CN110244754B - Control system and method for fixed-point air parking of stratosphere aerostat - Google Patents
Control system and method for fixed-point air parking of stratosphere aerostat Download PDFInfo
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Abstract
The invention belongs to the technical field of automatic control, and discloses a control system for fixed-point parking of a stratosphere aerostat, which comprises a height maintaining module and an attitude tracking module which are connected with a vector thrust composite module, wherein the attitude tracking module is connected with a pitching and rolling control module, the vector thrust composite module is connected with a nonlinear mapping module, the nonlinear mapping and pitching and rolling control module is connected with a main controller, the main controller is connected with the height maintaining and attitude tracking module through a state measuring module, the height maintaining module and the attitude tracking module acquire the relation between the target height and attitude and tracking acceleration through a PID tracking algorithm, the vector thrust composite module and the pitching and rolling control module acquire the tracked control force and the slide block position through a dynamic inverse method, and the nonlinear mapping module converts the control force to the magnitude and the rotation angle of each vector thrust, the state measurement unit detects the current state of the aerostat and feeds the current state back to the altitude keeping and attitude tracking module, and closed-loop control is achieved.
Description
Technical Field
The invention belongs to the technical field of automatic control, and particularly relates to a control system and a method for fixed-point emptying of a stratospheric aerostat.
Background
The stratospheric aerostat flies at a height of 2 kilometers away from the ground, is used as a fixed-point sky-parking platform, has the characteristic of large observation range compared with a low-altitude aerostat, has the advantage of high resolution compared with an orbit satellite, is suitable for completing tasks such as communication relay, earth observation and the like, and is an ideal energy source for long-time sky parking, so that the attitude control is very important for enhancing the output power of the solar cell and improving the earth observation effect.
Stratospheric aerostats have a complex arrangement of operating mechanisms: aerodynamic control surfaces, vector thrust, front/rear ballonets, etc. The stratospheric aerostat is a small thrust-weight ratio aerostat, so the manipulation capability of thrust is limited, in addition, the manipulation efficiency of a conventional control surface is reduced due to the lower flying speed, an effective manipulation means at low speed needs to be developed, and metamorphic center control is an alternative scheme.
The retrieval of the prior art shows that the metamorphic center scheme mostly adopts a mass block mode to realize counterweight, the center of gravity of the aircraft is changed in a single mode, and a great ambition and a single sleigh change the center of gravity position of the aerostat to control longitudinal movement [ J ]. mechanical seasons [ 2006,27(4) propose to change the axial position of the center of gravity of the aerostat to control the longitudinal movement thereof, and the metamorphic center method is higher in efficiency than the common control method for changing the deflection angle of the elevator from the aerodynamic angle, but the article has no specific metamorphic center implementation scheme; designing and simulating a height control system of the stratosphere aerostat, namely Van Yonghua, Yun Feng and Yan Jie; scientific technology and engineering, 2011,24(11): 5957-. Chenli, Yan CeCell, periderm, section grade, high stratospheric aerostat metamorphic center composite control technology research, high technology communication, 2012,22(3):289 and 293, proposes to adopt a generalized inverse method, design a high stratospheric aerostat nonlinear composite controller, and propose to adopt a mass slide block as a variable mass center scheme. Mongolian and Chengli, a posture control distribution strategy of the stratospheric aerostat based on the auxiliary air bag and the control surface and high-technology communication, 2013,23(3):289 and 295 provide a composite variable center of mass control strategy of the auxiliary air bag and the control surface.
The above researches are all researches on a pitching attitude control method of the aerostat, but at present, no published roll attitude control data of the stratospheric aerostat exists, and no research on a fixed-point standing-space attitude control scheme of the stratospheric aerostat exists.
Disclosure of Invention
The invention provides a control system and a control method for fixed-point parking of a stratospheric aerostat, which solve the problems that in the prior art, a method for controlling the attitude is not available when fixed-point parking is performed, and the like.
