CN110244752A - Expert intelligent control method for hypersonic aircraft and aircraft - Google Patents
Expert intelligent control method for hypersonic aircraft and aircraft Download PDFInfo
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- CN110244752A CN110244752A CN201910547381.8A CN201910547381A CN110244752A CN 110244752 A CN110244752 A CN 110244752A CN 201910547381 A CN201910547381 A CN 201910547381A CN 110244752 A CN110244752 A CN 110244752A
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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 an expert intelligent control method for a hypersonic aircraft, which comprises the following steps: constructing an expert system, and pre-establishing a knowledge base in which the real-time deformation state of the hypersonic aircraft corresponds to the control parameters of the PID controller one by one in the expert system; the expert system determines real-time control parameters of a PID (proportion integration differentiation) controller of the hypersonic aircraft according to the real-time deformation state of the hypersonic aircraft; and the PID controller controls the hypersonic speed aircraft in real time according to the real-time control parameters determined in the step S2. An expert system is designed, real-time control parameters of a PID (proportion integration differentiation) controller of the hypersonic aircraft are determined according to the real-time deformation state of the hypersonic aircraft, intelligent adjustment of the control parameters is achieved, the adaptability of the control parameters is improved, the hypersonic aircraft control system is suitable for design of the hypersonic aircraft control system, and the problem that the hypersonic aircraft controller is difficult to adjust the control parameters is effectively solved. The invention is applied to the field of aircraft control.
Description
Technical field
The present invention relates to flying vehicles control field more particularly to a kind of hypersonic aircraft expert Intelligence Control method and
Aircraft.
Background technique
A kind of special hypersonic aircraft of hypersonic morphing aircraft, being mainly characterized by can be according to flying ring
The demand in border and aerial mission, initiatively changes contour structures, to obtain more preferably aerodynamic characteristic and maneuvering capability, with smaller energy
Consumption realizes wide fast domain and the flight of wide airspace.Hypersonic morphing aircraft utilizes outer parameter using formal parameter as controlled variable
The performance for influencing to come change of flight device of several pairs of aerodynamic characteristics can adapt to flying area and fast domain in wider range,
Enable adaptation to more complicated aerial mission and flight environment of vehicle.Meanwhile hypersonic morphing aircraft can be according to flying ring
Border and task adjust shape in real time, obtain optimal pneumatic and maneuvering performance, to achieve the purpose that reduce energy consumption.
Common morphing aircraft control method is broadly divided into two classes: first is that LPV robust gain scheduling control, second is that non-thread
Property control.Robust gain scheduling control considers time-varying parameter during designing controller by establishing linear variation parameter system
Influence directly generate global LPV controller using LPV robust control theory, ensure that the global stability of controller.Shandong
The main formational theory of stick gain scheduling control has robust control, convex optimization, linear matrix inequality theory and LPV system.
Aiming at the problem that morphing aircraft is in hypersonic nonlinearity, close coupling and fast time variant and aerial mission and ring
Requirement of the complexity in border to control system, conventional linear system control method are often difficult to reach expected control effect.
With the fast development of nonlinear theory, some nonlinear control methods are gradually applied to the control of hypersonic aircraft
In, such as feedback linearization, Sliding mode variable structure control, self adaptive control, Backstepping control.However, existing deformation at present
In flying vehicles control method, it is usually to be brought in this way by the parameter for the one group of fixation chosen in advance that the parameter of controller, which is chosen,
The problem of be for hypersonic morphing aircraft, a group controller parameter be difficult to adapt to aircraft deformation process and
Violent pneumatic variation in hypersonic situation, so that the motion control of aircraft is difficult to obtain optimal control effect.
Summary of the invention
Aiming at the problem that motion control of aircraft in the prior art is difficult to obtain optimal control effect, mesh of the invention
Be to provide a kind of hypersonic aircraft expert Intelligence Control method and aircraft, by carrying out intelligence to hypersonic aircraft
It can control, the control parameter of aircraft is enabled to carry out intelligent adjusting according to the motion conditions of aircraft.
