CN106569441B - A kind of the integral tension formula deformation swing device and control method of distributed driving - Google Patents
A kind of the integral tension formula deformation swing device and control method of distributed driving Download PDFInfo
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- CN106569441B CN106569441B CN201610937545.4A CN201610937545A CN106569441B CN 106569441 B CN106569441 B CN 106569441B CN 201610937545 A CN201610937545 A CN 201610937545A CN 106569441 B CN106569441 B CN 106569441B
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
Abstract
The invention discloses a kind of integral tension formulas of distributed driving to deform swing device, and the device includes two layers of three distributed unit tension integral structures, driver, sensor and control computer；Invention additionally discloses its control method, specifically: step 1, sets up integral tension formula and deform swing device；Step 2, the non-linear dynamic model of the deformation wing is established；Step 3, first layer control structure is established, nominal system is enabled to track desired shape；Step 4, second layer control structure is established, so that actual deformation wing system is tracked nominal system, finally converges to desired shape；The control method that the present invention passes through a kind of two layers of control structure, realize that aerodynamic configuration actively changes so that improving pneumatic efficiency provides an effective method for aircraft, and apparatus structure is succinct, control method strong robustness can guarantee the shape tracing control for deforming the wing under larger uncertain condition.
Description
Technical field
The invention belongs to flexible structure active control fields, are especially a kind of integral tension formula deformation of distributed driving
Swing device and control method.
Background technique
Morphing aircraft, to improve aeroperformance, expands flight envelope by allowing wing shape actively to change.Deforming the wing is
The critical component of morphing aircraft.There is centralized driving formula and acoustic filed formulas two in current morphing aircraft research
Kind distressed structure.Wherein, centralized driving formula distressed structure has the advantages that production is better simply, but the load that driver is born is big,
To its intensity requirement height, cause construction weight big, and variant fixed single, while when driver breaks down, it will
It will lead to aircraft failure.In contrast, in acoustic filed formula distressed structure, multiple drivers share load, help to mitigate
Construction weight, variant is flexible, strong robustness, and it is enough can to guarantee that aircraft has when portion driver breaks down
Controllability.
Simultaneously in aircraft deformation, in order to improve pneumatic efficiency, whole process should be continuous and derivable, and distribution is driven
Dynamic be more advantageous to reaches this purpose.Therefore, it is necessary to using the structure of the embedding distribution formula driving element in flexible structure.Mesh
It is usually made of the covering flexible covering such as truss link mechanism, honeycomb or right-handed spiral configuration in preceding flexible structure.However, point
On going result in terms of the Control System Design of the cloth driving deformation wing is less.
Summary of the invention
Aiming at the problems existing in the prior art, the present invention devises a kind of deformation of the tensioning monoblock type of distributed driving
Wing mechanism, and devise shape control method；Tension integral structure is a kind of truss structure with prestressing force configuration, has and becomes
Shape amount is big, drives convenient feature, by the shape control to this tension integral structure to realize to deformation rotor aircraft wing
Deformation control, shape control method proposed by the present invention have two layers of control structure, have parameter easily adjust, strong robustness
Advantage.
A kind of integral tension formula of distributed driving disclosed by the invention deforms swing device, and device includes two layers of Unit three
Distributed tension integral structure, driver, sensor and control computer；The driver, sensor installation by adhering exist
Inside tension integral structure, driver and sensor are connected with control panel, then are connected to host computer by conducting wire.The driving
Device, sensor and controller constitute deformation wing control system.
Further, the distributed tension integral structure is set up by truss, rope and tension spring；The truss knot
Structure is made of the truss of plumbing bar and 12 horizontal directions on 6 vertical directions；By rope between each of described adjacent plumbing bar
It is connected with tension spring, an elastic rope structure is formed, wherein each tension spring is at tensional state；Described every is hung down
The top of bar is connected with the end position of horizontal truss, and installs rotational position sensor in junction.
Further, distribution is mounted with that driver, the driver are linear stepping motor on the apparatus platform.
Further, the control panel includes 14 railway digital input/output ports, 4 road rs 232 serial interface signals, 6 tunnel external interrupts,
14 road pulse width modulation (PWM)s and 16 tunnel simulation inputs.
The invention also discloses a kind of control method of the integral tension formula deformation swing device of distributed driving, including it is following
Step:
Step 1, it sets up integral tension formula and deforms swing device；
Step 2, the non-linear dynamic model of the deformation wing is established；
Step 3, first layer control structure is established；For nominal system dynamics Design dynamic inversion control device, so that nominally
System can track desired shape；
Step 4, second layer control structure is established；For real system dynamics Design sliding mode tracking control device, make reality
Deformation wing system can track nominal system, finally converge to desired shape.