The invention can be realized by the following technical scheme:
a control system for fixed-point parking of an stratosphere aerostat comprises a height maintaining module and an attitude tracking module, wherein the height maintaining module and the attitude tracking module are connected with a vector thrust composite module, the attitude tracking module is connected with a pitching and rolling control module, the vector thrust composite module is connected with a nonlinear mapping module, the nonlinear mapping module and the pitching and rolling control module are connected with a main controller of the aerostat, the main controller is connected with the height maintaining module and the attitude tracking module through a state measuring module,
the state measurement module is used for measuring attitude information and vertical height information of the aerostat, and position and speed information under a geographic coordinate system;
the height keeping module is used for receiving the current height and target height information of the mass center of the whole system in a geographic coordinate system and generating height tracking acceleration in a machine body coordinate system by using a proportional-derivative-integral controller;
the attitude tracking module is used for receiving current attitude information and target attitude information of the mass center of the whole system in a geographic coordinate system and generating attitude tracking acceleration in a body coordinate system by utilizing a proportional-differential-integral controller;
the vector thrust composite module is used for receiving the altitude tracking acceleration and the attitude tracking acceleration and generating power required by the altitude direction and the yaw direction; the pitching and rolling control module is used for receiving the attitude tracking acceleration and generating the position information of the sliding block required for controlling the pitching and rolling directions;
the nonlinear mapping module is used for receiving the power generated by the vector thrust composite module, and generating the thrust required by each propeller of the aerostat and the corresponding angle thereof by combining a dynamic equation of the aerostat.
Further, the vector thrust composite module comprises an altitude thrust generation module and a yaw differential power generation module, the altitude thrust generation module is connected with the altitude maintaining module, the yaw differential power generation module is connected with the attitude tracking module, the altitude thrust generation module receives altitude tracking acceleration, and generates thrust in the altitude direction by using a dynamic inverse algorithm; the yaw difference power generation module receives corresponding deflection angle information in attitude tracking acceleration and generates differential force of deflection direction by using a dynamic inverse algorithm;
and the pitching and rolling control module receives corresponding pitch angle and rolling angle information in the attitude tracking acceleration and generates the position information of the sliding block by utilizing a dynamic inverse algorithm.
Further, be provided with vertical slider and horizontal slider on the aerostatics, vertical slider moves along longitudinal guide, longitudinal guide sets up on the aerostatics surface, and is located the xoz planes of organism coordinate system, horizontal slider moves along horizontal guide, horizontal guide sets up on the aerostatics surface, and is located the yoz plane of organism coordinate system, horizontal guide intersects with longitudinal guide, and its intersect sets up on the crossing point in z axle and aircraft bottom surface.
Further, the altitude keeping module comprises an altitude tracking speed module and an altitude tracking acceleration module, the altitude tracking speed module is used for receiving current altitude and target altitude information of a whole system centroid under a geographic coordinate system and current forward flying speed and pitch angle information under a body coordinate system, the altitude tracking speed under the body coordinate system is generated by using a proportional controller, the altitude tracking acceleration module is used for receiving the altitude tracking speed and the speed of the aircraft in the z-axis direction of the body coordinate system, and the altitude tracking acceleration under the body coordinate system is generated by using a proportional-integral controller.
A control method for a fixed-point emptying control system of a stratospheric aerostat based on the above description, characterized by comprising the following steps:
step one, setting target height and attitude information;
secondly, calculating the thrust in the height direction and the differential force in the yaw direction according to the target height and the attitude information and the current height and attitude information of the center of mass of the whole system, and calculating the thrust and the corresponding angle required by each vector propeller on the aerostat by using a dynamic equation of the aerostat so as to control the aerostat in the height direction and the yaw direction;
and thirdly, calculating the position information of the sliding block according to the target attitude information and the current attitude information of the mass center of the whole system, and further controlling the movement of the sliding block, thereby realizing the control of the aerostat in the pitching and rolling directions.
