CN108557054B - Control method of control system suitable for high-aspect-ratio wing aircraft - Google Patents
Control method of control system suitable for high-aspect-ratio wing aircraft Download PDFInfo
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- CN108557054B CN108557054B CN201810359269.7A CN201810359269A CN108557054B CN 108557054 B CN108557054 B CN 108557054B CN 201810359269 A CN201810359269 A CN 201810359269A CN 108557054 B CN108557054 B CN 108557054B
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 239000002131 composite material Substances 0.000 claims abstract description 29
- 239000000835 fiber Substances 0.000 claims abstract description 28
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 11
- 238000011068 loading method Methods 0.000 claims description 24
- 239000000758 substrate Substances 0.000 claims description 17
- 238000004422 calculation algorithm Methods 0.000 claims description 14
- 230000008859 change Effects 0.000 claims description 7
- 239000011111 cardboard Substances 0.000 claims description 6
- 238000005452 bending Methods 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 3
- 230000001052 transient effect Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 abstract description 4
- 230000007246 mechanism Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/385—Variable incidence wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/24—Transmitting means
- B64C13/38—Transmitting means with power amplification
- B64C13/50—Transmitting means with power amplification using electrical energy
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/44—Varying camber
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Abstract
The invention discloses a control system and a control method suitable for a high-aspect-ratio wing aircraft, which comprises a fuselage, wherein the front part of the fuselage is provided with a high-aspect-ratio wing, the middle part of the fuselage is provided with a fuselage storage bin, the tail end of the fuselage is provided with a starting rudder, and the high-aspect-ratio wing is perpendicular to the fuselage; the high aspect ratio wing includes inside deformation base plate, rib and covering, the covering pass through rib parcel set up in the deformation base plate outside. According to the control system and the control method suitable for the high-aspect-ratio wing aircraft, the novel flight control system replaces an aileron and a hydraulic mechanism of the traditional flight control, so that the wing load and the complexity are greatly reduced, and the aerodynamic characteristics of the wing are optimized. The control system adopts a macro-fiber piezoelectric composite actuator to replace a traditional aileron and a rolling rudder, and controls the flight attitude by controlling the deformation of the wings, so that the maneuverability of the high aspect ratio aircraft is improved.
Description
Technical Field
The invention relates to the technical field of aircraft control systems, in particular to a high-aspect-ratio aircraft attitude control system and a control method based on MFC.
Background
At present, an aircraft with a large aspect ratio refers to an aircraft with a wing having a wing length to chord length ratio of more than 10, and is widely applied to multiple fields because of the characteristics of long cruising time and large cruising radius.
However, the high aspect ratio aircraft has the unfavorable characteristics of poor maneuverability, large yaw steering radius, easy flutter of wings and the like, which influence the use effect of the aircraft. And modern high aspect ratio unmanned aerial vehicle adopts the all-wing aircraft design more, and its lateral stability is worse than conventional aerodynamic configuration.
The longitudinal rudder area is usually enlarged to improve the flying effect, but the unmanned aerial vehicle is a very complex system, and the aerodynamics, the propulsion, the dynamics and the control of the unmanned aerial vehicle have to be fully considered in the overall design.
Thus, the above retrofit approaches tend to be complex and involve modifications to the flight control system.
Disclosure of Invention
According to the technical problems, the control system and the control method suitable for the high-aspect-ratio wing aircraft are provided, and the defects of poor maneuverability, large yaw steering radius, easy flutter of wings and other unfavorable characteristics of the existing high-aspect-ratio aircraft are overcome. The technical means adopted by the invention are as follows:
a control system suitable for an aircraft with high-aspect-ratio wings comprises a fuselage, wherein the front part of the fuselage is provided with the high-aspect-ratio wings, the middle part of the fuselage is provided with a fuselage storage bin, the tail end of the fuselage is provided with a starting rudder, and the high-aspect-ratio wings are perpendicular to the fuselage; the high aspect ratio wing includes inside deformation base plate, rib and covering, the covering pass through rib parcel set up in the deformation base plate outside.
The deformation substrate is provided with a macro-fiber piezoelectric composite actuator; a power supply system, a control board card and a boosting drive board card are arranged in the machine body; the control board card comprises a flight control rate and a voltage loading control rate, can detect attitude information of the aircraft and receive a control signal of a remote controller, calculates a voltage target value at the moment by utilizing feedback control, and controls a signal for the driving circuit by combining a voltage loading mode; when the macro-fiber piezoelectric composite actuator receives a high-voltage control signal, the high-aspect-ratio wing is driven to bend and deform, and the change of the attack angle of the high-aspect-ratio wing is realized.
