CN108891578A - A kind of trimming control method of aircraft master end lever system - Google Patents
A kind of trimming control method of aircraft master end lever system Download PDFInfo
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- CN108891578A CN108891578A CN201810492408.3A CN201810492408A CN108891578A CN 108891578 A CN108891578 A CN 108891578A CN 201810492408 A CN201810492408 A CN 201810492408A CN 108891578 A CN108891578 A CN 108891578A
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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
- B64C13/02—Initiating means
- B64C13/04—Initiating means actuated personally
- B64C13/14—Initiating means actuated personally lockable
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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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- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Feedback Control In General (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a kind of trimming control methods of aircraft master end lever system, active side lever is in when matching flat-die type powdered, active side lever needs to be maintained at the set angle according to instruction, setting position cannot be deviateed by disturbing influence, but when aircraft is there are acceleration movement, vibration or artificially accidentally touches side lever, it is motionless that active side lever is difficult still to be maintained at the setting position, is difficult to solve the problems, such as this using traditional PID approach.Therefore the invention proposes the trimming control methods based on modified active disturbance rejection algorithm, by the improvement to active disturbance rejection algorithm, solve the problems, such as not locked control technology by the position of disturbing influence, increase the reliability of active side lever.The invention is applicable not only in the lever system of aircraft master end, is also applied to the occasions such as antiaircraft weapon servomechanism, missile homer servo-system.
Description
Technical field
The present invention relates to aircraft control systems, more particularly to one kind to be suitable for seating plane and military aircraft active side lever
The trimming control method of system.
Background technique
In when matching flat-die type powdered, active side lever needs to be maintained at the set angle according to instruction active side lever, but works as aircraft
There are acceleration movement, vibration or artificially accidentally touch active side lever when, active side lever be still able to maintain the setting position not
It moves relatively difficult；Therefore for master end lever system when with flat-die type powdered, active side lever needs stronger positional stability, cannot be disturbed
Moving influences and deviates setting position.Since to be unable to Accurate Model and external disturbance uncertain for system, using traditional PID approach
System robustness is not strong.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of aircraft master for defect involved in background technique
The trimming control method of dynamic side lever system.
The present invention uses following technical scheme to solve above-mentioned technical problem：
A kind of trimming control method of aircraft master end lever system, aircraft master end lever system include monitoring module and
Side lever module；
The monitoring module controls storage and shows the real-time of side lever module for sending instructions to the side lever module
Status information；
The side lever module includes active side lever, the first micro-control unit and the second micro-control unit；
The active side lever includes active side lever handle, stick force sensor, master end club shaft, first axle, the second axis, the
One bearing and second bearing；
The first axle, the second axis use the form of interior outline border, and first axle is inner axis, and the second axis is outline border axis, and first
Axis can be slided in the upper gliding groove of the second axis；
One end of the first axle and the delivery outlet of hole output right angle communtation deceleration device are connected by key, the first axle
The other end and first bearing carry；The output shaft of one end of second axis and axis output right angle communtation deceleration device is connected by key
It connects, the other end and second bearing of second axis carry；
The lower end of the master end club shaft and first axle are connected, and the bottom of upper end and stick force sensor is connected, and stick force passes
The top of sensor and active side lever handle are connected；
The stick force sensor respectively corresponds power in first axle and the using 2 dimension resistance-strain chip stick force sensors
Power on two axis；
The handle is equipped with the switching switch of the operating mode for switching side lever module, and the operating mode includes master
Dynamic model formula, matches flat-die type powdered and Passive Mode at follower model；
First micro-control unit include the first rotary transformer, the first right angle communtation deceleration device, the first torque motor,
First microcontroller, the first PWM motor drive module, first handle power modulating signal circuit, the first signals of rotating transformer tune
Circuit processed；
The rotor of first rotary transformer is connect with the first torque motor shaft, stator and the first torque motor it is outer
Shell connection, output end are connected with the first signals of rotating transformer modulation circuit input terminal, for measuring the output of the first torque motor
The corner of axis, and pass it to first microcontroller；
The first right angle communtation deceleration device is fixed on active side lever cabinet by ring flange, delivery outlet and first axle
One end connection, input hole are connect with one end of the first torque motor output shaft；
The input terminal of the first handle power modulating signal circuit is electrically connected with stick force sensor circuit；
The first PWM motor drive module output end is electrically connected with first torque motor；
First microcontroller respectively with the output end of first handle power modulating signal circuit, the first PWM motor driven
