CN107844123A - A kind of Nonlinear Flight device flight tracking control method - Google Patents
A kind of Nonlinear Flight device flight tracking control method Download PDFInfo
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- CN107844123A CN107844123A CN201710938397.2A CN201710938397A CN107844123A CN 107844123 A CN107844123 A CN 107844123A CN 201710938397 A CN201710938397 A CN 201710938397A CN 107844123 A CN107844123 A CN 107844123A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention provides a kind of Nonlinear Flight device flight tracking control method.Flight path instruction generator in the present invention sends flight path command signal to outer shroud flight tracking control device；Outer shroud flight tracking control device receives position of aircraft, speed, flight path angle, the flight path azimuthangle signal of flight path instruction and sensor measurement, calculates and sends engine throttle command signal respectively to aircraft platforms and angle of attack instruction, yaw angle instruction with swearing roll angle command signal to inner ring attitude controller around speed；Inner ring attitude controller receive angle of attack instruction, yaw angle instruction, the aircraft angle of attack around speed arrow roll angle command signal and sensor measurement, yaw angle, around speed arrow roll angle, angular velocity signal, calculate and send control surface deflection and instruct to aircraft platforms；Sensor measurement obtains aircraft parameters signal and feeds back to outer shroud flight tracking control device and inner ring attitude controller；Aircraft receives the corresponding rudder biased work of the inclined control instruction completion of rudder, reception throttle demand realizes respective thrust.
Description
Technical field
The invention belongs to aviation aircraft technical field of flight control, and in particular to a kind of Nonlinear Flight device flight tracking control
Method.
Background technology
Aviation aircraft control at present is typically restrained using linear gain scheduling controlling, this linear with trim condition microvariations
Change and restrain complex designing with the Traditional control based on classical control theory, be related to the selection of some duty points and corresponding line
Property control law design, control parameter adjusts intricate operation, simultaneously because the essentially nonlinear of aviation aircraft, linear gain is adjusted
The stability for spending control law lacks sufficient theoretical guarantee.
Nonlinear dynamic inversion control method based on time-scale separation is obtained extensive concern in the last few years a kind of non-linear
Flight control method, it realizes the global linearization of dummy vehicle based on time-scale separation principle, and different passages can be carried out
Uneoupled control, gain-adjusted are simple.But inverted for simplified model, introduce time-scale separation vacation in dynamic inversion control rule design
If system is divided into speed loop, that is, the response speed of the response speed far faster than slow loop in fast loop is thought, so as to design
During slow circuit controls rule, the dynamic characteristic of fast variable is ignored, at the fast loop of synthesis, it is constant to be approximately considered slow variable.This
Kind processing simplifies problem, but also artificially isolates system, and the response of slow loop state is realized dependent on the control in fast loop,
The problem of being lagged in the presence of control.In addition to meet time-scale separation condition, the control gain in fast, slow loop, which is set, to be needed to meet necessarily
Constraint.
Aviation aircraft flight tracking control is typically controlled compound nested with the control of inner ring attitude motion by outer shroud center of mass motion
Realize, the two control loops are referred to as outer shroud flight tracking control loop and inner ring gesture stability loop, corresponding control law point
It is also known as outer shroud flight tracking control rule and inner ring attitude control law.It is external using the dynamic inversion control method difference based on time-scale separation
Circumaviate mark control law is designed with inner ring attitude control law can aggravate control hysteresis, influence flight quality, and use to controlled
State successive derivation is until the feedback linearization technology for control item occur can solve the problems, such as that time-scale separation requirement is brought.
Consider aircraft outer shroud flight tracking control loop, aircraft outer shroud flight tracking control rule design objective gives to be tracked
Flight path instructs, and calculates the angle of attack instruction realized by inner ring attitude controller, yaw angle instruction, around speed arrow roll angle instruction and control
The throttle commands of motor power processed.Design cycle is restrained according to modified feedback linearization control, the position of aircraft differential equation is asked again
Leading can once associate with controlled quentity controlled variables such as the angle of attack, throttles, in the tracing control instructed to flight path, specify aircraft first
The dynamic transition characteristic of location variable, then Solving Algebraic Equation calculate corresponding control instruction.But aircraft center of mass motion
Model and nonaffine form, thus it is not directly available angle of attack instruction, around the explicit of speed arrow roll angle instruction and throttle commands
Solution, which limits the application of modified feedback linearization control rule design method.