In order to achieve the above-mentioned object of the invention, the present invention provides a kind of hypersonic aircraft expert Intelligence Control method,
The technical solution adopted is that:
A kind of hypersonic aircraft expert Intelligence Control method, comprising the following steps:
S1, building expert system, pre-establish the real-time deformation state and PID of hypersonic aircraft in expert system
The one-to-one knowledge base of the control parameter of controller；
S2, expert system determine that the PID of hypersonic aircraft is controlled according to the real-time deformation state of hypersonic aircraft
The real-time control parameter of device processed, wherein the control that the real-time deformation state of hypersonic aircraft passes through hypersonic aircraft
System directly obtains；
S3, PID controller the real-time control parameter according to determined by step S2 control hypersonic aircraft in real time
System.
As a further improvement of the above technical scheme, in step S2, the real-time deformation shape of the hypersonic aircraft
State includes becoming length state and change angle of sweep state.
As a further improvement of the above technical scheme, step S2, in S3, the PID controller includes posture PID control
Device and height PID controller.
As a further improvement of the above technical scheme, in step S2, become length state when hypersonic aircraft is in
When: the Proportional coefficient K of the posture PID controller of hypersonic aircraftp=38.2+19.97 ξ1, integral coefficient Ki=10, differential
COEFFICIENT Kd=10, wherein ξ1For the length change rate of hypersonic aircraft；The height PID controller of hypersonic aircraft
Proportional coefficient Kp=-0.0006, integral coefficient Ki=0, differential coefficient Kd=-0.0005.
As a further improvement of the above technical scheme, in step S2, become sweepback horn shape when hypersonic aircraft is in
When state: the Proportional coefficient K of the height PID controller of hypersonic aircraftp=-0.00058+0.000251 ξ2, integral coefficient Ki
=0, differential coefficient Kd=-0.0005, wherein ξ2For the sweepback angular rate of change of hypersonic aircraft；Hypersonic aircraft
The Proportional coefficient K of posture PID controllerp=38, integral coefficient Ki=10, differential coefficient Kd=10.
In order to achieve the above-mentioned object of the invention, the present invention also provides a kind of hypersonic aircraft, the technical solution that uses
It is:
A kind of hypersonic aircraft, including body and it is located at the intracorporal on-board circuitry plate of machine, on the on-board circuitry plate
Equipped with processor and memory, the memory is stored with computer program, when the processor executes the computer program
The step of realizing the above method.
Advantageous effects of the invention:
The present invention is by the control parameter of PID controller in hypersonic aircraft flight debugging process in expert system
Knowledge base is established, expert system is designed, hypersonic aircraft is determined according to the real-time deformation state of hypersonic aircraft
PID controller real-time control parameter, realize control parameter intelligence adjust, improve the adaptability of control parameter,
Suitable for hypersonic aircraft Control System Design, engineer application is significant, effectively solves hypersonic aircraft control
Device control parameter adjusts difficult problem, while guaranteeing the robustness of control method, realizes the high-accuracy stable control of deformation process
System is suitable for hypersonic aircraft Control System Design.
Detailed description of the invention
Fig. 1 is the flow diagram of the present embodiment；
Fig. 2 is ξ1=0.2, ξ2Height controls error delta h simulation curve when=0.2；
Fig. 3 is ξ1=0.2, ξ2The angle of attack controls error delta α simulation curve when=0.2；
Fig. 4 is ξ1=0.3, ξ2Height controls error delta h simulation curve when=0.7；
Fig. 5 is ξ1=0.3, ξ2The angle of attack controls error delta α simulation curve when=0.7；
Fig. 6 is ξ1=0.4, ξ2Height controls error delta h simulation curve when=0.6；
Fig. 7 is ξ1=0.4, ξ2The angle of attack controls error delta α simulation curve when=0.6；
Fig. 8 is ξ1=0.5, ξ2Height controls error delta h simulation curve when=0.5；
Fig. 9 is ξ1=0.5, ξ2The angle of attack controls error delta α simulation curve when=0.5；
Figure 10 is ξ1=0.8, ξ2Height controls error delta h simulation curve when=0.4；
Figure 11 is ξ1=0.8, ξ2The angle of attack controls error delta α simulation curve when=0.4；
Figure 12 is ξ1=1, ξ2Height controls error delta h simulation curve when=1；
Figure 13 is ξ1=1, ξ2The angle of attack controls error delta α simulation curve when=1.
