CN106444885B - A kind of active flutter surppression controller constitutes and its analogy method - Google Patents
A kind of active flutter surppression controller constitutes and its analogy method Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
- G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses a kind of active flutter surppression controllers, including input signal port, state observer, PD control device, simulated target state and output signal port；Signal input port measurement control object output signal is simultaneously supplied to state observer, simulated target state input dbjective state signal is simultaneously supplied to state observer, state observer estimation control object state simultaneously provides status signal and gives PD control device, PD control device determines control gain, output signal is supplied to output signal port, output signal port provides control signal to control object；The invention also discloses a kind of methods of active flutter surppression controller simulation；Controller of the present invention can greatly reduce the requirement relied in the test of flutter of aerofoil active suppression accurate model, novel active flutter surppression controller need to only measure wing certain point acceleration responsive signal, while carrying out numerical value processing to the acceleration signal and required control input signal can be obtained.
Description
Technical field
The invention belongs to the technical fields such as mechanics, machinery, control, in particular to a kind of active flutter surppression controller to constitute
And its analogy method, it is applied particularly to airdreadnought Surface power drive physical simulation test.
Background technique
The coupling of airdreadnought such as fighter plane, civil aircraft in flight course due to air force and structure can produce
How raw chatter phenomenon to be calculated by numerical value and realize that flutter of aerofoil active control inhibits simulation, is closed in aircraft development task
Key and important necessary links.Airdreadnought movement has the characteristics that model is complicated, movement environment is diversified.Traditional flutter
Controller (such as LQG controller) is inhibited to be generally used for the mathematical model that simulation has Accurate Model, for model and environment
Adaptability it is poor, it is difficult to true application.For the requirement for reaching the test of airdreadnought flutter simulation, such Flutter Control device
The model of control needs precise measurement and repeatedly adjusts, not only implementation cost with higher, and to test site, equipment etc.
Aspect proposes rigors.
Therefore, a kind of novel active flutter surppression controller is made, can be realized three-dimensional wing Flutter Suppression control effect
The simulation of fruit, and the active flutter surppression of the requirement relied in the test of flutter of aerofoil active suppression accurate model can be reduced
Controller is always those skilled in the art's technical problem to be solved.
Summary of the invention
The present invention aiming at the problems existing in the prior art, provides a kind of active flutter surppression controller and constitutes and its mould
Quasi- method, the active flutter surppression controller are to greatly reduce flutter of aerofoil actively by designing controller based on error approach
Inhibit the requirement relied in test accurate model, can be realized the simulation of three-dimensional wing Flutter Suppression control effect, can be used for
Development, examination and the qualification test of aviation aircraft numerical simulation.
The present invention is implemented as follows:
A kind of active flutter surppression controller, it is characterised in that: the Flutter Suppression controller include input signal port,
State observer, PD control device, simulated target state and output signal port,
1) input signal port includes leading edge of a wing point displacement acceleration live signal, and when emulation can be mentioned by reduced-order model
When for, experiment acceleration transducer measurement can be pasted in the leading edge of a wing.
2) state observer can be exported according to control signal and leading edge of a wing acceleration signal tracking emulation, experimental model
Leading edge of a wing acceleration signal and observation model State variable information, its observation state is sent to PD control device.
3) PD control device is final to imitate according to error transfer factor control instruction before control dbjective state and model observation state
Fruiting period hopes model state real-time tracing to dbjective state.
4) end-state that simulated target state, that is, expectational model reaches can be adjusted manually according to different purposes
Setting.
5) output signal port is controller command port, and output signal controls wing control surface deflection, changes in real time
Become aerodynamic force to achieve the effect that inhibit flutter.
Further, controller also possesses state observer bandwidth parameter w in the production methodo, controller bandwidth ginseng
Number wcWith input coefficient parameter b0Three parameters are adjusted.Parameter adjustment can follow following principle: 1) controller bandwidth parameter
Greater than actual demand controller bandwidth；2) state observer bandwidth parameter is lower than 1st/50 to ten of sample frequency；3) state
Observer bandwidth is higher than two times to five times of controller bandwidth；4) controller and state observer bandwidth increase, control effect
It is better, but it reduces to the anti-interference ability of noise and to model parameter robustness.