The power supply system which is preferably used for supplying power is sequentially connected with a control board card, a motor and a boosting drive board card.
The remote controller is preferably used for sending control instructions to the aircraft, and the control instructions are specifically divided into control signals of a thrust control, steering engines of all attitude channels and actuators of the macro-fiber piezoelectric composite material.
A control method of the control system suitable for the high-aspect-ratio wing aircraft comprises the following steps:
the remote controller sends the target attitude to a control card board on the airplane through radio, and the difference between the target attitude and the current attitude is compared; and calculating the angle of each rudder to be deflected, outputting a control signal to control the corresponding steering engine to deflect, and matching the target voltage of the deformed wing with a voltage loading curve of the deformed wing through a corresponding voltage loading algorithm, wherein the loading algorithm enables the sum of transient vibration energy, stable residual vibration energy and deformed power consumption of the wing to be minimum after weighting according to a certain proportion.
And amplifying the calculated voltage control signal of the macro-fiber piezoelectric composite actuator through a boosting driving board card, converting the voltage control signal into a high-voltage direct-current signal, and supplying the high-voltage direct-current signal to the macro-fiber piezoelectric composite actuator, so that the torsion deformation of the internal substrate is realized, and the deformation substrate drives the wing to present the same bending and twisting change so as to control the integral deflection angle of the wing to realize attitude control.
Preferably, the control card board is an embedded system which takes stm32F4 series single-chip microcomputer as a core, comprises peripheral components and hardware circuits and has an attitude calculation algorithm, a control signal processing algorithm and a macro-fiber piezoelectric composite actuator loading algorithm.
Preferably, the boost driving board card is a portable onboard boost module which converts a low-voltage control signal into a signal suitable for the input requirement of the macro-fiber piezoelectric composite actuator.
Compared with the prior art, the control system and the control method suitable for the high aspect ratio wing aircraft have the following advantages:
1. the control system and the control method suitable for the high-aspect-ratio wing aircraft have the advantages that the novel flight control system is good in pneumatic layout effect, the response of the rolling speed of the aircraft is fast, and the yaw steering efficiency of the high-aspect-ratio wing aircraft is obviously improved.
2. According to the control system and the control method suitable for the high-aspect-ratio wing aircraft, the novel flight control system replaces an aileron and a hydraulic mechanism of the traditional flight control, so that the wing load and the complexity are greatly reduced, and the aerodynamic characteristics of the wing are optimized. The control system adopts a macro-fiber piezoelectric composite actuator to replace a traditional aileron and a rolling rudder, and controls the flight attitude by controlling the deformation of the wings, so that the maneuverability of the high aspect ratio aircraft is improved.
3. The control system and the control method suitable for the high aspect ratio wing aircraft are lower in energy consumption compared with a traditional steering engine control mode.
4. According to the control system and the control method suitable for the high-aspect-ratio wing aircraft, the voltage loading algorithm adopted by the novel flight control system can be combined with the wing structure layout to reduce vibration in the largest range.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic layout of a macro-fiber piezoelectric composite actuator according to the present invention.
Fig. 2 is a plan view of a macro fiber piezoelectric composite actuator arrangement according to the present invention.
FIG. 3 is a schematic diagram of the flight control system of the present invention.
Wherein: 1. the aircraft comprises a high aspect ratio wing, 2 a macro-fiber piezoelectric composite actuator, 3 a fuselage storage bin, 4 a pneumatic rudder.
Detailed Description
As shown in fig. 1 to 3, a control system suitable for an aircraft with high aspect ratio wings comprises a fuselage, wherein the front part of the fuselage is provided with high aspect ratio wings 1, the middle part of the fuselage is provided with a fuselage storage bin 3, the tail end of the fuselage is provided with an aerodynamic control surface 4, and the high aspect ratio wings 1 are perpendicular to the fuselage; the high aspect ratio wing 1 comprises an internal deformation substrate, a wing rib and a skin, wherein the skin is wrapped on the outer side of the deformation substrate through the wing rib; the high aspect ratio wing 1 is a high aspect ratio wing having an airfoil shape.
