CN110244752B - Expert intelligent control method for hypersonic aircraft and aircraft - Google Patents
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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 invention relates to the field of aircraft control, in particular to an expert intelligent control method for a hypersonic aircraft and the aircraft.
Background
A hypersonic deformable aircraft is a special hypersonic aircraft and is mainly characterized in that the appearance structure can be actively changed according to the requirements of flight environment and flight mission so as to obtain better aerodynamic characteristics and manipulation capability and realize wide-speed-range and wide-airspace flight with lower energy consumption. The hypersonic deformation aircraft takes the shape parameters as controllable variables, and changes the performance of the aircraft by utilizing the influence of the shape parameters on the aerodynamic characteristics, so that the hypersonic deformation aircraft can adapt to a flight airspace and a speed domain in a wider range, and further can adapt to more complex flight tasks and flight environments. Meanwhile, the hypersonic deformable aircraft can adjust the shape in real time according to the flight environment and tasks to obtain optimal pneumatic and operating performances, so that the aim of reducing energy consumption is fulfilled.
Common control methods for morphing aircrafts are mainly divided into two categories: the first is LPV robust gain scheduling control, and the second is nonlinear control. The robust gain scheduling control directly generates a global LPV controller by establishing a linear variable parameter system, considering the influence of time-varying parameters in the process of designing the controller and utilizing an LPV robust control theory, thereby ensuring the global stability of the controller. The robust gain scheduling control mainly comprises robust control, convex optimization, a linear matrix inequality theory and an LPV system. Aiming at the problems of high nonlinearity, strong coupling and fast time variation of a deformable aircraft at a hypersonic speed and the requirements of the complexity of flight tasks and environments on a control system, the conventional linear system control method is often difficult to achieve the expected control effect. With the rapid development of the nonlinear theory, some nonlinear control methods are gradually applied to the control of the hypersonic aircraft, such as feedback linearization, sliding mode variable structure control, adaptive control, backstepping control and the like. However, in the existing control method for the morphing aircraft, the parameters of the controller are usually selected in advance through a set of fixed parameters, which brings about the problem that for the hypersonic morphing aircraft, the parameters of the controller are difficult to adapt to the morphing process of the aircraft and the severe aerodynamic change under the hypersonic condition, so that the motion control of the aircraft is difficult to obtain the optimal control effect.
Disclosure of Invention
Aiming at the problem that the optimal control effect is difficult to obtain in the motion control of the aircraft in the prior art, the invention aims to provide the hypersonic aircraft expert intelligent control method and the aircraft.
In order to achieve the purpose, the invention provides an expert intelligent control method for a hypersonic aircraft, which adopts the technical scheme that:
an expert intelligent control method for a hypersonic aircraft comprises the following steps:
s1, 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;
s2, the expert system determines real-time control parameters of a PID controller of the hypersonic aircraft according to the real-time deformation state of the hypersonic aircraft, wherein the real-time deformation state of the hypersonic aircraft is directly obtained through a control system of the hypersonic aircraft;
and S3, the PID controller controls the hypersonic aerocraft in real time according to the real-time control parameters determined in the step S2.
As a further improvement of the above technical solution, in step S2, the real-time deformation state of the hypersonic aircraft includes a variable-spanwise-length state and a variable-sweepback-angle state.
As a further improvement of the above technical solution, in steps S2 and S3, the PID controller includes an attitude PID controller and a height PID controller.
As a further improvement of the above technical solution, in step S2, when the hypersonic aircraft is in a state of being elongated: proportionality coefficient K of attitude PID controller of hypersonic aircraftp＝38.2+19.97ξ1 Integral coefficient K i10, coefficient of differentiation K d10, where xi1Is the span length change rate of the hypersonic aerocraft; proportionality coefficient K of altitude PID controller of hypersonic flight vehiclep0.0006, integral coefficient K i0, differential coefficient Kd＝-0.0005。
As a further improvement of the above technical solution, in step S2, when the hypersonic aircraft is in the varied sweep angle state: proportionality coefficient K of altitude PID controller of hypersonic flight vehiclep＝-0.00058+0.000251ξ2 Integral coefficient K i0, differential coefficient Kd-0.0005, wherein ξ2The sweep angle change rate of the hypersonic aircraft; proportionality coefficient K of attitude PID controller of hypersonic aircraftp38, integral coefficient K i10, coefficient of differentiation Kd＝10。
In order to achieve the above object, the present invention further provides a hypersonic flight vehicle, which adopts the following technical scheme:
a hypersonic aircraft comprises an aircraft body and an airborne circuit board arranged in the aircraft body, wherein a processor and a memory are arranged on the airborne circuit board, a computer program is stored in the memory, and the processor executes the computer program to realize the steps of the method.