Further, the control method of the aerostat in the height and deflection direction comprises the following steps:
step I, calculating thrust in the height direction through proportional-differential-integral control and a dynamic inverse algorithm according to the target height information and the current height information of the mass center of the whole system;
step II, calculating the differential force in the yaw direction through proportional-differential-integral control and a dynamic inverse algorithm according to the target attitude information and the current attitude information of the mass center of the whole system;
and III, calculating the thrust and the corresponding angle required by each vector propeller on the aerostat by using a dynamic equation of the aerostat according to the differential force in the height direction and the yaw direction.
Further, the method for generating the thrust in the height direction comprises the following steps:
step i, calculating the height tracking speed w under the body coordinate system through proportional control according to the target height information, the current height information of the mass center of the whole system and the current forward flying speed and pitch angle information under the body coordinate systemc，
Wherein z isgcAnd zgRespectively representing a target height and a current height under an inertial coordinate system, k representing a coefficient of a proportional controller, and u and theta respectively representing a forward flying speed and a pitch angle under a body coordinate system;
step ii, according to the altitude tracking speed and the current speed of the aircraft in the z-axis direction of the body coordinate system, utilizing a proportional-integral controller to calculate the altitude tracking acceleration in the body coordinate system
Wherein k ispwAnd kiwRespectively, and w represents the current speed of the aircraft in the z-axis direction of the body coordinate system.
Step iii, calculating the thrust T in the height direction by utilizing a dynamic inverse algorithm according to the height tracking accelerationZc。
Further, according to the target attitude information and the current attitude information of the mass center of the whole system, the attitude tracking acceleration under the computer body coordinate system is controlled by proportional-differential-integral and by using the following equation
And
re-using yaw acceleration in the attitude tracking acceleration
Calculating the differential force T in the yaw directionψc，
Wherein k ispφ，kdφ，kiφ，kpθ，kdθ，kiθ，kdψ，kpψRespectively representing the coefficients of the PID controllers of the corresponding channels, phic，θc，ψcIndicating the target attitude information in a geographical coordinate system,. psic＝atan2(-Vwy，-Vwx)，VwyAnd VwxRepresents the horizontal component of the wind speed in the target environment of the aerostat under the inertial coordinate system, phicAnd thetacRepresenting constants, phi, theta, psi, represent the current pose information in the geographic coordinate system.
Further, tracking a roll angular acceleration among accelerations using the attitude
And pitch angular acceleration
And calculating the position information of the sliding block by combining a dynamic inverse algorithm, and further controlling the movement of the sliding block.
Further, the thrust T in the height direction is calculated by the following equationZcDifferential force T in yaw directionψcAnd the position information of the slider are recorded,
wherein the content of the first and second substances,
representing a matrix of control coefficients, Δcof＝diag(ms+m33，Ix+m44，Iy+m55，Iz+m66) Represents the quality matrix, mSIs the quality of the entire system, Ix，Iy，IzRespectively representing the three-axis moment of inertia, m, of the aerostat33，m44，m55，m66Respectively representing the additional mass of the aerostat's altitude, roll, pitch and yaw channels,
and
respectively, the mass ratio of the longitudinal slider and the transverse slider, G the mass of the aerostat and (x)s，ys，zs) The installation positions of the left and right vector propellers on the aerostat under a body coordinate system are represented, and x iss＝zs＝0，
(X) represents a nonlinear term related to the state of the aerostat in a kinetic equation, h (X) represents a nonlinear functional relation between a system output variable and a current state variable, and xlonc，ylatcRespectively showing the corresponding position information of the longitudinal slide block and the transverse slide block on the aerostat, (.)-1Which represents a generalized inverse of the general sense,
calculated by the following equationThrust T corresponding to left and right vector propellers on aerostatc1、TcrAnd the angle of rotation deltac1、δcr，
Wherein the content of the first and second substances,
(xs，ys，zs) The mounting positions of the left and right vector propellers under a body coordinate system and xs＝zs＝0。
The beneficial technical effects of the invention are as follows:
the position of the transverse sliding block and the position of the longitudinal sliding block are adjusted to realize metamorphic center adjustment of the whole system, pitching and rolling control of the aerostat is further realized, then height keeping and course control of the aerostat are realized by combining with vector thrust, an overall control scheme of fixed-point air parking and attitude control is provided, the control system is simple in design, small in on-line calculation amount and easy to realize, and simulation results effectively verify the quality of the fixed-point air parking at different speeds.
