CN108829121B - Separation controller based on parameter identification - Google Patents
Separation controller based on parameter identification Download PDFInfo
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- CN108829121B CN108829121B CN201810617193.3A CN201810617193A CN108829121B CN 108829121 B CN108829121 B CN 108829121B CN 201810617193 A CN201810617193 A CN 201810617193A CN 108829121 B CN108829121 B CN 108829121B
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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 separation controller based on parameter identification, which comprises a feedback controller, an instruction generator and a state observer group, wherein the feedback controller is used for generating a feedback signal; the command generator generates an attack angle command according to an attack angle command section designed based on the equal pitch angle speed command and inputs the attack angle command into the feedback controller; the state observer group comprises a first state observer and a second state observer, and is used for observing a controlled object and inputting the observed result into the instruction generator, and the first state observer also takes the observed result as the input of the feedback controller; in the control process, the first state observer and the second state observer identify a stable zero control equilibrium state where a controlled object is located; and the instruction generator determines the initial time of the arrival of the equilibrium state, and switches the generated attack angle control instruction to the equilibrium state attack angle control instruction after the initial time. The controller of the invention effectively realizes the identification and stable control of the stable equilibrium state of the aircraft, and avoids the problems of non-convergence and poor real-time performance of the algorithm in the existing identification method.
Description
Technical Field
The invention relates to the technical field of aircraft control, in particular to a separation controller based on parameter identification.
Background
The existing hypersonic flight vehicle mostly adopts a boosting and cruising two-stage flight mode. The boosting stage aims to send the load into a preset stage conversion window, in order to save weight and energy, a reverse thrust device is mostly not adopted, so that in order to successfully realize stage separation, a separation instruction must be sent out at the later stage of the thrust tail. Meanwhile, for an aircraft which only realizes attitude stability control through a thrust vector in a boosting process, the problems of insufficient control capability and large uncertainty in the later stage of thrust tailing are faced, and the stable control can be realized only by selecting a balanced state with zero moment in a static stable and uncontrolled state. Due to the influence of uncertainty of the pneumatic model, the mass center of mass attribute and the thrust model, the equilibrium state cannot be accurately predicted in advance and can only be obtained by an online identification method, so that how to reasonably design an identification and control strategy becomes one of key factors influencing the success or failure of flight.
The identification methods commonly used at present include a least square method, a kalman filtering method, a neural network method, and the like. The general defects of the methods are that the algorithm is complex, the demand of computing resources is large, the convergence is difficult to guarantee in the practical application process, the methods are generally suitable for slowly-changing industrial processes, and the methods are difficult to really apply to aircraft control systems.
Disclosure of Invention
The following presents a simplified summary of the invention in order to provide a basic understanding of some aspects of the invention. It should be understood that this summary is not an exhaustive overview of the invention. It is not intended to determine the key or critical elements of the present invention, nor is it intended to limit the scope of the present invention. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is discussed later.
The invention aims to provide a separation controller based on parameter identification, which can solve the technical problems that the aircraft realizing attitude stability control through a thrust vector in the prior art is poor in later control capability of thrust tailing and large in uncertainty, and the existing identification method is difficult to apply to aircraft stability control due to the fact that the algorithm is complex, the computing resource requirement is large, and the convergence is difficult to guarantee.
The technical solution of the invention is as follows:
the invention provides a separation controller based on parameter identification, which comprises: a feedback controller for outputting a control amount to control a controlled object; the command generator is used for generating an attack angle command according to an attack angle command section designed based on the equal pitch angle speed command, and taking the attack angle command as the input of the feedback controller; the state observer group comprises a first state observer and a second state observer, the first state observer and the second state observer are used for observing the state of the controlled object and taking the observation result as the input of the instruction generator, and the first state observer also takes the observation result as the input of the feedback controller; in the control process, the first state observer and the second state observer identify a stable zero control equilibrium state where a controlled object is located; and the instruction generator determines an initial time t1 when the stable zero control equilibrium state reaches according to the observation result corresponding to the stable zero control equilibrium state input by the first state observer and the second state observer, and after the initial time, the instruction generator switches the generated attack angle instruction to the attack angle instruction corresponding to the time t 1.