The invention has the beneficial technical effects that:
according to the method, a knowledge base is established in an expert system through the control parameters of the PID controller in the flight debugging process of the hypersonic aircraft, the expert system is designed, the real-time control parameters of the PID controller of the hypersonic aircraft are determined according to the real-time deformation state of the hypersonic aircraft, the intelligent adjustment of the control parameters is realized, the adaptability of the control parameters is improved, the method is suitable for the design of a hypersonic aircraft control system, the engineering application significance is great, the problem that the control parameters of the hypersonic aircraft controller are difficult to adjust is effectively solved, the robustness of a control method is guaranteed, the high-precision stable control of the deformation process is realized, and the method is suitable for the design of the hypersonic aircraft control system.
Drawings
FIG. 1 is a schematic flow chart of the present embodiment;
FIG. 2 is ξ1＝0.2,ξ2A simulation curve of the height control error delta h when the height is 0.2;
FIG. 3 is ξ1＝0.2,ξ2When the angle of attack control error is 0.2, simulating a curve;
FIG. 4 is ξ1＝0.3,ξ2A simulation curve of the height control error delta h when the height is 0.7;
FIG. 5 is ξ1＝0.3,ξ2An attack angle control error delta alpha simulation curve is 0.7;
FIG. 6 is ξ1＝0.4,ξ2A simulation curve of the height control error delta h when the height is 0.6;
FIG. 7 is ξ1＝0.4,ξ2An attack angle control error delta alpha simulation curve is 0.6;
FIG. 8 is ξ1＝0.5,ξ2A simulation curve of the height control error delta h when the height is 0.5;
FIG. 9 is ξ1＝0.5,ξ2An attack angle control error delta alpha simulation curve is 0.5;
FIG. 10 is ξ1＝0.8,ξ2A simulation curve of the height control error delta h when the height is 0.4;
FIG. 11 is ξ1＝0.8,ξ2An attack angle control error delta alpha simulation curve is 0.4;
FIG. 12 is ξ1＝1,ξ2A simulation curve of the height control error delta h when the height control error is 1;
FIG. 13 is ξ1＝1,ξ2The control error delta alpha of the attack angle is 1.
Detailed Description
In order to facilitate the practice of the invention, further description is provided below with reference to specific examples.
As shown in fig. 1, the control flow diagram of the embodiment is that an expert system needs to be established before the control flow, and in the expert system, the knowledge base plays a very important role to directly determine whether the expert system can operate normally. In the expert system, a debugging control rule is summarized from the system state and performance characteristics according to the experience of an expert, a rule for setting PID control parameters is described by using an expert language, and then the rule is stored in a knowledge base.
In this embodiment, the flight debugging process of the hypersonic aircraft is experience (expert language) of an expert, that is, the span length change rate and the sweep angle change rate of the hypersonic aircraft in the flight debugging process; and the control parameters of the PID controller in the flight debugging process of the hypersonic aircraft are result data output by the expert system according to the control rule and the input expert language.
In this embodiment, the real-time deformation state of the hypersonic aircraft includes an elongation changing state and a sweep angle changing state; the PID controller comprises an attitude PID controller and a height PID controller.