The input terminal of module, the output end of the first signals of rotating transformer modulation circuit, stick force sensor and the electrical phase of monitoring module
Even, the stick force output signal for the stick force sensor according to acquisition in first axle, the first signals of rotating transformer modulation electricity
The angular signal on road exports PWM wave and controls the operation of the first torque motor to the first PWM motor drive module, while by certainly
The serial port function and monitoring module of body institute band carry out serial communication, to the status information of monitoring module transmission side lever module；
Second micro-control unit include the second rotary transformer, the second right angle communtation deceleration device, the second torque motor,
Second microcontroller, the 2nd PWM motor drive module, second handle power modulating signal circuit, the second signals of rotating transformer tune
Circuit processed；
The rotor of second rotary transformer is connect with the second torque motor shaft, stator and the second torque motor it is outer
Shell connection, output end are connected with the second signals of rotating transformer modulation circuit input terminal, for measuring the output of the second torque motor
The corner of axis, and pass it to second microcontroller；
The second right angle communtation deceleration device is fixed on active side lever cabinet by ring flange, output shaft and the second axis
One end connection, input hole are connect with one end of the second torque motor output shaft；
The input terminal of the second handle power modulating signal circuit is electrically connected with stick force sensor circuit；
The 2nd PWM motor drive module output end is electrically connected with second torque motor；
Second microcontroller respectively with the output end of second handle power modulating signal circuit, the 2nd PWM motor driven
The input terminal of module, the output end of the second signals of rotating transformer modulation circuit, stick force sensor and the electrical phase of monitoring module
Even, the stick force output signal for the stick force sensor according to acquisition on the second axis, the second signals of rotating transformer modulation electricity
The angular signal on road exports PWM wave and controls the operation of the second torque motor to the 2nd PWM motor drive module, while by certainly
The serial port function and monitoring module of body institute band carry out serial communication, to the status information of monitoring module transmission side lever module；
The trimming control method of the first axle comprises the steps of：
Step is A.1), the state model of aircraft master end lever system is established, the first torque motor is enabled to be in steady-state operation shape
The fundamental equation of state, aircraft master end lever system is as follows：
In formula：U (t) is the first torque motor end voltage of t moment；k1For the times magnification of the first torque motor drive module
Number；Pwm (t) is the first torque motor control PWM wave duty ratio of t moment；R is the first torque motor armature resistance；L is first
Torque motor armature inductance；I (t) is the first torque motor armature supply of t moment；keFor the first torque motor counter electromotive force system
Number；θ (t) is the corner of t moment active side lever；For the revolving speed of t moment active side lever；TmIt (t) is t moment active side lever
Output torque；J is the rotary inertia that active side lever is folded to the first reducer output shaft；Td(t) disturbing for t moment active side lever
Kinetic moment；k2For the reduction ratio coefficient of the first retarder；k3For the full load efficiency of the first retarder；TeIt (t) is the first power of t moment
The electromagnetic torque of torque motor；ktIt (t) is the torque coefficient of the first torque motor of t moment；For rubbing for t moment mechanical structure
Torque is wiped, which changes with the first rotational speed of torque motor and changed；TlIt (t) is the load torque of the first torque motor of t moment；
FhIt (t) is the handle power of t moment active side lever；LhFor the length of active side lever；
Step is A.2), according to state model obtained above, aircraft master end lever system is extended to third-order system：
Step is A.2.1), the electromagnetic torque of the first torque motor is changed simultaneously with the first torque motor control end voltage, is flown
The state equation and output equation of the dynamic side lever system of owner are as follows：
In formula, x1It is the corner of active side lever；x2It is the revolving speed of active side lever；Y is that the actual rotational angle of active side lever measures letter
Number；
Step is A.2.2), external disturbance and internal friction torque are unified into the perturbed force f at active side lever handle, enabled outer
Disturbing power is w, then：
At this point, aircraft master end lever system is extended to following third-order system：
In formula, x3For the new state of expansion；F is the perturbed force at active side lever handle；b1For preset dynamic linear
Penalty coefficient；
Step is A.3), by the position trim command signal v of active side lever0The tracking differential is inputted as input signal
Device, then output has the position command signal v of transient process1；
The concrete methods of realizing that the Nonlinear Tracking Differentiator is realized is as follows：
In formula, v (K) is the trim angle value given at the K moment；v1It (K) is the K moment matching after Nonlinear Tracking Differentiator in real time
Straight angle angle value；v1It (K+1) is real-time trim angle value of the K+1 moment after Nonlinear Tracking Differentiator；v2(K) differential is tracked for the K moment
The real-time trim magnitude of angular velocity that device operation obtains；v2(K+1) the real-time angle of trim speed obtained for the Nonlinear Tracking Differentiator operation of K+1 moment
Angle value；H is the preset control period；R is preset velocity factor；h0For preset dilution of precision, determine
The tracking accuracy of transient process；fhan(x1,x2,r,h0) be nonlinear function, this function ensure that the differentiator be steepest from
Nonlinear Tracking Differentiator is dissipated, it is specific as follows shown：
Wherein：x1、x2For the variable of fhan function；X is the variable of fsg function；