The content of the invention
Problem to be solved by this invention is that aircraft's flight track controller design China and foreign countries loop back path feedback linearization method makes
With it is limited the problem of, there is provided a kind of Nonlinear Flight device flight tracking control method using feedback linearization technology.
The control device that the Nonlinear Flight device flight tracking control method of the present invention uses includes：It is flight path instruction generator, outer
Circumaviate mark controller, inner ring attitude controller, sensor and aircraft platforms；Described flight path instruction generator sends flight path and referred to
Signal is made to outer shroud flight tracking control device；Outer shroud flight tracking control device receives the position of aircraft of flight path instruction and sensor measurement, speed
Degree, flight path angle, flight path azimuthangle signal, calculate and send engine throttle command signal respectively to aircraft platforms and the angle of attack
Instruction, yaw angle instruction around speed with swearing roll angle command signal to inner ring attitude controller；Inner ring attitude controller is received and met
Angle instruction, yaw angle instruction, the aircraft angle of attack around speed arrow roll angle command signal and sensor measurement, yaw angle, around speed
Degree arrow roll angle, angular velocity signal, calculate and send control surface deflection and instruct to aircraft platforms；Sensor measurement obtains aircraft
Speed, flight path angle, flight path azimuthangle, the angle of attack, yaw angle, around speed arrow roll angle, the signal such as angular speed and feed back to outer shroud
Flight tracking control device and inner ring attitude controller；Aircraft receives the inclined control instruction of rudder and completes corresponding rudder biased work, receives throttle
Control instruction realizes respective thrust.
The Nonlinear Flight device flight tracking control method of the present invention, comprises the following steps：
1 flight path instruction generator inputs flight path command signalTo outer shroud flight tracking control
Device, command value are the timeFunction.Wherein,WithAbscissa respectively under earth axes instructs, is vertical
Coordinate instructs to be instructed with height, subscript "" representative vector transposition.
2 outer shroud flight tracking control devices obtain current time by sensorThe position of aircraft, speed
Amplitude, flight path azimuthangle, flight path angle, instructed according to the flight path of setting,
Control instruction is calculated in the steps below, will instructSend to inner ring
Attitude controller, it will instructSend to aircraft.Wherein,Instructed for the angle of attack,Instructed for yaw angle,For around speed
Degree arrow roll angle instruction,Instructed for engine throttle.
2a sets yaw angle to instruct。
2b is to position of aircraft differential equation derivation, order
Wherein,For vehicle mass,For engine maximum thrust,For resistance,For lift,For atmospheric density,Respectively resistance coefficient and lift coefficient,Attach most importance to
Power acceleration.CalculateIt is rightJacobian matrixWithIt is rightJacobian matrix, wherein,
2c calculates desired closed loop power characteristicFor
Wherein,For frequency parameter,For damping parameter.
2d is based on state equation and calculates derivative, based on desired
Dynamics response calculates derivativeFor
2e, which is calculated, to be realized to instructing flight pathThe dynamic feedback control of tracking is restrained
Parameter in control lawCalculated based on numerical simulation, using trial and error method or
Optimization method determines that wherein trial and error method determines by souning out arrange parameter value, optimization method by building nonlinear programming problem
Parameter value.
3 inner ring attitude controllers obtain current time by sensorThe angle of attack of aircraft, yaw angle, around speed
Degree arrow roll angleWith three axis angular ratesSignal, the command signal provided according to outer shroud flight tracking control device, rudder is calculated using inner ring attitude control law and instructed partially, and the inclined command signal of rudder is sent to flight
Device.Inner ring attitude control law uses the dynamic inverse Technology design based on time-scale separation, and aspect dynamics is divided into flow angleSub-loop and angular speedSub-loop.In flow angle sub-loop, using angular speed as control
Amount processed controls flow angle；In angular speed sub-loop, torque is produced by pneumatic rudder face to realize the control of angular velocity.Pass through
Design is restrained in hierarchical control to two sub-loops, obtains controlling the angle of attack, yaw angle with being instructed partially around the rudder of speed arrow roll angle.
4 aircraft receive the throttle commands that outer shroud flight tracking control device providesThe rudder provided with inner ring attitude controller is inclined
Instruction, realized especially by engine device and helm gear, control aircraft trace command flight path。
5 return to the 1st step, are continuously generated new control instruction、Realize and flight path is instructed
Tracking.