The invention also discloses a kind of analogy methods of active flutter surppression controller, it is characterised in that actively including flutter
Controller, three-dimensional wing aeroelasticity reduced-order model, three-dimensional wing structural vibration model and control plane actuator model is inhibited to build
Mould, the active Flutter Suppression controller input signal are provided by three-dimensional wing structural vibration model, the vibration of three-dimensional wing structure
Aerodynamic data is provided by three-dimensional wing aerodynamic reduced order model in movable model, mode position in three-dimensional wing aerodynamic reduced order model
It moves data to be provided by three-dimensional wing structural vibration model, control surface deflection angle is provided by control plane actuator model, control plane
The instruction of actuator model cootrol determines that method includes the following steps: by active Flutter Suppression controller output signal
1) before numerical simulation, the connection state of wing, including vertical rigidity, torsion stiffness are measured, measures wing dimensioning
It is very little, including wingspan length, chord length, measure wing quality, rotator inertia square, material stiffness；
2) assume wing rigidity, according to support stiffness, torsion stiffness, quality, rotator inertia square Wings vibration frequency,
And aeroelastic model is constructed, and be translated into Modal Space coordinate；
3) control plane actuator model is constructed according to actuator gain, damping, frequency information；
4) it according to measurement wing geometric dimension, draws aerodynamic grid and aerodynamic force is calculated by CFD, it is pneumatic in conjunction with Modal Space
Elastic model constructs aerodynamic reduced order model.Aerodynamic reduced order model main function is added in given wing modal displacement, mode
In the case where speed (highly with angle of attack information) and practical control surface deflection angle, wing at this time can be accurately calculated rapidly
The broad sense aerodynamic load received.
5) control plane actuator mode input data (control surface deflection instruction) are given by Active Flutter controller, output
Data are practical control surface deflection angle；Wing elastic model input data (suffered broad sense aerodynamic force) is given by aerodynamic reduced order model
Fixed, output data is wing model generalized displacement signal and generalized velocity signal；Input data (the machine of aerodynamic reduced order model
Generalized displacement signal, generalized velocity signal and the practical control surface deflection angle signal of wing model) by control plane actuator model
Given with wing elastic model, output data is broad sense aerodynamic force suffered by wing.
The beneficial effect of the present invention compared with the existing technology is: active flutter surppression controller of the present invention, and traditional
Active flutter surppression controller is compared, by designing controller based on error approach, the simple, stable working performance with structure
The feature good, robustness is high, anti-interference, applicability is wide can greatly reduce in the test of flutter of aerofoil active suppression to accurate model
The requirement of dependence, novel active flutter surppression controller need to only measure wing certain point acceleration responsive signal, while add to this
Speed signal, which carries out numerical value processing, can be obtained required control input signal.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of active flutter surppression controller of the present invention；
Fig. 2 is that active flutter surppression controller of the present invention controls actual physics model schematic；
Fig. 3 is control actual physics model and active flutter surppression controller connection relationship diagram of the present invention.
Specific embodiment
As shown in Figure 1, active flutter surppression controller of the present invention comprising input signal port, state observer, PD control
Device, simulated target state and output signal port processed.Wherein input signal port connection state observer, PD control device connect simultaneously
Connect state observer, simulated target state and output signal port.
The design method of active flutter surppression controller of the invention is as follows:
1) input signal port includes leading edge of a wing point displacement acceleration live signal；
2) state observer can be exported according to control signal and leading edge of a wing acceleration signal tracking emulation, experimental model
Leading edge of a wing acceleration signal and observation model State variable information, its observation state is sent to PD control device.