Specific embodiment
For the ease of implementation of the invention, it is further described below with reference to specific example.
The control flow schematic diagram of the present embodiment as shown in Fig. 1, firstly the need of establishing expert before control flow
System, in expert system, knowledge base plays considerable effect, will directly determine whether expert system can operate normally.
In expert system, according to the experience of expert from system mode and performance characteristic, the control law of debugging is summed up, is used
Expert linguistic describes the rule of Tuning PID Controller parameter, is then stored in knowledge base.
In the present embodiment, hypersonic aircraft flight debugging process is the experience (expert linguistic) of expert, i.e., superb
Length change rate of the velocity of sound aircraft in flight debugging process and sweepback angular rate of change；Hypersonic aircraft flight was debugged
The control parameter of PID controller is the result that expert system is exported according to the expert linguistic of control law and input in journey
Data.
In the present embodiment, the real-time deformation state of hypersonic aircraft includes becoming length state and change sweep angle state；PID
Controller includes posture PID controller and height PID controller.
Establish the detailed process of the knowledge base of expert system are as follows:
Firstly, keeping the angle of sweep of hypersonic aircraft constant, length change rate is made to keep even in the range of (0,1)
To increase, i.e. ξ2=0, ξ1∈{0,0.2,0.4,0.6,0.8,1.0}；Posture PID controller and height PID control are adjusted respectively
The parameter of device, so that height control error and angle of attack control error are met the requirements, i.e., so that height control error delta h control exists
Within 20m, the angle of attack controls error delta α control within 0.008 °.Recording parameters, as shown in table 1:
Each control parameter table under the constant length variation in 1 angle of sweep of table
As can be seen from Table 1 when the angle of sweep of hypersonic aircraft is constant, when length changes, meets control and want
Three control parameters of the height PID controller asked remain unchanged, the K of posture PID controlleriAnd KdTwo parameters remain unchanged,
And Proportional coefficient KpAs the increase of length keeps linearly increasing substantially.Illustrate when the variation of the length of hypersonic aircraft,
It is affected to the control parameter of posture PID controller, especially Proportional coefficient Kp, to the control parameter of height PID controller
Influence is then especially small, each control parameter of height PID controller can be kept constant, therefore the control of posture PID controller
Proportional coefficient K in parameterpWith ξ1It is related, it is fitted to obtain K by fitting functionp=38.2+19.97 ξ1。
Therefore, the knowledge base rule when hypersonic aircraft, which is in, becomes length state are as follows:
As 0≤ξ1When≤1, the Proportional coefficient K of posture PID controllerp=38.2+19.97 ξ1, integral coefficient Ki=10, it is micro-
Divide COEFFICIENT Kd=10；The Proportional coefficient K of height PID controllerp=-0.0006, integral coefficient Ki=0, differential coefficient Kd=-
0.0005。
It keeps the length of hypersonic aircraft constant, sweepback angular rate of change is made to keep even to increasing in the range of (0,1)
Greatly, i.e. ξ1=0, ξ2∈{0,0.2,0.4,0.6,0.8,1.0}；Posture PID controller and height PID controller are adjusted respectively
Parameter, so that height control error and angle of attack control error are met the requirements.Recording parameters, as shown in table 2:
Each control parameter table under the constant angle of sweep variation of 2 length of table
As can be seen from Table 2 when the length of hypersonic aircraft be 0, when angle of sweep changes, posture PID control
Three control parameters of device remain unchanged, the K of height PID controlleriAnd KdTwo parameters remain unchanged, and Proportional coefficient KpWith
Angle of sweep increase keep substantially linearly reduce.Illustrate to control height PID when the variation of the angle of sweep of hypersonic aircraft
The control parameter of device processed is affected, especially Proportional coefficient Kp, the control parameter of posture PID controller is influenced then special
It is small, each control parameter of height PID controller can be kept constant, therefore ratio in the control parameter of height PID controller
COEFFICIENT KpWith ξ1It is related, it is fitted to obtain K by fitting functionp=-0.00058+0.000251 ξ2。
Therefore, the knowledge base rule when hypersonic aircraft, which is in, becomes angle of sweep state are as follows:
As 0≤ξ2When≤1, the Proportional coefficient K of height PID controllerp=-0.00058+0.000251 ξ2, integral coefficient Ki
=0, differential coefficient Kd=-0.0005.The Proportional coefficient K of posture PID controllerp=38, integral coefficient Ki=10, differential coefficient
Kd=10.