Further, the step 1 specifically: establish wing-body；Main body by 6 vertical directions plumbing bar and 12
The truss of horizontal direction forms；It is connected between each adjacent plumbing bar and plumbing bar by wirerope and tension spring, wherein each drawing
Spring is at tensional state；It is passed in the junction installation rotation position of the end position on the top and horizontal truss of every plumbing bar
Sensor.
Further, the step 2 specifically:
2.1, applied analysis mechanical modeling method derives the nonlinear kinetics mould of the distributed integral tension formula deformation wing
Type；
Since the freedom degree of system is 6, so selection θ1, θ2, θ3, θ4, θ5And θ6For the generalized coordinates of system, system is calculated
The kinetic energy of system all parts is simultaneously added, and the kinetic energy T of the entire distributed frame deformation wing is obtained are as follows:
Wherein, v3,v4,v5,v6Respectively indicate the speed of bar 3,6 mass center of bar 4, bar 5 and bar, the center of corresponding bar
Coordinate is respectively (x3,y3), (x4,y4), (x5,y5) and (x6,y6), IeFor around the rotary inertia of endpoint, expression formula isI is the rotary inertia around mass center, and expression formula is
2.2, the potential energy of whole system is V=0；It is possible thereby to which the kinetic potential of computing system is L=T-V=T；
The active force for acting on bar 1 is expressed asThe active force of bar 2 is expressed asThe active force of bar 3 is expressed asThe active force of bar 4 is expressed asThe active force of bar 5 is expressed asThe active force of bar 6 is expressed asQ be with
The corresponding generalized force of generalized coordinates；
2.3, according to Analytical Mechanics theory it is found that kinetic energy T, potential energy V and generalized force QiMeet the second class Lagrange
Journey:
Obtain distributed frame deformation the wing nonlinear dynamical equation be
Wherein q=[θ1,…,θ6]TFor generalized coordinates, τ=B (q) u is the pulling force vector of main running rope, u=[u1,u2,u3,
u4,u5,u6]TFor input vector, element therein is distributed drive volume, M (q) withFor 6 × 6 matrixes, and G (q) is 6
× 1 vector；
2.4, system dynamics is written as following form:
WhereinG (q)=M-1(q)B(q)；
Pay attention to the parameter matrix M (q) in system,G (q) and D (q) have an error in practice, but can be with
Assuming that their nominal value is it is known that nominal system dynamics is described are as follows:
Further, the step 3 specifically:
3.1, first layer control structure: the dynamic inversion control of nominal system is established, for nominal power model
(3) following dynamic inversion control device is designed:
Wherein, vmFor virtual controlling amount；
3.2, enable Δ qm=qm-qdAndThen the tracking error of nominal system meets dynamic with lower linear
Mechanics:
The stable and all pole of closed-loop system (5) is all in regionIt is interior, if there is positive definite matrix X1With matrix X2It is offline to meet one
Property MATRIX INEQUALITIES:
It resolves inequality (6) and (7), it is K that control gain, which can be calculated,m=[- K2 -K1]=X2X1 -1。
Further, the step 4 specifically:
4.1, establish second layer control structure: the shape tracing control of real system；Design shape tracking control unit makes
The output of controlled nominal system on the output tracking of real system with uncertain parameter；
Enable Δ q=q-qm, Δ u=u-um,With Δ g=g (q)-gm(qm), by formula (2) and (3)
It can obtain, tracking error kinetics equation are as follows:
4.2, in formula (8), Δ f and Δ g are unknown；On-line identification is carried out to it with fuzzy system；By Δ f and Δ g
It is expressed as following ambiguity function:
Wherein ξiFor fuzzy membership function, N is fuzzy rule item number；WithRespectively unknown constant value coefficient vector
With matrix, ωfWith ωGFor unknown approximate error；
Design tracing control rule are as follows:
Wherein
Under control law (11) effect, tracking error is intended to 0, ifIn ηi,In GiWithMore new law
Design are as follows:
Wherein vectorρiBe positive scalar.
The present invention is referring now to the beneficial effect of the prior art: the invention proposes a kind of tensioning knots of distributed driving
Structure formula deforms swing device and control method, by a kind of control method of two layers of control structure, realizes for aircraft pneumatic outer
Shape actively changes so that improving pneumatic efficiency provides an effective method.And apparatus structure is succinct, control method robustness
By force, it can guarantee the shape tracing control of the deformation wing under larger uncertain condition.