3) PD control device is final to imitate according to error transfer factor control instruction before control dbjective state and model observation state
Fruiting period hopes model state real-time tracing to dbjective state.
4) end-state that simulated target state, that is, expectational model reaches can be adjusted manually according to different purposes
Setting.
5) output signal port is controller command port, and output signal controls wing control surface deflection, changes in real time
Become aerodynamic force to achieve the effect that inhibit flutter.
A kind of method of active flutter surppression controller simulation of the invention, including active flutter surppression controller, three-dimensional
Wing structure model of vibration, three-dimensional wing aerodynamic reduced order model and control plane actuator model, each model connection relationship, actively
Flutter Suppression controller input signal is provided by three-dimensional wing structural vibration model, aerodynamic force in three-dimensional wing structural vibration model
Data are provided by three-dimensional wing aerodynamic reduced order model, and modal displacement data are by three-dimensional machine in three-dimensional wing aerodynamic reduced order model
Wing structure model of vibration provides, and control surface deflection angle is provided by control plane actuator model, control plane actuator model cootrol
Instruction is determined by active Flutter Suppression controller output signal, before numerical simulation, measures the connection state of wing, including support is just
Degree, torsion stiffness, measure wing geometric dimension, including wingspan length, chord length, and measurement wing quality, rotator inertia square, material are rigid
Degree, each parameter measurement position of controller control object physical model are as shown in Figure 2, the specific steps are as follows:
1) three-dimensional wing structural vibration model is constructed, it is assumed that wing quality is M, rotary inertia Iα, vertical rigidity is Kh,
Torsion stiffness is Kα, then its mathematical model are as follows:
Turning to Modal Space equation is
Wherein ξiFor generalized displacement, β is control plane actual deflection angle, and Q is the corresponding generalized force of generalized displacement
2) three-dimensional wing aeroelasticity reduced-order model is constructed, is responded using the aeroelasticity that CFD calculates three-dimensional wing, record
Acquired results construct three-dimensional wing aeroelasticity reduced-order model, main function according to the methods of POD, kring, neural network
Be in the case where given wing modal displacement, modal acceleration (highly with angle of attack information) and practical control surface deflection angle,
The broad sense aerodynamic load that wing receives at this time can be accurately calculated rapidly.
3) control plane actuator model is constructed, it is assumed that actuator gain is k0, damp as ζ, intrinsic frequency ω0, then it is counted
Learn model are as follows:
Need to test the three-dimensional machine of building before carrying out the control simulation of three-dimensional wing Flutter Suppression according to diagram 3 methods connection
Whether wing structure model of vibration, three-dimensional wing aeroelasticity reduced-order model and control plane actuator model accuracy meet the requirements.It surveys
Method for testing: 1) Mach number and dynamic pressure locating for simulation three-dimensional wing Flutter Suppression are selected；2) it according to locating Mach number and dynamic pressure, utilizes
CFD calculates the aeroelasticity forms of motion of three-dimensional wing and records wing trailing edge displacement data；3) active flutter surppression control is disconnected
Device processed, and by control plane actuator mode input to zero, i.e., do not apply state of a control；4) three-dimensional wing aeroelasticity depression of order is adjusted
Parameter Mach number and dynamic pressure in model is identical as CFD calculating status, carries out the pneumatic of numerical simulation calculation three-dimensional wing
Elastic movement form simultaneously records wing trailing edge displacement data；5) comparison CFD record data and analogue data gap, if difference is excessive
It then needs to return to building model step and careful lookup error reason, if difference within tolerance, can carry out the following steps.
Important two component parts of active flutter surppression controller be state observer and PD control device, state observer
Mathematical model
The mathematical model of PD control device:
Wherein r(i-1)To track dbjective state, kiFor controller gain coefficient, value can be by wcIt calculates and obtains, wcFor control
Device customized parameter.
N represents controller order in the mathematical model of state observer and PD control device, for active flutter surppression,
General n takes 1 or 2 can meet control and requires.