Further, the controlled object is a model established by the following formula:
wherein: v is velocity, T is thrust, ωzIs pitch angular velocity, alpha is angle of attack, theta is track inclination, L is lift, MzFor pitching moment, JzIs moment of inertia, m is mass, g is degree of gravitational acceleration, deltazIn order to lift the rudder off-set,
the derivative of a with respect to time is indicated,
represents omegazDerivative with respect to time.
Further, the attack angle instruction profile is designed according to the following formula:
wherein, t0A starting time for the separation controller to control; alpha is alpha0Is t0Angle of attack, α, corresponding to the momentdFor angle of attack command, αd(t) is a profile of the angle of attack command changing at any moment; t is time; t1 is the time at which the zero controlled equilibrium state is stable; omegadThe pitch angle rate command is set to a constant value.
Further, the bandwidth of the first state observer is smaller than the bandwidth of the second state observer.
Further, the first state observer and the second state observer are each of the form as follows:
wherein z is1A first state variable that is a state observer; z is a radical of2A second state variable that is a state observer;
is given by z1,z2A derivative with respect to time;
represents MzDerivative to elevator, i.e. elevator efficiency; omega0Is the state observer bandwidth; output of the state observer
B of first and second state observerszFinish the value takingAll being identical, only omega0Different.
Further, the bandwidth of the second state observer is 5-10 times that of the first state observer.
Further, the feedback controller is designed as a PD feedback controller or a PID feedback controller.
Further, the feedback controller is designed as a PD feedback controller, the input of the PD feedback controller further includes an attack angle and a pitch angle rate, and the control quantity u of the PD feedback controller is designed as:
u＝kp(α-αd)+kdωz+yd1，
wherein k ispThe feedback coefficient of the attack angle is; k is a radical ofdIs a pitch angle feedback coefficient; y isd1Is the output result of the first state observer; alpha is an attack angle; alpha is alphadIs an angle of attack command.
Further, the first state observer and the second state observer identify a stable zero control equilibrium state where a controlled object is located; the instruction generator further determines an initial time t1 when the stable zero-control equilibrium state arrives according to the observation results corresponding to the stable zero-control equilibrium state input by the first state observer and the second state observer, specifically: when the instruction generator judges the observation result y of the second state observerd2Satisfies the following conditions: y isd20 and observation y of the first state observerd1Satisfies the following conditions:
when the above condition is satisfied, the initial time t1 is assumed.
Compared with the prior art, the invention has the following advantages:
by applying the separation controller based on parameter identification provided by the invention, the identification of the stable equilibrium state of the aircraft can be effectively realized by designing the state observer and the attack angle instruction and providing the control strategy of the equilibrium state, the problems of algorithm non-convergence and poor real-time performance easily caused by a common identification method are avoided, and the technical problems of insufficient control capability and large uncertainty of the thrust trailing later stage of the aircraft realizing attitude stable control through a thrust vector are avoided. The invention can effectively control the stability.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic diagram of a separation controller control loop according to an embodiment of the present invention;
fig. 2 is a schematic view of a time-varying curve of an angle of attack and a controlled variable provided according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As shown in fig. 1, a separation controller based on parameter identification according to an embodiment of the present invention includes: the feedback controller is used for outputting a control quantity to control the controlled object; the command generator is used for generating an attack angle command according to an attack angle command section designed based on the equal pitch angle speed command, and the attack angle command is used as the input of the feedback controller; the state observer group comprises a first state observer and a second state observer, the first state observer and the second state observer are used for observing the state of the controlled object and taking the observation result as the input of the instruction generator, and the first state observer also takes the observation result as the input of the feedback controller;
in the course of the control process,
the first state observer and the second state observer identify a stable zero control equilibrium state where a controlled object is located; and the instruction generator determines an initial time t1 when the stable zero control equilibrium state reaches according to the observation result corresponding to the stable zero control equilibrium state input by the first state observer and the second state observer, and after the initial time, the instruction generator switches the generated attack angle instruction to the attack angle instruction corresponding to the time t 1.
By applying the separation controller based on parameter identification provided by the invention, the resultant moment is zero in the change process of the attack angle by designing the equal pitch angle speed instruction control rule; and then, identifying a zero control equilibrium state by designing a second state observer, identifying stability and realizing stable control by designing a first state observer, and then switching the attack angle instruction to the attack angle instruction position corresponding to the identified equilibrium state to ensure that the aircraft is also in a stable equilibrium state after the control capability is weakened.