The Nonlinear Flight device flight tracking control method of the present invention utilizes feedback linearization theory and dynamical system stable theory.
The invention has the characteristics that：
1）The present invention has obtained the analytical expression of aircraft outer shroud control law, and its form is succinct, in being restrained similar to PID control
I control laws, are easy to Project Realization.
2）The outer shroud control law of the present invention, which can be proved, can cause some Lyapunov control function is dull to reduce, so that
The stability of control law is ensure that in theory.
3）Compared to the dynamic inverse technology based on time-scale separation, when outer shroud loop can be solved using feedback linearization technology
The control hysteresis that mark separation is brought, while have the bigger free degree in control gain setting.
4）The present invention solves general multiple-input and multiple-output Kind of Nonlinear Dynamical System situation feedback linearization controller and set
The problem of meter method is using being limited, is the development to feedback linearization controller designing technique.
Brief description of the drawings
Fig. 1 is the aircraft's flight track control block diagram of the Nonlinear Flight device flight tracking control method of the present invention；
Fig. 2 is aircraft flight three-dimensional track；
Fig. 3 is air speed amplitude curve；
Fig. 4 is aircraft track azimuthal curves；
Fig. 5 is aircraft track tilt curves；
Fig. 6 is that aircraft angle of attack instructs curve；
Fig. 7 is that aircraft swears that roll angle instructs curve around speed；
Fig. 8 is that engine throttle instructs curve；
Fig. 9 is that pneumatic control surface deflection instructs curve.
Embodiment
Below in conjunction with the accompanying drawings with specific embodiment further to the detailed description of the invention, following examples are descriptive
, it is non-limiting, it is impossible to which that protection scope of the present invention is limited with this.
Embodiment 1：
The flight tracking control emulation of certain aircraft is carried out, aircraft initial position is
, initial time, initial velocity amplitude is 50m/s, and initial flight path azimuthangle is 0deg, and initial flight path angle is 0deg,
Simulation time is taken as 15s, and control method implementation steps are as follows：
The input flight path coordinate instruction of 1 flight path instruction generator
To outer shroud flight tracking control device, flight path instruction represents aircraft edgeDirection of principal axis, highly it is that 1050m, speed are the fixed straight flat of 50m/s
Fly.
2 outer shroud flight tracking control devices obtain current time by sensorThe position of aircraft, speed, flight path azimuthangle, flight path angle, instructed according to the flight path of setting, count in the steps below
Calculate control instruction, and will instructionSend to inner ring gesture stability
Device, it will instructSend to aircraft.
2a sets yaw angle to instruct。
2b is by the formula calculating matrix provided in the content of the invention。
2c calculates desired closed loop power characteristicFor
2d calculates derivativeFor, calculate derivativeFor
2e determines control law parameter using trial and error methodWith,
Designing outer shroud control law is
3 inner ring attitude controllers obtain current time by sensorThe angle of attack of aircraft, yaw angle, around speed swear roll
CornerWith three axis angular ratesSignal, the command signal provided according to outer ring controller
, using nonlinear dynamic inverse Technology design inner ring attitude control law, aspect dynamics is divided into flow angleSub-loop and angular speedSub-loop, in flow angle sub-loop, by angular speedControlled as controlled quentity controlled variable；In angular speed sub-loop, power is produced by pneumatic rudder face
Square is realized pairControl.By restraining design, inner ring attitude controller to the hierarchical control of two sub-loops
Realization instruction is calculatedRudder instruct partially, and by the inclined command signal of rudderSend to aircraft.
4 aircrafts receive the throttle commands that outer shroud flight tracking control device providesThe rudder provided with inner ring attitude controller refers to partially
Order, realized especially by engine device and helm gear, control aircraft trace command flight path.
5 return to the 1st step, are continuously generated new control instruction、Realize and flight path is instructedTracking.
According to primary condition described in the present embodiment and control method, Fig. 2 give in three dimensions aircraft track instruction with
Aircraft track flight curve, wherein dotted line are the location of instruction, and solid line is the real coordinate position of aircraft, and it is initial that origin represents aircraft
Position, the results showed that although aircraft initial position apart from the location of instruction farther out, aircraft have adjusted rapidly flight track, about
Actual position coordinate is smaller with command coordinate error after 10s, realizes the tracking to instructing flight path well.Fig. 3 gives
The rate curve of aircraft, Fig. 4 give the flight path azimuthangle curve of aircraft, and Fig. 5 gives the flight path angle curve of aircraft, from this
It can be seen that after 15s in three width figures, aircraft realizes edge substantiallyDirection of principal axis, the fixed straight cruising flight that speed is 50m/s.