Drawings
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is a schematic view of the vector thrust decomposition of the left and right vector propellers of the present invention in the plane of the xoz projection;
FIG. 3 is a circuit control block diagram of the present invention;
FIG. 4 is a schematic diagram of the altitude and attitude response of an aerostat when closed loop controlled using the method of the present invention;
FIG. 5 is a schematic representation of the position of the slider and the position of the aircraft in plan view, using the method of the present invention for closed loop control;
FIG. 6 is a control force and vector force diagram for closed loop control using the method of the present invention;
FIG. 7 is a quality diagram of fixed-point idling at different speeds when the method of the present invention is used for open-loop control;
FIG. 8 is a schematic diagram of the quality of fixed-point idling at different speeds when the method of the present invention is used for closed-loop control, with wind field conditions set to [0, -5,0 ];
the system comprises a left side vector propeller, a right side vector propeller, a left side vector propeller, a pneumatic control surface, a front auxiliary air bag, a rear auxiliary air bag, a longitudinal sliding block and a transverse sliding block, wherein the left side vector propeller is 1-2-3-4-5-6-the longitudinal sliding block and the transverse sliding block are 7-respectively.
Detailed Description
The following detailed description of the preferred embodiments will be made with reference to the accompanying drawings.
Considering the characteristics of the rotary symmetric aerostat and the convenience of calculation, a geographic coordinate system [ x ] is assumedg、yg、zg]The corresponding attitude is [ phi ], theta, psi]Coordinate system of machine body [ x, y, z)]The original point is the volume center of the body, and the corresponding speeds on the x-axis, the y-axis and the z-axis are [ u, v, w ]]The angular velocities on the corresponding x, y and z axes are [ p, q, r ]]。
The invention provides a control system for fixed-point air parking of an aerostat on a stratosphere, which realizes metamorphic center adjustment of the whole system by adjusting the position of a double-mass sliding block, further realizes pitching and rolling control of the aerostat, and then realizes height keeping and course control of the aerostat by combining with vector thrust. The guide rail and slide block type metamorphic center scheme can be adopted, the power supply and the load are used as moving parts to realize the front-back pitching and left-right rolling control of the aerostat, meanwhile, the relation between the mass ratio and the motion parameters of the double-mass slide block is given, and the relation between the motion of the slide block and the mass center position of the aerostat is determined. The method mainly comprises the steps of obtaining the relation between the target height and attitude and tracking acceleration through a PID tracking algorithm, obtaining control force required by tracking and position information of a sliding block through a dynamic inverse method, converting the control force required by tracking to the magnitude and the rotating angle of thrust of each vector propeller, acting on an aerostat to obtain actual attitude and position, detecting the current state of the aerostat, and feeding back and outputting the detected attitude and position to a front-end input end, so that closed-loop control is achieved.
As a real-time monitoring platform, fixed-point airborne staying indicates that the aerostat stays in a certain plane position range and keeps the altitude stable to obtain high-resolution ground observation, wherein pitching and rolling control can meet the requirements of solar energy output power regulation and ground observation tasks, and course control can change course and wind resistance. Due to the coupling of the attitude and the speed, the forward speed of the flight is not controlled when attitude control is carried out.