Step is A.4), using the actual position signal y of active side lever as the first input signal, by the first torque motor control
PWM wave signal pwm and dynamic linear penalty coefficient b1It is multiplied and is used as the second input signal, input expansion observer is expanded
The position signal z that observer observes1With disturbance z3；
The concrete form of the expansion observer is as follows：
In formula, z1For the first output for expanding observer, the corner of active side lever is tracked；z2Track the angle speed of active side lever
Degree；z3Expand the second output of observer, tracking disturbance；E represents the error of tracking system output；Y is the reality of active side lever
Corner measurement signal；b1For dynamic linear penalty coefficient；l1、l2、l3For the coefficient of preset expansion observer coefficient；
Since practical controller is using digital control, it is necessary to discrete by the expansion observer discretization of the above conitnuous forms
It is as follows after change：
In formula, z1(K) the first output that observer is expanded for the K moment, tracks the corner of active side lever；z2It (K) is the K moment
Track the angular speed of active side lever；z3(K) the second output of observer, tracking disturbance are expanded for the K moment；E (K) be the K moment with
The error of track system output；Y (K) is the actual rotational angle measurement signal of K moment active side lever；
Step is A.5), the position command signal v that Nonlinear Tracking Differentiator is exported1With the position detection letter of expansion observer output
Number z1Compare, obtains control error e1, i.e. e1=v1-z1；
Step is A.6), error e will be controlled1As the input of nonlinear Feedback Control rule, the first torque motor control is obtained
The first part u of PWM wave duty cycle signals0；
Nonlinear Feedback Control rule is implemented as follows：
In formula,v1For the position command with transient process
Signal；z1For the first output for expanding observer, the corner of active side lever is tracked；e1To control error；K is preset shape
The gain coefficient of state Feedback Control Laws；u0For the output of nonlinear Feedback Control rule；
Step is A.7), the disturbing signal z that expansion observer is observed3With dynamic linear penalty coefficient b1Reciprocal multiplication
Afterwards, the compensation rate as the first torque motor control, the i.e. second part of the first torque motor control PWM wave duty cycle signals
u1, u1=z3/b1；
Step is A.8), the first part u of the first torque motor control PWM wave duty cycle signals of the first microcontroller0Subtract
Remove the second part u of the first torque motor control PWM wave duty cycle signals1, export the first torque motor control PWM wave signal
Pwm, i.e. pwm=u0-u1=u0-z3/b1；
Step is A.9), the first microcontroller exports the first torque motor control PWM wave signal pwm to the first PWM motor
Drive module, controls the operation of the first torque motor, and the first torque motor drags the rotation of the first retarder, the dragging of the first retarder
At the club shaft rotation position instruction of master end, and remain stationary.
As a kind of further prioritization scheme of trimming control method of aircraft master end of the invention lever system, setting dynamic
Linear compensation factors b1Specific step is as follows：
Step is B.1), the first motor-driven busbar voltage of PWM is adjusted to the first torque motor that active side lever uses
Maximum voltage at continuous torque；
Motor drive module is controlled using two channel PWM, when the first torque motor being enabled to rotate forward, one output duty cycle of channel exists
The PWM wave of 0 to 100% variation, the PWM wave that two output duty cycle of channel is 0；When first torque motor inverts, channel one is exported
The PWM wave that duty ratio is 0, the PWM wave that two output duty cycle of channel changes in 0-100%；
When pwm (t) variation range is -100% to 100%, pwm (t) > 0, the first torque motor motor is rotated forward,
When pwm (t) < 0, the first torque motor motor reversal, when pwm (t)=0, the first torque motor motor does not turn；
Step is B.2), active side lever handle is fixed with fixture, so that it will not move；
Step is B.3), in pwm (t) variation range, according to preset step-length by bearing greatly to zero again to honest change pwm
(t) value records the torque of the corresponding active side lever of each pwm (t) value in pwm (t) variation range；
Step is B.4), the torque of pwm (t) value each in pwm (t) variation range active side lever corresponding with its is carried out one
Rank linear fit obtains constant value coefficient b0；
Step is B.5), dynamic linear compensating parameter b is calculated according to the following formula1：
As a kind of further prioritization scheme of trimming control method of aircraft master end of the invention lever system, using bandwidth
Method adjusts the l of expansion observer1、l2、l3Coefficient：
ω is the bandwidth for adjusting.
The invention adopts the above technical scheme compared with prior art, has the following technical effects：
1. not needing any sensor, structure is simple, and control parameter adjustment is simple；
2. solving control controlled device by algorithm quickly reaches a specified position, and keeps not by disturbing influence
Position locks control technology problem, solves the problems, such as that the dynamic linear coefficient theoretical calculation of traditional automatic disturbance rejection controller is inaccurate, passes
The parameter tuning difficulty problem and active side lever of system automatic disturbance rejection controller are in trim condition since there are acceleration fortune for aircraft
Dynamic, vibration artificially accidentally touches the problem of active side lever causes active side lever to move；
3. being obviously improved the Ability of Resisting Disturbance of system, vibration on a large scale, impact can be resisted.
Detailed description of the invention
Fig. 1 is active side lever mechanical structure schematic diagram in the present invention；
Fig. 2 is the schematic illustration of any one axis of aircraft active side lever in the present invention；
Fig. 3 is the trim algorithm control block diagram of aircraft active side lever in the present invention.