Fig. 6 gives the angle of attack instruction being calculated in flight tracking control device, it can be seen that angle of attack instruction is fast in the starting stage
Speed increase, the stable flat winged angle of attack in about 6.5deg after 12.5s.Fig. 7 is given around speed arrow roll angle instruction, it can be seen that
Instruction then reversely reduces in starting stage first positive rapid increase again, is returned to after 10s near 0deg, into the fine setting stage.
Fig. 8 gives engine throttle instruction, and the motor power that in-flight starting stage requires is larger, and the engine then needed pushes away
Power gradually decreases to thrust needed for flat fly.Fig. 9 gives pneumatic control surface deflection instruction curve, including aileron instruction, rise
Rudder instruction is droppedInstructed with rudder, in addition to starting stage change is relatively violent, they tend to directly put down surely after 10s
Control surface deflection value corresponding to flying.
Claims (3)
- A kind of 1. Nonlinear Flight device flight tracking control method, it is characterised in that：The device that methods described is related to includes：Flight path instructs Maker, outer shroud flight tracking control device, inner ring attitude controller, sensor and aircraft platforms；Described flight path instruction generator Flight path command signal is sent to outer shroud flight tracking control device；Outer shroud flight tracking control device receives the flight of flight path instruction and sensor measurement Device position, speed, flight path angle, flight path azimuthangle signal, calculate and send engine throttle command signal respectively to aircraft Platform and angle of attack instruction, yaw angle instruction around speed with swearing roll angle command signal to inner ring attitude controller；Inner ring posture control Device processed receives angle of attack instruction, yaw angle instruction, around the aircraft angle of attack of the speed arrow roll angle command signal with sensor measurement, side Sliding angle, around speed arrow roll angle, angular velocity signal, calculate and send control surface deflection and instruct to aircraft platforms；Sensor measures Obtain aircraft speed, flight path angle, flight path azimuthangle, the angle of attack, yaw angle, around speed arrow roll angle, angular velocity signal and anti- It is fed to outer shroud flight tracking control device and inner ring attitude controller；The corresponding rudder biased work of the inclined control instruction completion of aircraft reception rudder, Receive throttle demand and realize respective thrust；The control method comprises the following steps：A. flight path instruction generator input flight path command signalTo outer shroud flight tracking control Device, command value are the timeFunction；Wherein,WithAbscissa instruction, ordinate instruction respectively under earth axes instruct with height, on Mark "" representative vector transposition；B. outer shroud flight tracking control device obtains current time by sensorThe position of aircraft, velocity amplitude Value, flight path azimuthangle, flight path angle, instructed according to the flight path of setting, press Following step calculates control instruction, will instructSend to inner ring appearance State controller, it will instructSend to aircraft；Wherein,Instructed for the angle of attack,Instructed for yaw angle,To swear roll angle instruction around speed,For engine oil Door instruction；B1. setting yaw angle, which instructs, is；B2. to position of aircraft differential equation derivation, orderWherein,For vehicle mass,For engine maximum thrust,For resistance,For lift,For atmospheric density,Respectively resistance coefficient and lift coefficient,Attach most importance to Power acceleration；CalculateIt is rightJacobian matrixWithIt is rightJacobian matrix, wherein,B3. desired closed loop power characteristic is calculatedForWherein,For frequency parameter,For damping parameter；B4. derivative is calculated based on state equation, based on desired dynamic Response equation calculates derivativeForB5. calculate and realize to instructing flight pathThe dynamic feedback control of tracking is restrainedWhereinIt is control law parameter；C. inner ring attitude controller obtains current time by sensorThe angle of attack of aircraft, yaw angle, around speed swear Roll angleWith three axis angular ratesSignal, the command signal provided according to outer shroud flight tracking control device, rudder is calculated using inner ring attitude control law and instructed partially, and the inclined command signal of rudder is sent to flight Device；D. aircraft receives and realized the throttle commands that outer shroud flight tracking control device providesProvided with inner ring attitude controller Rudder instructs partially；E. step a is returned to, is continuously generated new control instruction、Realize and flight path is instructed Tracking.
