Device, involved flexible flier can be control effectively, has preferable robust stability by this controller.
Although the order of system being fallen below from tens rank tens rank, but the system order after depression of order being the highest,
Engineering is still difficulty with and applies.So for flexible flier involved in the present invention, wanting to apply in engineering, first
Being first PID controller by the higher order controller depression of order obtained, the concrete method used is as follows:
PID controller by following form
With former higher order controller the Maclaurin series of variable s can launch to try to achieve above-mentioned PID controller:
It is assumed here that s ＜ ＜ σ (A2), because most interested is low-frequency range.So having:
The K of PID controller has just been directly obtained by such methodp, Ki, KdThree parameters are arranged.Based on this control
Device order reducing method, finally obtains PID controller and can be good at approximating higher order controller in low-frequency range, and integral action also obtains
Arrive good approximation.
Gain scheduling PID control method for flexible flier application involved in the present invention, it is first determined this type of is soft
Property aircraft each operating point: owing to a parameter most important when flexible flier works is flying height, thus flight
Highly every 1000m is taken as an operating point, takes several operating points.Behind the operating point of this nonlinear system selected, in each work
Make the enterprising line linearity of point, obtain Local Linear Model, original non-with the Local Linear Model replacement on these operating points
Linear system；Then for the PID controller after flexible flier each operating point design depression of order, thus can be obtained by multiple
Local control.In order to realize the anti-indifference switching of unrolling between multiple local control, invention applies Hanus method and enter
Anti-indifference switching of unrolling between line control unit, thus connect these local linear controllers and form a nonlinear overall situation control
Device processed, completes the control to whole nonlinear system.It is individual in order to the control effect of the gain scheduling PID controller of design is had
Recognize intuitively, done this flexible flier respectively when fitful wind arrives, imitate with or without the displacement corresponding to controller and acceleration
Fruit figure.
(4) flight-control computer of this type of flexible flier needs individually designed, according to mission requirements, determines and flies control meter
Calculation machine uses the group method of DSP+FPGA.Wherein, flight-control computer is made up of flush bonding processor DSP and FPGA, DSP
Chip uses the TMS32F28335 of TI company, supports floating-point operation, and high primary frequency, up to 150MHz, is mainly used in data
Process and flight controls；Achieve the division of the aerodynamic grid to flexible flier, the simplification of aeroelastic model and flexibility is flown
The gain scheduling PID of row device controls；FPGA uses the EP3C25E144C7N of altera corp, containing 25K gate list
Unit, is mainly used in extending system communication interface and resource, assists DSP to carry out data acquisition and control.Wherein, flight controls to calculate
Carrying out data interaction by SCI and CAN between internal DSP and FPGA of machine, DSP and FPGA is by peripheral hardware and sensor system
Data interaction is carried out between system, actuating system, telemetry system.
Wherein, DSP gathers the navigation attitude information of gyro system by SPI, utilizes AD to gather the angular acceleration sensing of three axles
Device, serial ports RS422A sends Flight Condition Data by radio station ground station, and PWM, CAP and GPIO can be used for controlling steering wheel, connecing
By remote-controller data etc..FPGA is directly accepted by RS232TTL and is resolved gps data, utilizes RS422 bus to read big destiny
According to the angle of attack, yaw angle information, carry out data interaction by RS422 and CAN dual redundant bus and system.It addition, FPGA can connect
By the data of airborne force balance, carry out data interaction by radio station with earth station.
Claims (4)
1. the present invention proposes the modeling of a kind of flexible flier aeroelasticity and control method, it is characterised in that: it is by with pneumatic bomb
Property theoretical description flexible flier aeroelastic model, application balance truncation model order reducing method model is simplified, increases
The benefit scheduling design of PID controller, the hardware designs four part composition of flight-control computer.Theoretically, any aircraft
Can be reduced to rigid model under certain condition, thus apply Rigid Body Dynamics Model theoretical aircraft is analyzed and
Control.But when aircraft causes the rigidity of material structure constantly to reduce to pursue lightweight, simply by aircraft
It is reduced to rigid model and has not met practical situation, can cause flying vehicles control that relatively large deviation occurs, even result in system
The appearance of unstable situation.The rigidity of flexible flier is less, and it can produce very large deformation under aerodynamic effect, this
Deformation can cause additional air force, and this additional air force makes structure produce additional deformation in turn.?
To take into full account the aeroelastic characteristic of its structure when that this type of aircraft being modeled, it is necessary to using flexible flier as
A special class aircraft designs.This patent, for this type of aircraft, applies aeroelasticity theoretical to load distribution, manipulation
Efficiency, dissipate, tremor, the problem such as buffeting and dynamic response are modeled, and describe Flight Vehicle Structure with aeroelasticity grid micro-
The aeroelasticity feature of unit, the aeroelastic model of such aircraft based on aeroelasticity theoretical description, finally give this
The state-space expression of aeroelastic system.