In figure, 1- active side lever handle, 2- stick force sensor, 3- active side lever first axle, 4- active the second axis of side lever, 5-
Master end club shaft, 6- planetary reduction gear, 7- torque motor, 8- rotary transformer.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing：
A kind of trimming control method of aircraft master end lever system, aircraft master end lever system include monitoring module and
Side lever module；
The monitoring module controls storage and shows the real-time of side lever module for sending instructions to the side lever module
Status information；
The side lever module includes active side lever, the first micro-control unit and the second micro-control unit；
The two degrees of freedom mechanical structure of the active side lever as shown in Figure 1, comprising active side lever handle, stick force sensor,
Master end club shaft, first axle, the second axis, first bearing and second bearing；
The first axle, the second axis use the form of interior outline border, and first axle is inner axis, and the second axis is outline border axis, and first
Axis can be slided in the upper gliding groove of the second axis；
One end of the first axle and the delivery outlet of hole output right angle communtation deceleration device are connected by key, the first axle
The other end and first bearing carry；The output shaft of one end of second axis and axis output right angle communtation deceleration device is connected by key
It connects, the other end and second bearing of second axis carry；
The lower end of the master end club shaft and first axle are connected, and the bottom of upper end and stick force sensor is connected, and stick force passes
The top of sensor and active side lever handle are connected；
The stick force sensor respectively corresponds power in first axle and the using 2 dimension resistance-strain chip stick force sensors
Power on two axis；
The handle is equipped with the switching switch of the operating mode for switching side lever module, and the operating mode includes master
Dynamic model formula, matches flat-die type powdered and Passive Mode at follower model；
First micro-control unit include the first rotary transformer, the first right angle communtation deceleration device, the first torque motor,
First microcontroller, the first PWM motor drive module, first handle power modulating signal circuit, the first signals of rotating transformer tune
Circuit processed；
The rotor of first rotary transformer is connect with the first torque motor shaft, stator and the first torque motor it is outer
Shell connection, output end are connected with the first signals of rotating transformer modulation circuit input terminal, for measuring the output of the first torque motor
The corner of axis, and pass it to first microcontroller；
The first right angle communtation deceleration device is fixed on active side lever cabinet by ring flange, delivery outlet and first axle
One end connection, input hole are connect with one end of the first torque motor output shaft；
The input terminal of the first handle power modulating signal circuit is electrically connected with stick force sensor circuit；
The first PWM motor drive module output end is electrically connected with first torque motor；
First microcontroller respectively with the output end of first handle power modulating signal circuit, the first PWM motor driven
The input terminal of module, the output end of the first signals of rotating transformer modulation circuit, stick force sensor and the electrical phase of monitoring module
Even, the stick force output signal for the stick force sensor according to acquisition in first axle, the first signals of rotating transformer modulation electricity
The angular signal on road exports PWM wave and controls the operation of the first torque motor to the first PWM motor drive module, while by certainly
The serial port function and monitoring module of body institute band carry out serial communication, to the status information of monitoring module transmission side lever module；
Second micro-control unit include the second rotary transformer, the second right angle communtation deceleration device, the second torque motor,
Second microcontroller, the 2nd PWM motor drive module, second handle power modulating signal circuit, the second signals of rotating transformer tune
Circuit processed；
The rotor of second rotary transformer is connect with the second torque motor shaft, stator and the second torque motor it is outer
Shell connection, output end are connected with the second signals of rotating transformer modulation circuit input terminal, for measuring the output of the second torque motor
The corner of axis, and pass it to second microcontroller；
The second right angle communtation deceleration device is fixed on active side lever cabinet by ring flange, output shaft and the second axis
One end connection, input hole are connect with one end of the second torque motor output shaft；
The input terminal of the second handle power modulating signal circuit is electrically connected with stick force sensor circuit；
The 2nd PWM motor drive module output end is electrically connected with second torque motor；
Second microcontroller respectively with the output end of second handle power modulating signal circuit, the 2nd PWM motor driven
The input terminal of module, the output end of the second signals of rotating transformer modulation circuit, stick force sensor and the electrical phase of monitoring module
Even, the stick force output signal for the stick force sensor according to acquisition on the second axis, the second signals of rotating transformer modulation electricity
The angular signal on road exports PWM wave and controls the operation of the second torque motor to the 2nd PWM motor drive module, while by certainly
The serial port function and monitoring module of body institute band carry out serial communication, to the status information of monitoring module transmission side lever module.
The present invention by the lever system of aircraft master end friction torque and external disturbance be extended to a new state, utilize
Observer is in real time observed the state, and is compensated by feedforward, influence of total disturbance to system is eliminated, system
Become pure integral tandem type, recycles nonlinear Feedback Control rule to be controlled, achieve the purpose that system disturbance rejection.
The analysis of aircraft master end lever system by taking first axle as an example realizes position trim in accordance with the following methods：
Step is A.1), establish the state model of aircraft master end lever system.
As shown in Fig. 2, motivation transfer motion part is mainly by the first torque motor, in the first axle of aircraft master end lever system
One speed reducer, the first stick force sensor, master end club shaft and active side lever handle composition.In actual operation, master end
The rotation of bar first passes through the first torque motor, is then driven by the first retarder.
The first torque motor is enabled to be in steady-state operating condition, then the fundamental equation of aircraft master end lever system is mainly such as formula
(1) shown in.Aircraft master end lever system by PWM control mode control the first torque motor output, the first torque motor it is defeated
Shaft is connected with the first retarder, and the first reducer output shaft is connected with active side lever；The load of aircraft master end lever system turns
Square is folded to the handle power at active side lever handle.