The specific process of establishing the knowledge base of the expert system comprises the following steps:
firstly, keeping the sweepback angle of the hypersonic aerocraft unchanged, keeping the span length change rate in the range of (0,1) uniformly increased, namely xi2＝0，ξ1Belongs to {0,0.2,0.4,0.6,0.8,1.0 }; and respectively adjusting parameters of the attitude PID controller and the height PID controller to enable the height control error and the attack angle control error to meet requirements, namely controlling the height control error delta h within 20m and controlling the attack angle control error delta alpha within 0.008 degrees. Parameters were recorded as shown in table 1:
TABLE 1 control parameter table under constant sweep angle and constant spread length
From table 1, it can be seen that when the sweep angle of the hypersonic aircraft is not changed and the span length is changed, the three control parameters of the altitude PID controller which meet the control requirements are kept unchanged, and the K of the attitude PID controller is kept unchangediAnd KdBoth parameters remain unchanged, while the proportionality coefficient KpThe increase remains substantially linear with increasing splay. Shows that when the span length of the hypersonic aircraft changes, the influence on the control parameters of the attitude PID controller is large, especially the proportionality coefficient KpThe influence on the control parameters of the height PID controller is particularly small, and the control parameters of the height PID controller can be kept unchanged, so that the proportionality coefficient K in the control parameters of the attitude PID controllerpAnd xi1In relation, K is obtained by fitting a fitting functionp＝38.2+19.97ξ1。
Therefore, the knowledge base rules when the hypersonic aircraft is in the state of variable elongation are:
when 0 is less than or equal to xi1When the proportional coefficient K is less than or equal to 1, the attitude PID controllerp＝38.2+19.97ξ1 Integral coefficient K i10, coefficient of differentiation K d10; proportional coefficient K of height PID controllerp0.0006, integral coefficient K i0, differential coefficient Kd＝-0.0005。
Keeping the span length of the hypersonic aerocraft unchanged, keeping the change rate of the sweepback angle in the range of (0,1) to be uniformly increased, namely xi1＝0，ξ2Belongs to {0,0.2,0.4,0.6,0.8,1.0 }; and respectively adjusting parameters of the attitude PID controller and the height PID controller so that the height control error and the attack angle control error meet the requirements. Parameters were recorded as shown in table 2:
TABLE 2 control parameter tables under the condition of constant length extension and sweep angle change
From table 2, it can be seen that when the span length of the hypersonic aircraft is 0 and the sweep angle is changed, the three control parameters of the attitude PID controller are kept unchanged and the altitude PID controller is controlledK of making deviceiAnd KdBoth parameters remain unchanged, while the proportionality coefficient KpThe substantially linear decrease is maintained as the sweep angle increases. The control parameters of the altitude PID controller are greatly influenced when the sweepback angle of the hypersonic aircraft is changed, particularly the proportionality coefficient KpThe influence on the control parameters of the attitude PID controller is particularly small, and the control parameters of the height PID controller can be kept unchanged, so that the proportionality coefficient K in the control parameters of the height PID controllerpAnd xi1In relation, K is obtained by fitting a fitting functionp＝-0.00058+0.000251ξ2。
Therefore, the knowledge base rules when the hypersonic aircraft is in the state of varying sweepback are as follows:
when 0 is less than or equal to xi2When the ratio is less than or equal to 1, the proportional coefficient K of the height PID controllerp＝-0.00058+0.000251ξ2 Integral coefficient K i0, differential coefficient Kd-0.0005. Proportional coefficient K of attitude PID controllerp38, integral coefficient K i10, coefficient of differentiation Kd＝10。
The two sets of data obtained before are integrated into a table, and a comprehensive table for establishing a knowledge base is shown in table 3.
Table 3 knowledge base comprehensive table
The rules in the first row and the first column of the table are obtained according to the above analysis summary, the two rules are combined to establish a complete rule of the knowledge base of the expert system, and the PID controller parameters corresponding to the blank area in the table can be generated according to the rules.
The following simulation verification is performed based on the established expert system knowledge base:
first, simulation example
Randomly selecting a combination of spread-length and sweep-angle change rates contained in some blank areas, wherein xi is selected1,ξ2∈{(0.2,0.2),(0.3,0.7),(0.4,0.6),(0.5,05), (0.8,0.4), (1,1) } of the six combinations.
a)ξ1＝0.2,ξ2At 0.2, the simulation curves of the height control error Δ h and the angle of attack control error Δ α are as shown in fig. 2 and 3. It is seen from the graphs of FIGS. 2 and 3 that Δ h fluctuates up to-0.7 m in the (-5m,3m) interval and Δ α fluctuates up to 0.0005 in the (-0.001 °, 0.002 °).
b)ξ1＝0.3,ξ2At 0.7, the simulated curves of the height control error Δ h and the angle of attack control error Δ α are shown in fig. 4 and 5. From the graphs of FIGS. 4 and 5, it is seen that Δ h fluctuates up to and towards-3.5 m in the interval (-10m,2m), and Δ α fluctuates up to and towards 0.0015 ° in the interval (0, 0.004 °).
c)ξ1＝0.4,ξ2At 0.6, the simulated curves of the height control error Δ h and the angle of attack control error Δ α are shown in fig. 6 and 7. From the graphs of fig. 6 and 7, it is seen that Δ h fluctuates up to-3 m in the interval (-9m,1m), and Δ α fluctuates up to 0.0012 ° in the interval (0, 0.003 °).