The invention mainly aims at aerostat with stratosphere in conventional layout, as shown in figure 1, a right vector propeller 1 and a left vector propeller 2 can control the horizontal and vertical positions, a pneumatic control surface 3 can realize the attitude control of an aircraft, and a front auxiliary air bag 4 and a rear auxiliary air bag 5 can realize the height control of the lifting process, but due to the limitation under the fixed-point parking condition, under the condition, the atmospheric density is low, the airspeed is small, the pneumatic control surface efficiency is low, therefore, the manipulation of the pneumatic control surface is not considered in the motion process, and the attitude control is realized by adopting the double-mass slider scheme provided by the invention.
Specifically, as shown in fig. 1, a longitudinal slider 6 and a lateral slider 7 are provided on the aerostat, the longitudinal slider 6 moving along a longitudinal guide rail provided on the aerostat surface and located on the xoz plane of the airframe coordinate system, the lateral slider 7 moving along a lateral guide rail provided on the aerostat surface and located on the yoz plane of the airframe coordinate system, the lateral guide rail and the longitudinal guide rail intersecting each other with an intersection point thereof being provided on the intersection point of the z-axis and the bottom surface of the aircraft.
The mass of the aerostat body, irrespective of the weight of the slider, is mBThe mass of the longitudinal and transverse sliders is mlonAnd mlatMass of the whole system is mSHas m ofS＝mB+mlon+mlatThe mass ratio of the corresponding slider is defined as
Suppose the center of mass of the aerostat body is B*Its position is PB＝(xG,yG,zG) Fixed, independent of the displacement of the slide, the centre of mass of the entire system being S*Its position PS＝(x′G,y′G,z′G) The positions of the two guide rails are respectively P in the xOz plane and the yOz plane of the body coordinate systemlon＝(xlon,0,zlon) And Plat＝(0,ylat,zlat). Since the aerostat is approximately a spindle, has a large length and a circular cross-section, it is in the xO rangezThe planar guide rail can be regarded as a straight line parallel to the body axis, and the guide rail in the yOz plane can be regarded as a circular arc. The position of the longitudinal slide block can be taken as Plon＝(xlon0, r) in the transverse slide position
Wherein r represents the radius corresponding to the largest cross section of the aerostat.
Therefore, the relation between the centroid of the whole system and the centroids of the components is:
the position of the slider can be changed, the center of mass of the system can be changed, and the attitude control of the aerostat can be realized.
The metamorphic center attitude control principle is that the gravity moment F acting on the aerostat due to the change of the position of the center of massGBA change occurs, the expression of which is as follows:
wherein G represents the gravity of the aerostat, B represents the buoyancy of the aerostat, and phi, theta and psi represent the roll angle, pitch angle and yaw angle of the aerostat.
The principle of controlling the speed, the height and the course angle of the aerostat by the vector thrust is as follows:
as shown in figure 1, a vector propeller is respectively arranged at the left side and the right side of the aerostat, and each vector propeller has two control degrees of freedom, force magnitude and deflection rotation angle TclAnd deltacl，TcrAnd deltacrBy using vector thrust coordinates, as shown in FIG. 2Under the system, it is decomposed into horizontal thrust TclH、TcrHAnd a vertical thrust TclV、TcrVThen there is TclH＝Tclsin(δcl)，TclV＝-Tclcos(δcl)，TcrH＝Tcrsin(δcr)，TcrV＝-Tcrcos(δcr) Here TclIs the magnitude of the left vector thrust, TcrIs the magnitude of the right vector thrust, δcrIs the right vector thrust turn, δclIs the left vector thrust turn angle.
Defining the horizontal and vertical components of vector thrust as indirect control vector, synthesizing them in the body coordinate system to generate control vector F of synthesized vector thrustT＝[TX，TZ，Tφ，Tψ]T。
Wherein, TX，TZRepresents the magnitude of the resultant force of the vector thrust in the directions of the x axis and the z axis, TφAnd TψRepresenting the magnitude of the moment produced by the vector thrust in the roll and yaw directions respectively,
(xs,ys,zs) The left and right propellers are arranged at the installation position under the coordinate system of the machine body and have xs＝zs＝0。
In the fixed-point parking process, the vector thrust realizes the control of the height and the yaw angle, so the control force TZAnd TψFor the required control force, TXAnd TφIt can be regarded as a disturbing force.