In formula：U (t) is the first torque motor end voltage of t moment；k1For the times magnification of the first torque motor drive module
Number；Pwm (t) is the first torque motor control PWM wave duty ratio of t moment；R is the first torque motor armature resistance；L is first
Torque motor armature inductance；I (t) is the first torque motor armature supply of t moment；keFor the first torque motor counter electromotive force system
Number；θ (t) is the corner of t moment active side lever；For the revolving speed of t moment active side lever；TmIt (t) is t moment active side lever
Output torque；J is the rotary inertia that active side lever is folded to the first reducer output shaft；Td(t) disturbing for t moment active side lever
Kinetic moment；k2For the reduction ratio coefficient of the first retarder；k3For the full load efficiency of the first retarder；TeIt (t) is the first power of t moment
The electromagnetic torque of torque motor；ktIt (t) is the torque coefficient of the first torque motor of t moment；For rubbing for t moment mechanical structure
Torque is wiped, which changes with the first rotational speed of torque motor and changed；TlIt (t) is the load torque of the first torque motor of t moment；
FhIt (t) is the handle power of t moment active side lever；LhFor the length of active side lever.
Step is A.2), according to state model obtained above, aircraft master end lever system is extended to third-order system：
Step is A.2.1), the electromagnetic torque of the first torque motor is changed simultaneously with the first torque motor control end voltage, is flown
Owner moves shown in state equation and the output equation such as formula (2) of side lever system：
In formula, x1It is the corner of active side lever；x2It is the revolving speed of active side lever；Y is that the actual rotational angle of active side lever measures letter
Number.
Step is A.2.2), external disturbance and internal friction torque are unified into the perturbed force f at active side lever handle, enabled outer
Disturbing power is w, then：
At this point, aircraft master end lever system is extended to third-order system, it is shown below：
In formula, x3For the new state of expansion；F is the perturbed force at active side lever handle；b1For preset dynamic linear
Penalty coefficient, parameter can be obtained by experiment.
Step is A.3), as shown in figure 3, by the position trim command signal v of active side lever0, institute is inputted as input signal
Nonlinear Tracking Differentiator (TD) is stated, then output has the position command signal v of transient process1。
The concrete methods of realizing that the Nonlinear Tracking Differentiator (TD) is realized is as follows：
In formula, v (K) is the trim angle value given at the K moment；v1It (K) is reality of the K moment after Nonlinear Tracking Differentiator (TD)
Shi Peiping angle value；v1It (K+1) is real-time trim angle value of the K+1 moment after Nonlinear Tracking Differentiator (TD)；v2It (K) is the K moment
The real-time trim magnitude of angular velocity that Nonlinear Tracking Differentiator (TD) operation obtains；v2(K+1) it is obtained for K+1 moment Nonlinear Tracking Differentiator (TD) operation
The real-time trim magnitude of angular velocity arrived；H is the preset control period；R is preset velocity factor；h0To preset
Dilution of precision, determine the tracking accuracy of transient process；fhan(x1,x2,r,h0) it is nonlinear function, this function ensure that
The differentiator is the discrete tracked differentiator of steepest, shown in concrete form such as formula (6)：
Wherein：
In formula, x1、x2The variable for representing fhan function, without concrete meaning；X represents the variable of fsg function, without specific
Meaning；d,y,a,a0、a1、a2It is the intermediate variable in formula, without concrete meaning.
Step is A.4), using the actual position signal y of active side lever as the first input signal, by the first torque motor control
PWM wave signal pwm and dynamic linear penalty coefficient b1It is multiplied and is used as the second input signal, input expansion observer (ESO) obtains
The position signal z that expansion observer (ESO) observes1With disturbance z3。
The expansion observer is (shown in the concrete form of ESO such as formula (8)：
In formula, z1For the first output for expanding observer (ESO), the corner of active side lever is tracked；z2Track active side lever
Angular speed；z3Expand second output of observer (ESO), tracking disturbance；E represents the error of tracking system output；Y is master end
The actual rotational angle measurement signal of bar；b1For dynamic linear penalty coefficient；l1、l2、l3For preset expansion observer coefficient
(ESO) coefficient.
Since practical controller is using digital control, it is necessary to by expansion observer (ESO) discretization of the above conitnuous forms,
After discretization as shown in formula (9)：
In formula, z1(K) the first output that observer (ESO) is expanded for the K moment, tracks the corner of active side lever；z2It (K) is K
The angular speed of moment tracking active side lever；z3(K) the second output of observer (ESO), tracking disturbance are expanded for the K moment；e(K)
For the error of K moment tracking system output；Y (K) is the actual rotational angle measurement signal of K moment active side lever；b1For dynamic linear
Penalty coefficient；l1、l2、l3For the coefficient of preset expansion observer (ESO).
Step is A.5), the position command signal v that Nonlinear Tracking Differentiator (TD) is exported1With expansion observer (ESO) output
Position detection signal z1Compare, obtains control error e1, i.e. e1=v1-z1。
Step is A.6), error e will be controlled1As the input of nonlinear Feedback Control rule (NLSEF), output the first torque electricity
The first part u of machine control PWM wave duty cycle signals0。
The concrete methods of realizing that nonlinear Feedback Control restrains (NLSEF) is as follows：
Fal function concrete form is as follows：
In formula, v1For the position command signal with transient process；z1For the first output for expanding observer (ESO), tracking
The corner of active side lever；e1To control error；K is the gain coefficient of preset state feedback control law (NLSEF)；u0For
Nonlinear Feedback Control restrains the output of (NLSEF).