Further, as an embodiment of the present invention, the controlled object is a model established by the following formula:
wherein: v is velocity, T is thrust, ωzIs pitch angular velocity, alpha is angle of attack, theta is track inclination, L is lift, MzFor pitching moment, JzIs moment of inertia, m is mass, g is degree of gravitational acceleration, deltazIn order to lift the rudder off-set,
the derivative of a with respect to time is indicated,
represents omegazDerivative with respect to time.
In the formula, the calculation formula of the lift force and the pitching moment is as follows:
L＝cyqSr cy＝f(Ma,H,α,δz)
Mz＝mzqSr mz＝f(Ma,H,α,δz)
wherein, q-dynamic pressure, Sr-a reference area, cyCoefficient of lift, mz-coefficient of pitching moment, Ma-flight mach number, H-altitude.
Further, in the invention, because the aircraft has the problems of insufficient control capability and large uncertainty in the later stage of thrust tailing, the stable control can be realized only by selecting the balance state with zero moment in a static and stable uncontrolled state, therefore, the invention adopts the design rule of the equal pitch angle speed instruction, namely the attack angle instruction section is designed based on the equal pitch angle speed instruction, knowing that the pitch angle speed command is a constant and the corresponding pitch angle speed is also a constant, the controlled object model can know that the derivative of the pitch angle speed to time is 0, the corresponding pitch moment is 0 at this time, that is, the resultant moment is 0, the pitching moment is composed of two major parts of the moment generated by an attack angle and the moment generated by the control quantity of the controlled object, therefore, the judgment that the moment generated by the attack angle is zero can be indirectly realized by judging that the control moment is zero. In other words, an important point of the present invention is to determine when the controlled object is in a static steady state, when the controlled variable is 0, and how to control the controlled object thereafter when the controlled variable is 0.
In this embodiment, the attack angle command profile is designed according to the following formula:
wherein, t0A starting time for the separation controller to control; alpha is alpha0Is t0Angle of attack, α, corresponding to the momentdFor angle of attack command, αd(t) is a profile of the angle of attack command changing at any moment; t is time; t1 is the initial time of entering stable zero control equilibrium state; omegadThe pitch angle rate command is set to a constant value.
Through the designed attack angle instruction profile, different attack angle instructions before and after the time t1 are designed, because t1 is the initial time of entering a stable zero control equilibrium state, the control quantity of the corresponding feedback controller is known to be 0 at the time, and the corresponding attack angle instruction is alpha at the timed(t1), the corresponding angle of attack and the moment of control are both 0, and after the time t1, the angle of attack command is switched to the angle of attack command alpha corresponding to the identified equilibrium stated(t1) (ensuring that the angle of attack produces a moment of 0) ensures that the aircraft is also in a stable equilibrium state after the control capability has diminished (at 0).
In the present embodiment, ωdIn general with alpha0The signs of (A) are opposite, and the numerical value is between 3 and 8 degrees/second.
In this embodiment, the online obtaining time t1 specifically includes: when the instruction generator judges the observation result y of the second state observerd2Satisfies the following conditions: y isd20 and observation y of the first state observerd1Satisfies the following conditions:
when the above condition is satisfied, the initial time t1 is assumed.
As shown in fig. 1, the input of the first state observer and the input of the second state observer are both the input control quantity and the output pitch angle speed of the controlled object, and the purpose of the invention is to design the two observers: and the second observer observes the moment of entering the zero control balance state, and simultaneously assists the first observer to jointly observe the moment of entering the stable zero control balance state, and in addition, the first observer also outputs a result to the feedback controller to form stable control on a controlled object with the feedback controller, namely, the second state observer is designed to identify the zero control balance state, and the first state observer is designed to identify the stability and realize the stable control.
Further, in order to accurately determine a stable zero control equilibrium state, the bandwidth of the first state observer is designed to be smaller than that of the second state observer, and the low-bandwidth observer and the high-bandwidth observer are combined and designed in such a way, wherein the first state observer with low bandwidth can realize stable control, and the convergence of the identification method is ensured; although the high-bandwidth second state observer cannot realize stable control, is volatile and stable, and diverges, the high-bandwidth second state observer has a relatively high recognition speed.
In the present embodiment, the first state observer and the second state observer are both extended state observers.
In the present embodiment, preferably, the bandwidth of the second state observer is 5 to 10 times that of the first state observer.