As shown in fig. 3, the control system includes a height maintaining module and an attitude tracking module, the height maintaining module and the attitude tracking module are connected with a vector thrust composite module, the attitude tracking module is connected with a pitching and rolling control module, the vector thrust composite module is connected with a nonlinear mapping module, the nonlinear mapping module and the pitching and rolling control module are connected with a main controller of the aerostat, and the main controller is connected with the height maintaining module and the attitude tracking module through a state measuring module.
The state measurement module is used for measuring attitude information and vertical height information of the aerostat, and position and speed information under a geographic coordinate system; the height keeping module is used for receiving the current height and target height information of the mass center of the whole system in a geographic coordinate system and generating height tracking acceleration in a machine body coordinate system by using a proportional-differential-integral controller; the attitude tracking module is used for receiving current attitude information and target attitude information of the mass center of the whole system in a geographic coordinate system and generating attitude tracking acceleration in a body coordinate system by utilizing a proportional-differential-integral controller; the vector thrust composite module is used for receiving the altitude tracking acceleration and the attitude tracking acceleration and generating power required in two directions of altitude and yaw, and specifically comprises an altitude thrust generation module and a yaw difference power generation module, wherein the altitude thrust generation module is connected with the altitude maintaining module, the yaw differential power generation module is connected with the attitude tracking module, and the altitude thrust generation module receives the altitude tracking acceleration and generates thrust in the altitude direction by using a dynamic inverse algorithm; the yaw difference power generation module receives corresponding deflection angle information in the attitude tracking acceleration and generates differential force of the deflection direction by utilizing a dynamic inverse algorithm; the pitching and rolling control module is used for receiving the attitude tracking acceleration and generating position information of the sliding block required for controlling the pitching and rolling directions, and specifically, the position information of the sliding block is generated by receiving corresponding pitch angle and rolling angle information in the attitude tracking acceleration and utilizing a dynamic inverse algorithm; the nonlinear mapping module is used for receiving the power generated by the vector thrust composite module, and generating the thrust required by each propeller of the aerostat and the corresponding angle thereof by combining a dynamic equation of the aerostat.
The height keeping module comprises a height tracking speed module and a height tracking acceleration module, wherein the height tracking speed module is used for receiving current height and target height information of a whole system center of mass under a geographic coordinate system and current forward flying speed and pitch angle information under a machine body coordinate system, generating height tracking speed under the machine body coordinate system by using a proportional controller, and the height tracking acceleration module is used for receiving the height tracking speed and current vertical speed under the machine body coordinate system and generating height tracking acceleration under the machine body coordinate system by using a proportional integral controller.
The yaw angle information in the target attitude information can be determined by the wind speed of the target environment where the aerostat is located, and the pitch angle and the roll angle information are given according to the actual task requirements.
The invention also provides a control method for the fixed-point parking control system of the stratosphere aerostat based on the above, which comprises the following steps:
step one, setting target height and attitude information [ z ]gc,φc,θc,ψc]T；
Step two, calculating the thrust in the height direction by proportional differential integral control and combining a dynamic inverse algorithm according to the target height information and the current height information of the mass center of the whole system, wherein the calculation is as follows;
step I, calculating the height tracking speed w under the body coordinate system by using the following equation through proportional control according to the target height information, the current height information of the center of mass of the whole system and the current forward flight speed and pitch angle information under the body coordinate systemc；
Wherein z isgcAnd zgRespectively representing a target height and a current height under an inertial coordinate system, k representing a coefficient of a proportional controller, and u and theta respectively representing a forward flying speed and a pitch angle under a body coordinate system;
and step II, according to the altitude tracking speed and the current speed of the aircraft in the z-axis direction of the body coordinate system, utilizing a proportional-integral controller and the following equation to calculate the altitude tracking acceleration in the body coordinate system
Wherein k ispwAnd kiwRespectively representing the coefficients of proportional-integral control, and w representing the current speed of the aircraft in the z-axis direction of a body coordinate system;
and step III, calculating the thrust TZc in the height direction by utilizing a dynamic inverse algorithm according to the height tracking acceleration.