Step is A.7), the disturbing signal z that expansion observer (ESO) is observed3With dynamic linear penalty coefficient b1Inverse
After multiplication, as the compensation rate of the first torque motor control, i.e., second of the first torque motor control PWM wave duty cycle signals
Divide u1, u1=z3/b1。
Step is A.8), the first part u of the first torque motor control PWM wave duty cycle signals of the first microcontroller0Subtract
Remove the second part u of the first torque motor control PWM wave duty cycle signals1, export the first torque motor control PWM wave signal
Pwm, i.e. pwm=u0-u1=u0-z3/b1。
Step is A.9), the first microcontroller exports the first torque motor control PWM wave signal pwm to the first PWM motor
Drive module, controls the operation of the first torque motor, and the first torque motor drags the rotation of the first retarder, the dragging of the first retarder
At the club shaft rotation position instruction of master end, and remain stationary.
Set dynamic linear penalty coefficient b1Specific step is as follows：
Step is B.1), the first motor-driven busbar voltage of PWM is adjusted to the first torque motor that active side lever uses
Maximum voltage at continuous torque；
Motor drive module is controlled using two channel PWM, when the first torque motor being enabled to rotate forward, one output duty cycle of channel exists
The PWM wave of 0 to 100% variation, the PWM wave that two output duty cycle of channel is 0；When first torque motor inverts, channel one is exported
The PWM wave that duty ratio is 0, the PWM wave that two output duty cycle of channel changes in 0-100%.
When pwm (t) variation range is -100% to 100%, pwm (t) > 0, the first torque motor motor is rotated forward,
When pwm (t) < 0, the first torque motor motor reversal, when pwm (t)=0, the first torque motor motor does not turn.
Step is B.2), active side lever handle is fixed with fixture, so that it will not move.
Step is B.3), in pwm (t) variation range, according to preset step-length by bearing greatly to zero again to honest change pwm
(t) value records the torque of the corresponding active side lever of each pwm (t) value in pwm (t) variation range；
Step is B.4), the torque of pwm (t) value each in pwm (t) variation range active side lever corresponding with its is carried out one
Rank linear fit obtains constant value coefficient b0；
Step is B.5), dynamic linear compensating parameter b is calculated according to the following formula1：
Step is A.3) in, set h, r, h0Specific step is as follows：
Step is C.1), setting h first0It is identical with h；
Step is C.2), r is adjusted, rule of thumb examination is gathered, so that the transient process speed signal that Nonlinear Tracking Differentiator (TD) generates
Transformation period meets system dynamic requirements；
Step is C.3), adjust h0, general h0Greater than h, rule of thumb examination is gathered, so that the transition that Nonlinear Tracking Differentiator (TD) generates
Process speed signal peak value is able to bear in range in aircraft master end lever system.
The quality of observer (ESO) performance is expanded by l1、l2、l3Coefficient determines.By selecting suitable parameter, Bian Keshi
Now to the accurate estimation of state variable.
Step is D.1), l1、l2、l3Parameter is related with observer bandwidth omega, and the l of expansion observer is adjusted using Bandwidth Method1、
l2、l3Coefficient, as shown in formula (11)：
Step is D.2), pass through the size of appropriate adjustment bandwidth omega, it is ensured that expansion observer (ESO) can be good at
Corner, angular speed and the disturbance of track active side lever.
The performance of nonlinear Feedback Control rule (NLSEF) is determined by parameter k.It is adjusted by the way that k parameter is constantly increased from zero
It is whole, enable trimming control algorithm that not only there is quick dynamic response capability, but also there is no overshoot, and stable state does not have error.
For the second axis, the position trim of active side lever is realized in the same manner.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that have in the context of the prior art
The consistent meaning of meaning will not be explained in an idealized or overly formal meaning and unless defined as here.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not limited to this hair the foregoing is merely a specific embodiment of the invention
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (3)
1. a kind of trimming control method of aircraft master end lever system, aircraft master end lever system includes monitoring module and side
Bar module；
The monitoring module controls storage and shows the real-time status of side lever module for sending instructions to the side lever module
Information；
The side lever module includes active side lever, the first micro-control unit and the second micro-control unit；
The active side lever includes active side lever handle, stick force sensor, master end club shaft, first axle, the second axis, first axle
It holds and second bearing；
The first axle, the second axis use the form of interior outline border, and first axle is inner axis, and the second axis is outline border axis, first axle energy
Enough upper gliding grooves in the second axis slide；
One end of the first axle and hole output right angle communtation deceleration device delivery outlet be connected by key, the first axle it is another
End is carried with first bearing；One end of second axis and the output shaft of axis output right angle communtation deceleration device are connected by key, institute
The other end and second bearing for stating the second axis carry；
The lower end of the master end club shaft and first axle are connected, and the bottom of upper end and stick force sensor is connected, stick force sensor
Top and active side lever handle be connected；
The stick force sensor respectively corresponds the power and the second axis in first axle using 2 dimension resistance-strain chip stick force sensors
On power；
The handle is equipped with the switching switch of the operating mode for switching side lever module, and the operating mode includes active mould
Formula, matches flat-die type powdered and Passive Mode at follower model；
First micro-control unit includes the first rotary transformer, the first right angle communtation deceleration device, the first torque motor, first