- 2. control method according to claim 1, it is characterised in that：Parameter described in step b5、Calculated based on numerical simulation, determined using trial and error method or optimization method, wherein trial and error method By souning out arrange parameter value, optimization method determines parameter value by building nonlinear programming problem.
- 3. control method according to claim 1, it is characterised in that：Inner ring attitude control law described in step c is by aircraft Attitude dynamics is divided into flow angle sub-loop and angular speed sub-loop；In flow angle sub-loop, come angular speed as controlled quentity controlled variable Control flow angle；In angular speed sub-loop, torque is produced by pneumatic rudder face to realize the control of angular velocity；By to two The hierarchical control rule design of sub-loop, obtains controlling the rudder of flow angle to instruct partially.
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| CN108710378A (en) * | 2018-04-28 | 2018-10-26 | 长沙金信诺防务技术有限公司 | A kind of device and its control method for underwater kit wireless communication |
| CN108717265A (en) * | 2018-05-30 | 2018-10-30 | 重庆邮电大学 | A kind of unmanned vehicle cruise tracking control system and control method based on control variable parameter |
| CN109032171A (en) * | 2018-06-26 | 2018-12-18 | 中国空气动力研究与发展中心低速空气动力研究所 | A kind of control method of the aircraft wind tunnel free-flight based on Nonlinear control law |
| CN110316358A (en) * | 2019-03-29 | 2019-10-11 | 南京航空航天大学 | Fighter plane High Angle of Attack control method based on dynamic inverse |
| CN110456781A (en) * | 2019-09-16 | 2019-11-15 | 桂林航天工业学院 | A kind of spatial stability analysis method of flight control system |
| CN110598294A (en) * | 2019-09-03 | 2019-12-20 | 中国航空工业集团公司西安飞机设计研究所 | Method and device for determining flight trajectory stability of airplane with conventional layout |
| CN111103894A (en) * | 2019-11-18 | 2020-05-05 | 中国空气动力研究与发展中心 | Optimization method for three-dimensional flight path in unmanned aerial vehicle mobile data acquisition scene |
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| CN111338364A (en) * | 2019-11-21 | 2020-06-26 | 浙江大学 | High-precision controller for optimizing trajectory of hypersonic aerocraft with quick response |
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| CN112016187B (en) * | 2020-07-27 | 2022-08-09 | 中国空气动力研究与发展中心计算空气动力研究所 | Hybrid power-based ground-near asteroid rendezvous mission orbit optimization method |
| CN112364432A (en) * | 2020-10-20 | 2021-02-12 | 中国运载火箭技术研究院 | Control method for airborne hanging-flying putting-in separation process |
| CN112364432B (en) * | 2020-10-20 | 2023-12-12 | 中国运载火箭技术研究院 | Control method for carrier hanging and throwing separation process |
| CN113885358A (en) * | 2021-10-27 | 2022-01-04 | 中国民航管理干部学院 | Hybrid configuration fixed wing unmanned aerial vehicle maneuvering simulation control law design method |
| CN113885358B (en) * | 2021-10-27 | 2023-09-26 | 中国民航管理干部学院 | Hybrid configuration fixed wing unmanned aerial vehicle maneuver simulation control law design method |
| CN114706416A (en) * | 2022-01-21 | 2022-07-05 | 中国空气动力研究与发展中心计算空气动力研究所 | Transitional flight control method of tilting quad-rotor aircraft |
| CN114706416B (en) * | 2022-01-21 | 2023-08-11 | 中国空气动力研究与发展中心计算空气动力研究所 | Transition flight control method of tilting quadrotor aircraft |
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| CN115328185A (en) * | 2022-08-30 | 2022-11-11 | 北京京航计算通讯研究所 | Nonlinear unsteady aerodynamic load correction system of aircraft |
| CN115344056A (en) * | 2022-10-17 | 2022-11-15 | 中国空气动力研究与发展中心空天技术研究所 | Intelligent flight control method and application of aircraft with complex control surface |
| CN116301058B (en) * | 2023-05-11 | 2023-08-04 | 中国空气动力研究与发展中心空天技术研究所 | Unmanned flight feedback nonlinear yaw control method, system and equipment |
| CN116301058A (en) * | 2023-05-11 | 2023-06-23 | 中国空气动力研究与发展中心空天技术研究所 | Unmanned flight feedback nonlinear yaw control method, system and equipment |
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