The macro-fiber piezoelectric composite material actuator 2 is arranged on the deformation substrate; a power supply system, a control board card and a boosting drive board card are arranged in the machine body; the control board card comprises a flight control rate and a voltage loading control rate, can detect attitude information of the aircraft and receive a control signal of a remote controller, calculates a voltage target value at the moment by utilizing feedback control, and controls a signal for the boost driving circuit by combining a voltage loading mode; when the macro-fiber piezoelectric composite actuator 2 receives a high-voltage control signal, the high-aspect-ratio wing 1 is driven to bend and deform, and the change of the attack angle of the high-aspect-ratio wing 1 is realized.
The power supply system for supplying power is sequentially connected with a control board card, a motor and a boosting drive board card. And the remote controller is used for sending control instructions to the aircraft, and is specifically divided into control signals of thrust control, steering engines of all attitude channels and the macro-fiber piezoelectric composite actuator 2.
The control method of the control system suitable for the high-aspect-ratio wing aircraft is characterized by comprising the following steps of:
the remote controller sends the target attitude to a control card board on the airplane through radio, and the difference between the target attitude and the current attitude is compared; and calculating the required deflection angle of each rudder shown by the pneumatic rudder 4, outputting a control signal to control the corresponding steering engine to deflect, and selecting a loading curve of the target voltage of the main wing through a corresponding voltage loading algorithm, wherein the loading algorithm enables the sum of transient vibration energy, stable residual vibration energy and deformation power consumption of the wing to be minimum after weighting according to a certain proportion so as to achieve the purpose of reducing vibration.
The calculated voltage control signal of the macro-fiber piezoelectric composite actuator is amplified and converted into a high-voltage direct-current signal through the boosting driving board card to be supplied to the macro-fiber piezoelectric composite actuator, so that torsion deformation of the inner substrate is realized, and the deformation substrate drives the wing to present the same bending and torsion change so as to control the overall torsion angle of the wing, thereby realizing the function of attitude control.
The control card board takes an stm32F4 series single chip microcomputer as a core, and comprises an embedded system which is provided with peripheral components and hardware circuits and has attitude calculation, control signal processing and a macro-fiber piezoelectric composite actuator loading algorithm. The peripheral components comprise an attitude detection module, a corresponding attitude calculation algorithm, a remote control signal receiver, an air pressure sensor and a series of AD conversion modules.
The control board is a control board combining a control rate and a voltage loading method. The boost driving board card is a portable onboard boost module which converts low-voltage control signals into signals suitable for input requirements of the macro-fiber piezoelectric composite actuator in various forms.
According to the control system and the control method suitable for the high-aspect-ratio wing aircraft, the control system can change the wing attack angle by controlling the wing bending and twisting deformation to control the rolling and yawing channels of the aircraft, and the yawing steering capacity of the aircraft is improved. The yaw steering capacity is improved by reducing the yaw steering radius of the aircraft while ensuring the lift force of the aircraft, the steering is flexible, and the vibration is inhibited in a certain range.
The deformation substrate is made of anisotropic non-uniform materials according to the size and the strain capacity of a Macro Fiber piezoelectric Composite actuator (MFC for short), and can meet the requirements on the rigidity in the stretching direction and the bending deformation flexibility in the chord length direction.
The voltage loading method is used for loading by combining the MFC pasting position, the substrate parameter and other state matrixes with the loading mode with minimum power consumption and vibration solved by the control rate of the MFC pasting position and the substrate parameter.
The macro-fiber piezoelectric composite actuator can convert direct-current high voltage into strain in a certain interval, and has more applications in the aspects of vibration power generation, cantilever beam vibration suppression and the like. The characteristic of deformation control is used for controlling the wing torsion deformation.