d)ξ1＝0.5,ξ2At 0.5, the simulation curves of the height control error Δ h and the angle of attack control error Δ α are as shown in fig. 8 and 9. From the graphs of fig. 8 and 9, it is seen that Δ h fluctuates up to-2.7 m in the interval of (-8m,1m), and Δ α fluctuates up to 0.0013 ° in the interval of (0, 0.003 °).
e)ξ1＝0.8,ξ2At 0.4, the simulation curves of the height control error Δ h and the attack angle control error Δ α at this time are as shown in fig. 10 and 11. From the graphs of FIGS. 10 and 11, it is seen that Δ h fluctuates up to-3.4 m in the interval of (-9m,1m) and Δ α fluctuates up to 0.0017 ° in the interval of (0, 0.004 °).
f)ξ1＝1,ξ2At 1, the simulation curves of the altitude control error Δ h and the angle of attack control error Δ α at this time are shown in fig. 12 and 13. It is seen from the graphs of fig. 12 and 13 that Δ h fluctuates up to-10 m in the interval of (-21m,1m), and Δ α fluctuates up to 0.0036 ° in the interval of (0, 0.008 °).
Second, result analysis
The simulation results of the above six combinations are integrated into a table as shown in table 4 below for analytical summary.
TABLE 4 exemplary simulation example control index integration table
According to the six typical calculation examples in the table 4, the fluctuation of the height control error Δ h and the attack angle control error Δ α in the initial stage is severe and obvious, and then the fluctuation slowly tends to be gentle in about 150 s; the fluctuation range of the height control error delta h is not more than 20m, the overshoot of the maximum fluctuation is within 3.5%, and the steady-state error is within-10%; the fluctuation range of the control error delta alpha of the attack angle is not more than 0.008 degrees, the overshoot of the maximum fluctuation is not more than 8 percent basically, and the steady-state errors are all 3.6 multiplied by 10-3Within. The rapidity and the stability of the controller under the six selected conditions are very good, the overshoot and the steady-state error both meet the control requirements, and the controller has a very good control effect. Due to the randomness and representativeness of the selected conditions, the established rules of the intelligent controller based on the expert system are effective from the analysis, namely the designed controller can basically meet the control task requirements of the deformed aircraft under various deformation conditions.
The foregoing description of the preferred embodiments of the present invention has been included to describe the features of the invention in detail, and is not intended to limit the inventive concepts to the particular forms of the embodiments described, as other modifications and variations within the spirit of the inventive concepts will be protected by this patent. The subject matter of the present disclosure is defined by the claims, not by the detailed description of the embodiments.
Claims (3)
1. An expert intelligent control method for a hypersonic aircraft is characterized by comprising the following steps:
s1, 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;
s2, determining real-time control parameters of a PID (proportion integration differentiation) controller of the hypersonic aircraft by the expert system according to the real-time deformation state of the hypersonic aircraft, wherein the real-time deformation state of the hypersonic aircraft comprises an expansion state and a sweep angle state;
s3, the PID controller controls the hypersonic aerocraft in real time according to the real-time control parameters determined in the step S2;
in steps S2 and S3, the PID controller includes an attitude PID controller and a height PID controller;
in step S2, when the hypersonic aircraft is in the state of becoming elongated: proportionality coefficient K of attitude PID controller of hypersonic aircraftp＝38.2+19.97ξ1Integral coefficient Ki10, coefficient of differentiation Kd10, where xi1Is the span length change rate of the hypersonic aerocraft; proportionality coefficient K of altitude PID controller of hypersonic flight vehiclep0.0006, integral coefficient Ki0, differential coefficient Kd＝-0.0005。
2. The expert intelligent hypersonic aircraft control method according to claim 1, wherein in step S2, when the hypersonic aircraft is in a varying sweep angle state: proportionality coefficient K of altitude PID controller of hypersonic flight vehiclep＝-0.00058+0.000251ξ2Integral coefficient Ki0, differential coefficient Kd-0.0005, wherein ξ2The sweep angle change rate of the hypersonic aircraft; proportionality coefficient K of attitude PID controller of hypersonic aircraftp38, integral coefficient Ki10, coefficient of differentiation Kd＝10。
3. A hypersonic flight vehicle comprising a body and an onboard circuit board disposed in the body, wherein the onboard circuit board is provided with a processor and a memory, and the memory stores a computer program, and wherein the processor implements the steps of the method of claim 1 or 2 when executing the computer program.
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