Microcontroller, the first PWM motor drive module, first handle power modulating signal circuit, the first signals of rotating transformer modulation electricity
Road；
The rotor of first rotary transformer is connect with the first torque motor shaft, and the shell of stator and the first torque motor connects
It connects, output end is connected with the first signals of rotating transformer modulation circuit input terminal, for measuring the first torque motor output shaft
Corner, and pass it to first microcontroller；
The first right angle communtation deceleration device is fixed on active side lever cabinet by ring flange, one end of delivery outlet and first axle
Connection, input hole are connect with one end of the first torque motor output shaft；
The input terminal of the first handle power modulating signal circuit is electrically connected with stick force sensor circuit；
The first PWM motor drive module output end is electrically connected with first torque motor；
First microcontroller respectively with the output end of first handle power modulating signal circuit, the first PWM motor drive module
Input terminal, the first signals of rotating transformer modulation circuit output end, stick force sensor and monitoring module be electrically connected,
For stick force output signal of the stick force sensor according to acquisition in first axle, the first signals of rotating transformer modulation circuit
Angular signal exports PWM wave and controls the operation of the first torque motor to the first PWM motor drive module, while passing through itself institute
The serial port function and monitoring module of band carry out serial communication, to the status information of monitoring module transmission side lever module；
Second micro-control unit includes the second rotary transformer, the second right angle communtation deceleration device, the second torque motor, second
Microcontroller, the 2nd PWM motor drive module, second handle power modulating signal circuit, the second signals of rotating transformer modulation electricity
Road；
The rotor of second rotary transformer is connect with the second torque motor shaft, and the shell of stator and the second torque motor connects
It connects, output end is connected with the second signals of rotating transformer modulation circuit input terminal, for measuring the second torque motor output shaft
Corner, and pass it to second microcontroller；
The second right angle communtation deceleration device is fixed on active side lever cabinet by ring flange, one end of output shaft and the second axis
Connection, input hole are connect with one end of the second torque motor output shaft；
The input terminal of the second handle power modulating signal circuit is electrically connected with stick force sensor circuit；
The 2nd PWM motor drive module output end is electrically connected with second torque motor；
Second microcontroller respectively with the output end of second handle power modulating signal circuit, the 2nd PWM motor drive module
Input terminal, the second signals of rotating transformer modulation circuit output end, stick force sensor and monitoring module be electrically connected,
For stick force output signal of the stick force sensor according to acquisition on the second axis, the second signals of rotating transformer modulation circuit
Angular signal exports PWM wave and controls the operation of the second torque motor to the 2nd PWM motor drive module, while passing through itself institute
The serial port function and monitoring module of band carry out serial communication, to the status information of monitoring module transmission side lever module；
It is characterized in that, the trimming control method of the first axle comprises the steps of：
Step is A.1), the state model of aircraft master end lever system is established, the first torque motor is enabled to be in steady-state operating condition, is flown
The fundamental equation that owner moves side lever system is as follows：
In formula：U (t) is the first torque motor end voltage of t moment；k1For the amplification factor of the first torque motor drive module；
Pwm (t) is the first torque motor control PWM wave duty ratio of t moment；R is the first torque motor armature resistance；L is the first power
Torque motor armature inductance；I (t) is the first torque motor armature supply of t moment；keFor the first torque motor counter electromotive force system
Number；θ (t) is the corner of t moment active side lever；For the revolving speed of t moment active side lever；TmIt (t) is t moment active side lever
Output torque；J is the rotary inertia that active side lever is folded to the first reducer output shaft；Td(t) disturbing for t moment active side lever
Kinetic moment；k2For the reduction ratio coefficient of the first retarder；k3For the full load efficiency of the first retarder；TeIt (t) is the first power of t moment
The electromagnetic torque of torque motor；ktIt (t) is the torque coefficient of the first torque motor of t moment；For rubbing for t moment mechanical structure
Torque is wiped, which changes with the first rotational speed of torque motor and changed；TlIt (t) is the load torque of the first torque motor of t moment；
FhIt (t) is the handle power of t moment active side lever；LhFor the length of active side lever；
Step is A.2), according to state model obtained above, aircraft master end lever system is extended to third-order system：
Step is A.2.1), the electromagnetic torque of the first torque motor is changed simultaneously with the first torque motor control end voltage, aircraft master
The state equation and output equation of dynamic side lever system are as follows：
In formula, x1It is the corner of active side lever；x2It is the revolving speed of active side lever；Y is the actual rotational angle measurement signal of active side lever；
Step is A.2.2), external disturbance and internal friction torque are unified into the perturbed force f at active side lever handle, order is outer to disturb power
For w, then：
At this point, aircraft master end lever system is extended to following third-order system：
In formula, x3For the new state of expansion；F is the perturbed force at active side lever handle；b1For the compensation of preset dynamic linear
Coefficient；
Step is A.3), by the position trim command signal v of active side lever0The Nonlinear Tracking Differentiator is inputted as input signal, then