As shown in fig. 3, the control system and the control method for the high aspect ratio wing aircraft described in the present invention calculate the currently required angle of attack, convert it into a PWM (pulse width modulation) signal that can be recognized by the boost drive board by using a voltage loading algorithm, and output it to the drive board circuit, the boost drive board boosts the control signal and converts it into a high voltage direct current signal (-500V to 1500V range) and transmits it to the MFC, and then the MFC outputs the corresponding strain to the wing substrate to realize the control of its deformation.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (5)
1. The control method of the control system suitable for the high-aspect-ratio wing aircraft is characterized in that the control system comprises a fuselage, the front part of the fuselage is provided with high-aspect-ratio wings, the middle part of the fuselage is provided with a fuselage storage bin, the tail end of the fuselage is provided with a starting rudder, and the high-aspect-ratio wings are perpendicular to the fuselage;
the high-aspect-ratio wing comprises an internal deformation substrate, a wing rib and a skin, wherein the skin is wrapped on the outer side of the deformation substrate through the wing rib;
the deformation substrate is provided with a macro-fiber piezoelectric composite actuator;
a power supply system, a control board card and a boosting drive board card are arranged in the machine body;
the control board card comprises a flight control rate and a voltage loading control rate, can detect attitude information of the aircraft and receive a control signal of a remote controller, calculates a voltage target value at the moment by utilizing feedback control, and controls a signal for the driving circuit by combining a voltage loading mode;
when the macro-fiber piezoelectric composite actuator receives a high-voltage control signal, the macro-fiber piezoelectric composite actuator drives the high-aspect-ratio wing to bend and deform, so that the change of the attack angle of the high-aspect-ratio wing is realized;
the control method comprises the following steps:
the remote controller sends the target attitude to a control card board on the airplane by radio, and by comparing the difference between the target attitude and the current attitude,
calculating the required deflection angle of each rudder shown by the starting rudder, outputting a control signal to control the corresponding steering engine to deflect, and selecting a loading curve of the target voltage of the main wing through a corresponding voltage loading algorithm, wherein the loading algorithm enables the sum of transient vibration energy, stable residual vibration energy and deformation power consumption of the wing to be minimum after weighting according to a certain proportion;
and amplifying the calculated voltage control signal of the macro-fiber piezoelectric composite actuator through a boosting driving board card, converting the voltage control signal into a high-voltage direct-current signal, and supplying the high-voltage direct-current signal to the macro-fiber piezoelectric composite actuator, so that the torsion deformation of the internal substrate is realized, and the deformation substrate drives the wing to present the same bending and twisting change so as to control the integral deflection angle of the wing to realize attitude control.
2. The control method according to claim 1, characterized in that:
the power supply system for supplying power is sequentially connected with a control board card, a motor and a boosting drive board card.
3. The control method according to claim 1, characterized in that:
the remote controller is used for sending control instructions for the aircraft, and is specifically divided into control signals of a thrust control device, steering engines of all attitude channels and a macro-fiber piezoelectric composite actuator.
4. The control method according to claim 1, characterized in that:
the control card board is an embedded system which takes stm32F4 series single-chip microcomputer as a core, comprises peripheral components and hardware circuits and has attitude calculation, control signal processing and a macro-fiber piezoelectric composite actuator loading algorithm.
5. The control method according to claim 1 or 4, characterized in that:
the boost driving board card is a portable machine-mounted boost module which converts low-voltage control signals into input requirements suitable for the macro-fiber piezoelectric composite actuator.
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| CN201810359269.7A CN108557054B (en) | 2018-04-20 | 2018-04-20 | Control method of control system suitable for high-aspect-ratio wing aircraft |
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| CN201810359269.7A CN108557054B (en) | 2018-04-20 | 2018-04-20 | Control method of control system suitable for high-aspect-ratio wing aircraft |
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| CN108557054B true CN108557054B (en) | 2021-03-26 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102167155A (en) * | 2011-04-01 | 2011-08-31 | 哈尔滨工业大学 | Aircraft with turnable wings |
| CN105691594A (en) * | 2016-01-19 | 2016-06-22 | 高萍 | Novel control method and device for flying wing aircraft |
| CN106292278A (en) * | 2016-08-18 | 2017-01-04 | 大连理工大学 | The cantilever beam control method that a kind of many piezoelectric fibre composite materials drive |
| CN107054645A (en) * | 2017-04-01 | 2017-08-18 | 西安交通大学 | A kind of assistant deforms bionical unmanned vehicle and deformation control method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9327839B2 (en) * | 2011-08-05 | 2016-05-03 | General Atomics | Method and apparatus for inhibiting formation of and/or removing ice from aircraft components |
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- 2018-04-20 CN CN201810359269.7A patent/CN108557054B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102167155A (en) * | 2011-04-01 | 2011-08-31 | 哈尔滨工业大学 | Aircraft with turnable wings |
| CN105691594A (en) * | 2016-01-19 | 2016-06-22 | 高萍 | Novel control method and device for flying wing aircraft |
| CN106292278A (en) * | 2016-08-18 | 2017-01-04 | 大连理工大学 | The cantilever beam control method that a kind of many piezoelectric fibre composite materials drive |
| CN107054645A (en) * | 2017-04-01 | 2017-08-18 | 西安交通大学 | A kind of assistant deforms bionical unmanned vehicle and deformation control method |
Non-Patent Citations (1)
| Title |
|---|
| 基于压电纤维复合材料的可扭转机翼结构研究;黄建;《中国优秀硕士学位论文全文数据库 工程科技II辑》;20140315(第3期);第25-31、48-56页，图3-3 * |
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