Detailed description of the invention
Fig. 1 is the schematic diagram that distributed frame of the present invention deforms the wing；
Fig. 2 is that double-layer structure coordinates shape control and other two kinds controls in the case of Parameter uncertainties in the embodiment of the present invention
Contrast on effect
Specific embodiment
The present invention provides the integral tension formula deformation swing device and control method of a kind of distributed driving, to make the present invention
Technical solution and effect are clearer, clear；The present embodiment is referring to attached drawing and gives an actual example that the present invention is described in more detail.It answers
Work as understanding, specific implementation described herein is not intended to limit the present invention only to explain the present invention.
Specific step is as follows with control method for a kind of integral tension formula deformation swing device of distributed driving:
Step 1: it sets up integral tension formula and deforms swing device.
The integral tension formula deformation swing device of distribution driving mainly by two layers of three distributed unit tension integral structures,
Driver, sensor and control computer composition.Wherein distributed tension integral structure set up by truss, rope and tension spring and
At.Wing-body structure is two layers of Unit 3 of truss structure, by the purlin of plumbing bar and 12 horizontal directions on 6 vertical directions
Frame composition.Plumbing bar is used to simulate a joint of wing；Horizontal truss is then used as the attachment device between plumbing bar and plumbing bar.6
Plumbing bar is connected between each adjacent plumbing bar and plumbing bar by wirerope and tension spring, wherein each tension spring is at stretching
State, this is equivalent to joined prestressing force in the structure, so that total is in a kind of force balance state.
Connecting component is made with 3D printing technique, to connect the top of every plumbing bar and the end position of horizontal truss, and
It is used to measure the corner between truss in wherein installation rotational position sensor.Rotational position sensor is the one of position sensor
Kind, rotation angle can be read by output voltage.The circular hole of the centre of sensor and sensor periphery part can occur
Relative position rotation, to change impedance, and then output voltage changes.Rotation angle can be obtained by detecting voltage just.Point
Cloth, which is mounted on the rotational position sensor at each connecting component, can measure angle parameter to calculate wing shapes.
Distribution is mounted with linear stepping motor on platform.Linear motor driver controls linear motor by pulse voltage
It carries out moving forward and backward movement in its axis direction, so that wing structure be pulled to carry out deformation.
Control panel includes 14 railway digital input/output ports, 4 road rs 232 serial interface signals, 6 tunnel external interrupts, 14 tunnel pulse width tune
PWM (0--13) processed and 16 tunnel simulation inputs.Control panel provides driving signal for driver, moves linear motor, pulls rope
Rope deforms platform；The angle signal reading device as sensor, the position signal that sensor is transmitted pass to again simultaneously
Host computer.
Step 2: the non-linear dynamic model of the deformation wing is established；
The variable-definition for deforming swing device is as shown in Figure 1.Applied analysis mechanical modeling method derives distributed whole
The non-linear dynamic model of the pull-type deformation wing.Thick line is bar in Fig. 1, and filament is rope, endpoint a1, b2It is fixed, spacing w, and with
b2Point is used as coordinate origin, establishes plane right-angle coordinate, and horizontal direction is x-axis direction, and vertical direction is y-axis direction, bar
A length of l.
According to the position coordinates of each rod end point, the current length restricted in the direction vector of power and structure in rope stretching can be calculated
Lj, wherein j=1 ..., 9.Because the freedom degree of system is 6, θ is selected1, θ2, θ3, θ4, θ5And θ6It is sat for the broad sense of system
Mark, the kinetic energy of computing system all parts are simultaneously added, and the kinetic energy T of the entire distributed frame deformation wing is obtained are as follows:
Wherein, v3,v4,v5,v6Respectively indicate the speed of bar 3,6 mass center of bar 4, bar 5 and bar, the center of corresponding bar
Coordinate is respectively (x3,y3), (x4,y4), (x5,y5) and (x6,y6), IeFor around the rotary inertia of endpoint, expression formula isI is the rotary inertia around mass center, and expression formula is
The potential energy of whole system is V=0.It is possible thereby to which the kinetic potential of computing system is L=T-V=T.
The active force for acting on bar 1 is expressed asThe active force of bar 2 is expressed asThe active force of bar 3 is expressed asThe active force of bar 4 is expressed asThe active force of bar 5 is expressed asThe active force of bar 6 is expressed asQ be with
The corresponding generalized force of generalized coordinates.