By in obtain before two groups of Data Integrations a to table, the consolidated statement for establishing knowledge base is as shown in table 3.
3 knowledge base consolidated statement of table
The rule of the first row and first row in table has been obtained according to above analysis and summary, two rules have been combined
The complete rule of the knowledge base of expert system is can establish, the corresponding PID controller parameter of white space in table then can be with
It is generated according to rule.
Simulating, verifying is carried out below based on the expert system knowledge base of foundation:
One, simulation example
The length sweepback angular rate of change combination for including in some white spaces is randomly selected, we choose ξ here1,ξ2∈
{ (0.2,0.2), (0.3,0.7), (0.4,0.6), (0.5,0.5), (0.8,0.4), (1,1) } this six kinds combinations.
a)ξ1=0.2, ξ2=0.2, the simulation curve of height control error delta h and angle of attack control error delta α are as schemed at this time
Shown in 2 and Fig. 3.It fluctuates from Δ h is found out in the curve of Fig. 2 and Fig. 3 in the section of (- 5m, 3m) until tending to -0.7m, Δ α exists
Fluctuation is until tending to 0.0005 ° in the section of (- 0.001 °, 0.002 °).
b)ξ1=0.3, ξ2=0.7, height control error delta h and the angle of attack control simulation curve such as Fig. 4 of error delta α at this time
With shown in Fig. 5.It fluctuates from Δ h is found out in Fig. 4 and Fig. 5 curve in the section of (- 10m, 2m) until tending to -3.5m, Δ α exists
Fluctuation is until tending to 0.0015 ° in the section of (0,0.004 °).
c)ξ1=0.4, ξ2=0.6, height control error delta h and the angle of attack control simulation curve such as Fig. 6 of error delta α at this time
With shown in Fig. 7.From finding out Δ h in the curve of Fig. 6 and Fig. 7 in the section of (- 9m, 1m) and fluctuate until tending to -3m, Δ α (0,
0.003 °) section in fluctuation until tending to 0.0012 °.
d)ξ1=0.5, ξ2=0.5, the simulation curve of height control error delta h and angle of attack control error delta α are as schemed at this time
Shown in 8 and Fig. 9.It fluctuates from Δ h is found out in the curve of Fig. 8 and Fig. 9 in the section of (- 8m, 1m) until tending to -2.7m, Δ α exists
Fluctuation is until tending to 0.0013 ° in the section of (0,0.003 °).
e)ξ1=0.8, ξ2=0.4, the simulation curve of height control error delta h and angle of attack control error delta α are as schemed at this time
Shown in 10 and Figure 11.It fluctuates from Δ h is found out in the curve of Figure 10 and Figure 11 in the section of (- 9m, 1m) until tending to -3.4m,
Δ α is fluctuated in the section of (0,0.004 °) until tending to 0.0017 °.
f)ξ1=1, ξ2=1, height control error delta h and the angle of attack control simulation curve such as Figure 12 and figure of error delta α at this time
Shown in 13.It fluctuates from Δ h is found out in the curve of Figure 12 and Figure 13 in the section of (- 21m, 1m) until tending to -10m, Δ α exists
Fluctuation is until tending to 0.0036 ° in the section of (0,0.008 °).