Controller input signal is given by three-dimensional wing structural vibration model, in the simulation of three-dimensional wing active flutter surppression
Dbjective state zero setting is controlled, signal is generally trailing edge acceleration signal, and controller output is that three-dimensional wing control plane it is expected
Deflection angle is connected to actuator model.
Active flutter surppression controller needs to adjust the chatter phenomenon state observer band that three parameters inhibit three-dimensional wing
Wide parameter wo, controller bandwidth parameter wcWith input coefficient parameter b0。
Parameter adjustment can follow following principle: 1) controller bandwidth parameter is greater than actual demand controller bandwidth；2) shape
State observer bandwidth parameter is lower than 1st/50 to ten of sample frequency；3) state observer bandwidth is higher than the two of controller bandwidth
Again to five times；4) controller and state observer bandwidth increase, and control effect is better, but its to the anti-interference ability of noise and
Model parameter robustness is reduced.
It can be enabled by adjusting three parameters of active flutter surppression controller and control mesh in the acceleration tracking of control target
Zero-signal is marked, flutter does not occur for three-dimensional wing at this time, i.e. active flutter surppression controller meets design requirement while simulating and quivers
Active suppression controller shake to three-dimensional wing chatter phenomenon inhibiting effect.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
It for member, can also make several improvements without departing from the principle of the present invention, these improvement also should be regarded as of the invention
Protection scope.
Claims (4)
1. a kind of active flutter surppression controller, which is characterized in that the controller includes input signal port, state observation
Device, PD control device, simulated target state and output signal port；
The structure of the controller is constituted include the following:
1) input signal port includes leading edge of a wing point displacement acceleration live signal；
2) observation state is sent to PD control device by state observer；
3) PD control device is according to error transfer factor control instruction, final effect phase between control dbjective state and model observation state
Hope model state real-time tracing to dbjective state；
4) end-state that simulated target state, that is, expectational model reaches；Setting is adjusted manually according to different purposes；
5) output signal port is controller command port, and output signal controls wing control surface deflection, changes gas in real time
Power is to achieve the effect that inhibit flutter.
2. active flutter surppression controller according to claim 1, which is characterized in that the controller also possesses state
Observer bandwidth parameter wo, controller bandwidth parameter wcWith input coefficient parameter b0Three parameters are adjusted.
3. a kind of analogy method of the active flutter surppression controller as described in claim 1~2 is any, which is characterized in that packet
Include active flutter surppression controller, three-dimensional wing structural vibration model, three-dimensional wing aerodynamic reduced order model and control plane actuation
Device model, the specific steps are as follows:
1) connection state and wing geometric dimension of wing are measured；
2) three-dimensional wing structural vibration model is constructed, if wing quality is M, rotary inertia Iα, vertical rigidity is Kh, torsion is just
Degree is Kα, then its mathematical model are as follows:
Turn to Modal Space equation are as follows:
Wherein ξiFor generalized displacement, β is control plane actual deflection angle, and Q is the corresponding generalized force of generalized displacement；
3) it according to measurement wing geometric dimension, draws aerodynamic grid and aerodynamic force is calculated by CFD, in conjunction with CFD calculated result, utilize
System identifying method constructs aerodynamic reduced order model；
4) according to actuator gain, damping, frequency information, control plane actuator model is constructed, then its mathematical model are as follows:
In formula, actuator gain is k0, damp as ζ, intrinsic frequency ω0。
4. a kind of analogy method of active flutter surppression controller according to claim 3, which is characterized in that the step
It is rapid 1) described in measurement target specifically include vertical rigidity, torsion stiffness, wingspan length, chord length, wing quality, rotator inertia
Square, material stiffness.
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| CN110287505B (en) * | 2019-03-20 | 2020-12-25 | 北京机电工程研究所 | Aircraft stability analysis method |
| CN110929336B (en) * | 2019-11-22 | 2023-04-28 | 扬州大学 | Method for solving linear flutter speed of three-dimensional wing based on multi-body system transfer matrix method |
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