Export the position command signal v with transient process1；
The concrete methods of realizing that the Nonlinear Tracking Differentiator is realized is as follows：
In formula, v (K) is the trim angle value given at the K moment；v1It (K) is real-time angle of trim of the K moment after Nonlinear Tracking Differentiator
Angle value；v1It (K+1) is real-time trim angle value of the K+1 moment after Nonlinear Tracking Differentiator；v2(K) it is transported for K moment Nonlinear Tracking Differentiator
Obtained real-time trim magnitude of angular velocity；v2(K+1) the real-time trim angular speed obtained for the Nonlinear Tracking Differentiator operation of K+1 moment
Value；H is the preset control period；R is preset velocity factor；h0For preset dilution of precision, determine
The tracking accuracy of transient process；fhan(x1,x2,r,h0) it is nonlinear function, this function ensure that the differentiator is that steepest is discrete
Nonlinear Tracking Differentiator, it is specific as follows shown：
Wherein：x1、x2For the variable of fhan function；X is the variable of fsg function；
Step is A.4), using the actual position signal y of active side lever as the first input signal, by the first torque motor control PWM
Wave signal pwm and dynamic linear penalty coefficient b1It is multiplied and is used as the second input signal, input expansion observer obtains expansion observation
The position signal z that device observes1With disturbance z3；
The concrete form of the expansion observer is as follows：
In formula, z1For the first output for expanding observer, the corner of active side lever is tracked；z2Track the angular speed of active side lever；z3
Expand the second output of observer, tracking disturbance；E represents the error of tracking system output；Y is the actual rotational angle amount of active side lever
Survey signal；b1For dynamic linear penalty coefficient；l1、l2、l3For the coefficient of preset expansion observer coefficient；
Since practical controller is using digital control, it is necessary to by the expansion observer discretization of the above conitnuous forms, after discretization
It is as follows：
In formula, z1(K) the first output that observer is expanded for the K moment, tracks the corner of active side lever；z2(K) it is tracked for the K moment
The angular speed of active side lever；z3(K) the second output of observer, tracking disturbance are expanded for the K moment；E (K) is to track system at the K moment
The error of system output；Y (K) is the actual rotational angle measurement signal of K moment active side lever；
Step is A.5), the position command signal v that Nonlinear Tracking Differentiator is exported1With the position detection signal z of expansion observer output1
Compare, obtains control error e1, i.e. e1=v1-z1；
Step is A.6), error e will be controlled1As the input of nonlinear Feedback Control rule, the first torque motor control PWM wave is obtained
The first part u of duty cycle signals0；
Nonlinear Feedback Control rule is implemented as follows：
In formula,v1For the position command signal with transient process；
z1For the first output for expanding observer, the corner of active side lever is tracked；e1To control error；K is preset state feedback
The gain coefficient of control law；u0For the output of nonlinear Feedback Control rule；
Step is A.7), the disturbing signal z that expansion observer is observed3With dynamic linear penalty coefficient b1Reciprocal multiplication after, make
For the compensation rate of the first torque motor control, i.e. the second part u of the first torque motor control PWM wave duty cycle signals1, u1=
z3/b1；
Step is A.8), the first part u of the first torque motor control PWM wave duty cycle signals of the first microcontroller0Subtract first
The second part u of torque motor control PWM wave duty cycle signals1, the first torque motor control PWM wave signal pwm is exported, i.e.,
Pwm=u0-u1=u0-z3/b1；
Step is A.9), the first microcontroller exports the first torque motor control PWM wave signal pwm to the first PWM motor driven
Module controls the operation of the first torque motor, and the first torque motor drags the rotation of the first retarder, and the dragging of the first retarder is actively
At the rotation position instruction of the side lever body of rod, and remain stationary.
2. the trimming control method of aircraft master end according to claim 1 lever system, which is characterized in that setting dynamic line
Property penalty coefficient b1Specific step is as follows：
Step is B.1), the first motor-driven busbar voltage of PWM is adjusted to the first torque motor that active side lever uses most
Big voltage at continuous torque；
Motor drive module is controlled using two channel PWM, when the first torque motor being enabled to rotate forward, one output duty cycle of channel is arrived 0
The PWM wave of 100% variation, the PWM wave that two output duty cycle of channel is 0；When first torque motor inverts, channel one exports duty
Than the PWM wave for 0, PWM wave that two output duty cycle of channel changes in 0-100%；
When pwm (t) variation range is -100% to 100%, pwm (t) > 0, the first torque motor motor is rotated forward, pwm (t)
When < 0, the first torque motor motor reversal, when pwm (t)=0, the first torque motor motor does not turn；
Step is B.2), active side lever handle is fixed with fixture, so that it will not move；
Step is B.3), in pwm (t) variation range, according to preset step-length by bearing greatly to zero again to honest change pwm (t)
Value records the torque of the corresponding active side lever of each pwm (t) value in pwm (t) variation range；
Step is B.4), the torque of pwm (t) value each in pwm (t) variation range active side lever corresponding with its is subjected to single order line
Property is fitted to obtain constant value coefficient b0；
Step is B.5), dynamic linear compensating parameter b is calculated according to the following formula1：
3. the trimming control method of aircraft master end according to claim 1 lever system, which is characterized in that use Bandwidth Method
Adjust the l of expansion observer1、l2、l3Coefficient：
ω is the bandwidth for adjusting.
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| CN117826853A (en) * | 2023-11-09 | 2024-04-05 | 上海柘飞航空科技有限公司 | Flight control method, device and system of aircraft |
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