Two, interpretation of result
The simulation result of six kinds of combined situations above is integrated into a table as shown in table 4 below, is analyzed and summarized.
4 exemplary simulation example Con trolling index of table integrates table
It can be seen that initial stage height control error delta h and angle of attack control error delta according to six kinds of typical examples in table 4
More acutely, variation is more obvious for the fluctuation of α, then can slowly tend towards stability in 150s or so；Height control error delta h
Fluctuation range be no more than 20m, the overshoot of maximum fluctuation is within 3.5%, and steady-state error is within -10；Angle of attack control
The fluctuation range of error delta α processed is no more than 0.008 °, and the overshoot of maximum fluctuation is substantially no more than 8%, and steady-state error is 3.6
×10-3Within.The rapidity and stability of controller are very good in the case of six kinds of description selection, and overshoot and steady-state error are equal
Meet the requirement of control, there is good control effect.Since several situations of selection have randomness and representativeness, by above
Analysis is it can be seen that the rule for the intelligent controller based on expert system established is effective, that is, the controller designed
Control task demand of morphing aircraft under the conditions of various modifications can be substantially met.
Contain the explanation of the preferred embodiment of the present invention above, this be for the technical characteristic that the present invention will be described in detail, and
Be not intended to for summary of the invention being limited in concrete form described in embodiment, according to the present invention content purport carry out other
Modifications and variations are also protected by this patent.The purport of the content of present invention is to be defined by the claims, rather than by embodiment
Specific descriptions are defined.
Claims (6)
1. a kind of hypersonic aircraft expert Intelligence Control method, which comprises the following steps:
S1, building expert system, pre-establish the real-time deformation state and PID control of hypersonic aircraft in expert system
The one-to-one knowledge base of the control parameter of device；
S2, expert system determine the PID controller of hypersonic aircraft according to the real-time deformation state of hypersonic aircraft
Real-time control parameter；
S3, PID controller the real-time control parameter according to determined by step S2 carry out real-time control to hypersonic aircraft.
2. hypersonic aircraft expert Intelligence Control method according to claim 1, which is characterized in that in step S2, institute
The real-time deformation state for stating hypersonic aircraft includes becoming length state and change sweep angle state.
3. hypersonic aircraft expert Intelligence Control method according to claim 2, which is characterized in that step S2, in S3,
The PID controller includes posture PID controller and height PID controller.
4. hypersonic aircraft expert Intelligence Control method according to claim 3, which is characterized in that in step S2, when
When hypersonic aircraft is in change length state: the Proportional coefficient K of the posture PID controller of hypersonic aircraftp=
38.2+19.97ξ1, integral coefficient Ki=10, differential coefficient Kd=10, wherein ξ1Change for the length of hypersonic aircraft
Rate；The Proportional coefficient K of the height PID controller of hypersonic aircraftp=-0.0006, integral coefficient Ki=0, differential coefficient Kd
=-0.0005.
5. hypersonic aircraft expert Intelligence Control method according to claim 3, which is characterized in that in step S2, when
When hypersonic aircraft is in change angle of sweep state: the Proportional coefficient K of the height PID controller of hypersonic aircraftp=-
0.00058+0.000251ξ2, integral coefficient Ki=0, differential coefficient Kd=-0.0005, wherein ξ2For hypersonic aircraft
Sweepback angular rate of change；The Proportional coefficient K of the posture PID controller of hypersonic aircraftp=38, integral coefficient Ki=10, differential
COEFFICIENT Kd=10.
6. a kind of hypersonic aircraft, including body and it is located at the intracorporal on-board circuitry plate of machine, is set on the on-board circuitry plate
There are processor and memory, the memory is stored with computer program, which is characterized in that the processor executes the calculating
The step of any one of claims 1 to 5 the method is realized when machine program.
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