According to Analytical Mechanics theory it is found that kinetic energy T, potential energy V and generalized force QiMeet lagrange equation of the second kind:
Obtain distributed frame deformation the wing nonlinear dynamical equation be
Wherein q=[θ1,…,θ6]TFor generalized coordinates, τ=B (q) u is the pulling force vector of main running rope, u=[u1,u2,u3,
u4,u5,u6]TFor input vector (element therein be distributed drive volume), M (q) withFor 6 × 6 matrixes, and G (q) is
6 × 1 vectors.
System dynamics is further written as following form:
WhereinG (q)=M-1(q)B(q)。
Pay attention to the parameter matrix M (q) in system,G (q) and D (q) have an error in practice, but can be with
Assuming that known to their nominal value.Nominal system dynamics is described are as follows:
Step 3: first layer control structure: the dynamic inversion control of nominal system is established.For nominal power model (3)
Design following dynamic inversion control device:
Wherein, vmFor virtual controlling amount.
Enable Δ qm=qm-qdAndThen the tracking error of nominal system meets following linear dynamics:
The stable and all pole of closed-loop system (5) is all in regionIt is interior, if there is positive definite matrix X1With matrix X2It is offline to meet one
Property MATRIX INEQUALITIES:
It resolves inequality (6) and (7), it is K that control gain, which can be calculated,m=[- K2 -K1]=X2X1 -1。
Step 4: second layer control structure: the shape tracing control of real system is established.Design shape tracking control unit makes
There must be the output of nominal system controlled on the output tracking of the real system of uncertain parameter.
Enable Δ q=q-qm, Δ u=u-um,With Δ g=g (q)-gm(qm).By formula (2) and (3)
It can obtain, tracking error kinetics equation are as follows:
In formula (8), Δ f and Δ g are unknown.On-line identification is carried out to it with fuzzy system.Δ f and Δ g is expressed
For following ambiguity function:
Wherein ξiFor fuzzy membership function, N is fuzzy rule item number；WithRespectively unknown constant value coefficient vector
With matrix.ωfWith ωGFor unknown approximate error.
Design tracing control rule are as follows:
Wherein
Under control law (11) effect, tracking error is intended to 0, ifIn ηi,In GiWithMore new law
Design are as follows:
Wherein vectorForρiBe positive scalar.
There is inexactness in the mechanical configuration parameter distributed driving flex-wing, two layers of control to being proposed
Method processed is emulated.In emulation, nominal bar quality is 0.135kg, length 0.5m.It is not true that table 1 lists eight kinds of parameters
Qualitative situation.In such cases, the quality or length of bar deviate from nominal value to some extent.
1 eight kinds of parameter uncertainty situations of table
Steady track error in 2 eight kinds of table uncertain situations
Table 2 lists the steady track error under three kinds of controller actions；By
Table 2 is as it can be seen that all controllers can make tracking error be zero under nominal condition, however exist in uncertainty
When double-layer structure controller have the smallest tracking error.
As shown in Fig. 2, double-layer structure coordinates shape control and other two kinds of controls effect in the 6th kind of uncertain situation
Fruit comparison.Wherein (a) is that double-layer structure coordinates shape control effect figure, (b) is the Adverse control effect picture of nominal system,
It (c) is the Adverse control effect picture of nominal system；Wherein dotted line is original shape, the coordinate of the desired locations of the rod end point in figure
It is respectively as follows: (0.4417, -0.0450), (0.9129, -0.0598), (1.3840, -0.0450), (0.4417, -0.2550),
(0.9129, -0.2402), (1.3840, -0.2550), heavy line are to terminate shape, and fine line is the track that rod end point streaks.
It can be seen that the deformation wing can reach desired shape, and deformation process is smooth under the control of double-layer structure controller.
Claims (6)
1. a kind of integral tension formula of distributed driving deforms swing device, which is characterized in that the device includes the three of two layers
Distributed unit tension integral structure, driver, sensor and control computer；The driver, the embedded peace of sensor
Inside tension integral structure, driver and sensor are connected with control panel, then are connected to host computer by conducting wire；Described
Distributed tension integral structure is set up by truss, rope and tension spring；The integral tension structure is by 6 vertical directions
Plumbing bar and 12 horizontal directions truss composition；It is connected by rope with tension spring between each of described adjacent plumbing bar, wherein
Each tension spring is at tensional state；The top of every plumbing bar is connected with the end position of horizontal truss, and even
Connect place's installation rotational position sensor.
2. a kind of integral tension formula of distributed driving according to claim 1 deforms swing device, which is characterized in that described
Apparatus platform on distribution be mounted with driver.