2. in order to be controlled the design of rule for flexible flier, it is contemplated that state equation high-order and the feature of morbid state, first
Step seeks to simplify state equation.Through the observation to state equation, analyze and find this flexible flier control object
Having the advantages that exponent number is high, this makes to control effectively it to become the most difficult, and this is being difficult in engineering practice
Realize；Even if being capable of, amount of calculation is also the hugest, is difficult to accomplish the real-time control to aircraft, can cause controlling not
In time accident occurs.Through the calculating to system state equation Hankel singular value, find out from analysis result: tens rank
System can preferably be approximated by state equation, and the system after approximation is stable, also is able to well to approach former simultaneously
Dynamic and the steady-state behaviour of system.State after tens rank is little (less than 5 percent) on the impact of system, so using
Model is simplified by the method for balance truncation such that it is able to makes system be easy to calculate and control, increases the real-time controlled.
Balance truncation method is effectively reduced the order of this high order system, and can keep the controllability and observability of original system and stablize
Property, and the error relationship being readily available between reduced order system and original system.
3. flexible flier model has non-linear, the feature of parameter consolidation.How to ensure this control object of flexible flier
Under various flight environment of vehicle can safe and stable and efficient operation, the task actual demand for aircraft has the heaviest
The meaning wanted.To this end, the present invention devises a kind of gain scheduling PID controller, involved flexibility can be flown by this controller
Row device control effectively, and has preferable robust stability.
Although the order of system being fallen below from tens rank tens rank, but the system order after depression of order being the highest, in engineering
In be still difficulty with and apply.So for flexible flier involved in the present invention, wanting to apply in engineering, first
The higher order controller depression of order obtained is PID controller, and the concrete method used is exactly the method applying Maclaurin series to launch,
With former higher order controller, the Maclaurin expansion of variable s is tried to achieve the PID controller of correspondence, can directly be obtained by expansion
KP, Ki, KdParameter arrange.Based on this Controller order-reduction method, finally obtain PID controller and can be good in low-frequency range
Approximate higher order controller, and integral action have also been obtained well approximation.
Gain scheduling PID control method for flexible flier application involved in the present invention, it is first determined this type of flexibility flies
Each operating point of row device: owing to a parameter most important when flexible flier works is flying height, so flying height
Every 1000m is taken as an operating point, takes several operating points.Behind the operating point of this nonlinear system selected, in each operating point
Enterprising line linearity, obtains Local Linear Model, replaces original non-linear with the Local Linear Model on these operating points
System；Then for the PID controller after flexible flier each operating point design depression of order, thus can be obtained by multiple local
Controller.After local control design, need the switching being controlled between device, any method all must solve controller
The problem unrolled because this non-linear cause unroll control system performance can be made significantly to change, bigger super such as output
Adjust, sometimes even result in instability.Another problem precisely due to when Mode-switch, the output difference meeting of different controllers
Cause the jump of the input of controlled device and discontinuous change, thus need between different modalities seamlessly transit or indifference is cut
Change.The controller design simultaneously meeting two above condition is referred to as anti-indifference switching of unrolling.Solution is application Hanus method
The anti-indifference switching of unrolling being controlled between device, thus connect these local linear controllers one nonlinear overall situation of composition
Controller, completes the control to whole nonlinear system.In order to the control effect of the gain scheduling PID controller of design is had
Individual recognize intuitively, done this flexible flier respectively when fitful wind arrives, with or without the displacement corresponding to controller and acceleration
Design sketch.
4. the flight-control computer of this type of flexible flier needs individually designed, according to mission requirements, determines flight control computer
Use the group method of DSP+FPGA.Wherein, flight-control computer is made up of flush bonding processor DSP and FPGA, dsp chip
Using the TMS32F28335 of TI company, support floating-point operation, high primary frequency, up to 150MHz, is mainly used in data and processes
With flight control；Achieve the aerodynamic grid to flexible flier divide, the simplification of aeroelastic model and to flexible flier
Gain scheduling PID control；FPGA uses the EP3C25E144C7N of altera corp, containing 25K logic gate, main
It is used for extending system communication interface and resource, assists DSP to carry out data acquisition and control.Wherein, in flight-control computer
Carrying out data interaction by SCI and CAN between portion DSP and FPGA, DSP and FPGA is by peripheral hardware and sensing system, work
Move and between system, telemetry system, carry out data interaction.
Wherein, DSP gathers the navigation attitude information of gyro system by SPI, utilizes AD to gather the angular acceleration transducer of three axles,
Serial ports RS422A sends Flight Condition Data by radio station ground station, PWM, CAP and GPIO can be used for controlling steering wheel, accept distant
Control device data etc..FPGA is directly accepted and is resolved gps data by RS232TTL, utilize RS422 bus read atmosphere data with
The angle of attack, yaw angle information, carry out data interaction by RS422 and CAN dual redundant bus and system.It addition, FPGA can accept machine
Carry the data of force balance, carry out data interaction by radio station with earth station.
Peripheral Interface resource contained by flight-control computer is as shown in table 1, and pictorial diagram is as shown in Figure 6.
Peripheral Interface contained by table 1 flight-control computer
。
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