In the present embodiment, the first state observer and the second state observer are each of the form shown in the following equation:
wherein z is1A first state variable that is a state observer; z is a radical of2A second state variable that is a state observer;
is given by z1,z2A derivative with respect to time;
represents MzDerivative to elevator, i.e. elevator efficiency; omega0Is the state observer bandwidth; output of the state observer
B of first and second state observerszAll values are the same, only omega0Different.
Further, to realize the control of the feedback controller, the feedback controller may be designed as a controller commonly used in the control field, such as a PD feedback controller or a PID feedback controller.
In this embodiment, as shown in fig. 1, the feedback controller is designed as a PD feedback controller, the input of the PD feedback controller further includes an attack angle and a pitch angle rate, and the control quantity u of the PD feedback controller is designed as:
u＝kp(α-αd)+kdωz+yd1，
wherein k ispThe feedback coefficient of the attack angle is; k is a radical ofdIs a pitch angle feedback coefficient; y isd1Is the output result of the first state observer; alpha is an attack angle; alpha is alphadIs an angle of attack command.
In addition, in the present invention, k is the observer bandwidthpAnd kdThe undetermined parameter can be determined according to the frequency domain stability margin and the step response method, and the specific determination process is a known technology in the control field and is not described in detail herein.
In this embodiment, if the parameters are determined according to the frequency domain stability margin method, the stability margin is required to be that the phase angle margin is not less than 45 degrees and the amplitude margin is not less than 6 dB; if the parameters are determined according to a step response method, the step response requires that the adjustment time is not more than 0.5s and the overshoot is not more than 10%.
The design principle of the invention is explained in detail:
(1) in the description of the zero-control equilibrium state, the zero-control equilibrium state means that the resultant moment of the system is zero under an uncontrolled condition, that is, the system is in an equilibrium state. The balance state can be divided into two types, namely a stable balance state (after external disturbance, the stable balance state can restore to the original state by itself, such as a small ball at the bottom of a bowl which is just placed and returns to the bottom of the bowl after being hit), and an unstable balance state (after external disturbance, the movement can be dispersed, such as a small ball at the top of the bowl which is reversely buckled and slides away after being hit).
(2) Designing an identification process: the pitch angle speed is designed to track a constant angular speed command signal, the resultant torque is equal to zero in the process, and the resultant torque is equal to the control torque plus the body torque (the attack angle generates the torque).
The basic principle of identification is as follows: when the observer observes that the required control signal is zero, the control moment is zero, the corresponding body moment is also zero at the moment, and the attack angle at the moment is corresponding to a balance attack angle. Meanwhile, the stability of the balance state can be determined in the auxiliary derivative information, and when the stability requirement is met, the identification of the stable body balance attack angle is realized.
(3) When the body balance attack angle is identified, the designed attack angle instruction is kept unchanged, so that the aircraft can fly in a zero-control balance state, and in the state, the theoretically required control quantity is zero.
(4) The invention designs two observers, one observer is used for identifying a balanced state, the other observer is used for stabilizing control, and the observer assists in judging derivative information of the balanced state (namely judging stability). Since the observer output has a hysteresis effect, the hysteresis time is inversely proportional to the observer bandwidth, and the larger the bandwidth, the smaller the hysteresis. Because the angle of attack is increasing all the time during the equilibrium state identification process, the greater the lag, the greater the angle of attack error identified. Therefore, in order to be able to identify the equilibrium state more accurately, the bandwidth of the identification observer should be larger. But should not be too large, otherwise misjudgment may be caused by noise.
The bandwidth of the observer for stable control is not desirable to be too large, because the larger the bandwidth is, the larger the phase angle lag is, the more unstable is easily caused under the time delay condition (for example, because of software design and sampling, the angular velocity signal used in the control law is not the state at the current moment but the state 5ms before, which causes time delay), and the noise condition (the measuring sensor necessarily contains noise). Based on this, the invention considers that two observers with different bandwidths are used for respectively realizing identification and control, and two functions are simultaneously realized.
(5) As a result, as shown in FIG. 2, the system effectively recognizes the equilibrium state and thereafter holds the controlled variable substantially zero during the command to maintain the equilibrium state. By applying the technical scheme of the invention, the rapid identification and stable control of the stable equilibrium state can be realized only by two linear extended state observers, the algorithm is simple, the principle is clear, and the engineering application is convenient.