3. a kind of integral tension formula of distributed driving according to claim 1 deforms swing device, which is characterized in that described
Control panel include 14 railway digital input/output ports, 4 road rs 232 serial interface signals, 6 tunnel external interrupts, 14 road pulse width modulation (PWM)s
And 16 tunnel simulation input.
4. a kind of control method of the integral tension formula deformation swing device of distributed driving, which comprises the following steps:
Step 1, it sets up integral tension formula and deforms swing device；
Step 2, the non-linear dynamic model of the deformation wing is established；
Step 3, first layer control structure is established；For nominal system dynamics Design dynamic inversion control device, so that nominal system
Desired shape can be tracked；Specifically:
3.1, first layer control structure: the dynamic inversion control of nominal system is established, for nominal power modelDesign following dynamic inversion control device:
Wherein, vmFor virtual controlling amount；
3.2, enable Δ qm=qm-qdAndThen the tracking error of nominal system meets following linear dynamics:
The stable and all pole of closed-loop system (5) all region l (τ, β)=s ∈ C | Re (s) <-τ < 0, Re (s) tan β
<-| Im (s) | in, if there is positive definite matrix X1With matrix X2Meet linear matrix inequality:
It resolves inequality (6) and (7), control gain, which can be calculated, is
Step 4, second layer control structure is established；For real system dynamics Design sliding mode tracking control device, make actual change
Shape wing system can track nominal system, finally converge to desired shape；Specifically:
4.1, establish second layer control structure: the shape tracing control of real system；Design shape tracking control unit to have
The output of controlled nominal system on the output tracking of the real system of uncertain parameter；
Enable Δ q=q-qm, Δ u=u-um,With Δ g=g (q)-gm(qm), it can be obtained by formula (2) with (3),
Tracking error kinetics equation are as follows:
4.2, in formula (8), Δ f and Δ g are unknown；On-line identification is carried out to it with fuzzy system；Δ f and Δ g is expressed
For following ambiguity function:
Wherein ξiFor fuzzy membership function, N is fuzzy rule item number；WithRespectively unknown constant value coefficient vector and square
Battle array, ωfWith ωGFor unknown approximate error；
Design tracing control rule are as follows:
Wherein
Under control law (11) effect, tracking error is intended to 0, ifIn ηi,In GiWithMore new law design
Are as follows:
Wherein vectorForρiBe positive scalar.
5. a kind of control method of the integral tension formula deformation swing device of distributed driving according to claim 4, special
Sign is, the step 1 specifically: establish wing-body；Main body is by the plumbing bar and 12 horizontal directions on 6 vertical directions
Truss composition；It is connected between each adjacent plumbing bar and plumbing bar by wirerope and tension spring, wherein each tension spring is place
In tensional state；Rotational position sensor is installed in the junction of the end position on the top and horizontal truss of every plumbing bar.
6. a kind of control method of the integral tension formula deformation swing device of distributed driving according to claim 5, special
Sign is, the step 2 specifically:
2.1, applied analysis mechanical modeling method derives the non-linear dynamic model of the distributed integral tension formula deformation wing；
2.2, the potential energy of whole system is V=0；It is possible thereby to which the kinetic potential of computing system is L=T-V=T；
The active force for acting on bar 1 is expressed asThe active force of bar 2 is expressed asBar 3
Active force be expressed asThe active force of bar 4 is expressed asThe active force of bar 5 indicates
ForThe active force of bar 6 is expressed asQ is generalized force corresponding with generalized coordinates；
2.3, according to Analytical Mechanics theory it is found that kinetic energy T, potential energy V and generalized force QiMeet lagrange equation of the second kind:
Obtain the nonlinear dynamical equation of the distributed frame deformation wing are as follows:
Wherein q=[θ1,…,θ6]TFor generalized coordinates, τ=B (q) u is the pulling force vector of main running rope, u=[u1,u2,u3,u4,u5,
u6]TFor input vector, element therein is distributed drive volume, M (q) withFor 6 × 6 matrixes, and G (q) be 6 × 1 to
Amount；
2.4, system dynamics is written as following form:
WhereinG (q)=M-1(q)B(q)；
Pay attention to the parameter matrix M (q) in system,G (q) and D (q) have error in practice, but assume that
Their nominal value is it is known that nominal system dynamics is described are as follows:
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| CN110056602A (en) * | 2019-04-19 | 2019-07-26 | 北京科技大学 | A kind of tensioning integral vibration isolation device of Frequency Adjustable |
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