As another embodiment of the present invention, there is also provided a separation control method based on the above separation controller, including:
step 1, establishing a longitudinal controlled object model;
a2.1, designing an attack angle instruction profile based on an equiangular velocity change instruction, and generating an attack angle instruction according to the attack angle instruction profile for controlling a controlled object;
a2.2, designing a first state observer and a second state observer to observe a controlled object so as to identify a stable zero control equilibrium state where the controlled object is located; designing the first state observer to be used for controlling a controlled object;
and after the controlled object enters a stable zero control equilibrium state, switching the attack angle instruction to the attack angle instruction corresponding to the initial moment of entering the stable zero control equilibrium state.
Specifically, the method comprises the following steps:
firstly, establishing a longitudinal controlled object model,
neglecting small influences according to the kinetic equation, there are:
second, design the command profile
Let the recognition start time be t0 and the attack angle be α at t00Angle of attack command alphadThe profile that changes from moment to moment is:
thirdly, designing a controller
As shown in fig. 1, the design controller is composed of three parts, namely an instruction generator, an extended state observer and a PD feedback controller, wherein:
the logic finger generator generates an attack angle instruction according to the formula (2);
two extended state observers are provided, and the observers are in the form of the following formula
Wherein z is1,z2Being state variables of observers
Is given by z1,z2Derivative with respect to time
Representing the pitching moment MzDerivative of elevators, i.e. elevator efficiency, ω0Observer bandwidth, observer output
B of two observerszAll values are the same, only omega0In contrast, to achieve fast identification, the bandwidth ω of the observer 202Should be larger than the bandwidth ω of the observer 101；
The PD feedback controller comprises an attack angle feedback item and a pitch angle speed feedback item, and the attack angle feedback coefficient is kpThe pitch angle feedback coefficient is kdThe control quantity is as follows:
u＝kp(α-αd)+kdωz+yd1wherein y isd1Representing the output of the observer 1.
The fourth step, confirm the controller parameter
The controller in the third step comprises t1 and omega01、ω02、kpAnd k d5 pending parameters, where kp,kdAnd omega01The method can be determined according to a frequency domain stability margin and a step response method, wherein the stability margin is required to be that a phase angle margin is not less than 45 degrees, an amplitude margin is not less than 6dB, the step response is required to be that the adjustment time is not more than 0.5s, and the overshoot is not more than 10%. Omega02Can be generally (5-10) omega01T1 is obtained online, which determines the rule: when y isd2Is equal to 0 and
note that the current time is t1, and the acquisition is not repeated thereafter.
The control method of the present invention will be described in detail with reference to a specific example.
In the first step, a longitudinal control model is established.
Second, design the command profile
Let the recognition start time t0 be 49 seconds, and the attack angle be α at time t00-9.5 degrees and the equilibrium state is known to be around zero degrees (say-1 degree), let ω bedAngle of attack command α 3dThe profile that changes from moment to moment is:
thirdly, designing a controller
As shown in fig. 1, the design controller is composed of three parts, namely a logic instruction generator, an extended state observer and a PD feedback controller, wherein:
the logic finger generator generates an attack angle instruction according to the formula (2);
the extended state observers are two in number, and the observers are in the same form as the formula (3)
Wherein, B of two observerszAll values are the same, only omega0In contrast, to achieve fast identification, the bandwidth ω of the observer 202Should be larger than the bandwidth ω of the observer 101Designed as omega02＝5ω01；
The PD feedback controller comprises an attack angle feedback item and a pitch angle speed feedback item, and the feedback coefficient is kp,kdThe controlled variable is u-kp(α-αd)+kdωz+yd1；
The fourth step, confirm the controller parameter
To realize the pair alphadTo track and ensure the stability margin of the system, and determine the parameter omega by frequency domain analysis and time domain step response method01＝10，kp＝1.2，kd0.5, let omega02＝5ω01＝50；
t1 is obtained online according to the rule: when y isd2Is equal to 0 and
when the current time is recorded as t1, no more t1 is updated thereafter; as shown in fig. 2, the acquisition rule is satisfied at 51.185 seconds t1, after which the control target is switched to maintain an equilibrium state angle of attack, at approximately 52 seconds, the system enters steady state and the controlled variable approaches zero.
The separation controller and the control method based on parameter identification provided by the embodiment of the invention can effectively realize identification of the stable equilibrium state of the aircraft, and avoid the problems of non-convergence of the algorithm and poor real-time performance of the existing identification method.
Features that are described and/or illustrated above with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps, components or groups thereof.
The many features and advantages of these embodiments are apparent from the detailed specification, and thus, it is intended by the appended claims to cover all such features and advantages of these embodiments which fall within the true spirit and scope thereof. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the embodiments of the invention to the exact construction and operation illustrated and described, and accordingly, all suitable modifications and equivalents may be resorted to, falling within the scope thereof.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
The invention has not been described in detail and is in part known to those of skill in the art.
Claims (8)
1. A separation controller based on parameter identification, the separation controller comprising:
a feedback controller for outputting a control amount to control a controlled object;
the command generator is used for generating an attack angle command according to an attack angle command section designed based on the equal pitch angle speed command, and the attack angle command is used as the input of the feedback controller; the attack angle instruction profile is designed according to the following formula:
wherein, t0A starting time for the separation controller to control; alpha is alpha0Is t0Angle of attack, α, corresponding to the momentdFor angle of attack command, αd(t) is a profile of the angle of attack command changing at any moment; t is time; t1 is the time at which the zero controlled equilibrium state is stable; omegadSetting a constant pitch angle speed command;
the state observer group comprises a first state observer and a second state observer, the first state observer and the second state observer are used for observing the state of the controlled object and taking the observation result as the input of the instruction generator, and the first state observer also takes the observation result as the input of the feedback controller;
in the course of the control process,
the first state observer and the second state observer identify a stable zero control equilibrium state where a controlled object is located; the instruction generator further determines an initial time t1 when the stable zero control equilibrium state reaches according to the observation result corresponding to the stable zero control equilibrium state input by the first state observer and the second state observer, and after the initial time, the instruction generator switches the generated attack angle instruction to the attack angle instruction corresponding to the time t 1.
2. The separation controller based on parameter identification as claimed in claim 1, wherein the controlled object is a model established by the following formula:
wherein: v is velocity, T is thrust, ωzIs pitch angular velocity, alpha is angle of attack, theta is track inclination, L is lift, MzFor pitching moment, JzIs moment of inertia, m is mass, g is degree of gravitational acceleration, deltazIn order to lift the rudder off-set,
the derivative of a with respect to time is indicated,
represents omegazDerivative with respect to time.
3. A separation controller based on parameter identification according to any of claims 1-2, characterized in that the bandwidth of the first state observer is smaller than the bandwidth of the second state observer.
4. A separation controller based on parameter identification according to claim 3, wherein the first state observer and the second state observer are each of the form:
wherein z is1A first state variable that is a state observer; z is a radical of2Is in a state viewA second state variable of the detector;
is given by z1,z2A derivative with respect to time;
represents MzDerivative to elevator, i.e. elevator efficiency; j. the design is a squarezIs the moment of inertia; mzIs the pitching moment; deltazFor elevator yaw; omegazIs pitch angle velocity; omega0Is the state observer bandwidth; output of the state observer
B of first and second state observerszAll values are the same, only omega0Different.
5. The separation controller based on parameter identification according to claim 3, wherein the bandwidth of the second state observer is 5-10 times that of the first state observer.
6. A separation controller based on parameter identification according to claim 2, characterized in that the feedback controller is designed as a PD feedback controller or a PID feedback controller.
7. The separation controller based on parameter identification as claimed in claim 6, wherein the feedback controller is designed as a PD feedback controller, the input of the PD feedback controller further comprises an attack angle and a pitch angle, and the control quantity u of the PD feedback controller is designed as:
u＝kp(α-αd)+kdωz+yd1，
wherein k ispFor attackingAn angular feedback coefficient; k is a radical ofdIs a pitch angle feedback coefficient; y isd1Is the output result of the first state observer; alpha is an attack angle; alpha is alphadFor angle of attack command, ωzIs the pitch angle rate.
8. The separation controller based on parameter identification according to claim 7, wherein the first state observer and the second state observer identify a stable zero control equilibrium state of the controlled object; the instruction generator further determines an initial time t1 at which the stable zero-control equilibrium state arrives according to observation results corresponding to the stable zero-control equilibrium state input by the first state observer and the second state observer, specifically:
when the instruction generator judges the observation result y of the second state observerd2Satisfies the following conditions: y isd20 and observation y of the first state observerd1Satisfies the following conditions:
when the above condition is satisfied, the initial time t1 is assumed.
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