Step three, calculating the differential force in the yaw direction and the position information of the sliding block by proportional differential integral control and combining a dynamic inverse algorithm according to the target attitude information and the current attitude information of the mass center of the whole system, wherein the method specifically comprises the following steps:
firstly, according to target attitude information and current attitude information of the mass center of the whole system, by proportional-differential-integral control and using the following equation, attitude tracking acceleration under a computer body coordinate system
And
wherein k ispφ，kdφ，kiφ，kpθ，kdθ，kiθ，kdψ，kpψRespectively representing the coefficients of the PID controllers of the corresponding channels, phic，θc，ψcIndicating the target attitude information in a geographical coordinate system,. psic＝atan2(-Vwy，-Vwx)，VwyAnd VwxRepresents the horizontal component of the wind speed in the target environment of the aerostat under the inertial coordinate system, phicAnd thetacRepresenting constants which can be given according to actual task requirements, and phi, theta and psi represent current attitude information in a geographic coordinate system.
Secondly, tracking the roll angular acceleration among the accelerations using the attitude
And pitch angular acceleration
Calculating the position information of the slide block by combining a dynamic inverse algorithm, and tracking the yaw acceleration in the acceleration by utilizing the attitude
Calculating the differential force T in the yaw directionψc。
Position information of the slider and differential force T in the yaw directionψcThrust T in the height directionZcThe calculation of (2) needs to adopt a dynamic inverse method to establish a dynamic model of the whole system, and the specific model is as follows:
Y＝h(X)
wherein, X ═ (w, p, q, r)TRepresenting the state information of the aerostat, F ═ F (X) representing the nonlinear term in the kinetic equation relating to the state of the aerostat, G (X, U) ═ FGB+FTRepresenting terms in the kinetic equation relating to both state and manipulated variable, Y ═ zg，φ，θ，ψ]TRepresenting the output vector, h (X) representing the non-line between the output vector and the state of the aerostatAnd (4) a relationship of a sexual function.
G(X,U)＝FGB+FTCan be written as affine form G (X, U) ═ G (X) U
Wherein, U ═ TZ,Tψ,xlon,ylat]TRepresenting the indirect control vector, g (X) representing the coefficient matrix after the indirect control variable is separated, the expression is as follows,
wherein, Deltacof＝diag(ms+m33,Ix+m44,Iy+m55,Iz+m66) Represents the quality matrix, mSDenotes the quality of the entire system, Ix,Iy,IzRespectively representing the three-axis moment of inertia, m, of the aerostat33,m44,m55,m66The additional mass of the aerostat on the altitude, roll, pitch and yaw channels is indicated, respectively, and G indicates the weight of the aerostat.
Defining the differential of the output vector Y as
Here, the
For a given trace instruction Yc＝[zgc，φc，θc，ψc]TAnd obtaining a closed loop system nonlinear feedback controller by adopting a dynamic inverse method:
wherein, (.)-1Which represents a generalized inverse of the general sense,
Uc＝[TZc,Tψc,xlonc,ylatc]T，
The thrust T in the height direction can be calculated by using the equationZcDifferential force T in yaw directionψcAnd position information of the slider.
And step four, controlling the sliding motion according to the position information of the sliding block, and calculating the thrust and the corresponding angle required by each vector propeller on the aerostat according to the thrust in the height direction, the differential force in the yaw direction and the dynamic equation of the aerostat.
Thrust T corresponding to left and right vector propellers on the aerostat is calculated by the following equationcl、TcrAnd the angle of rotation deltacl、δcr，
Wherein the content of the first and second substances,
(xs,ys,zs) The mounting positions of the left and right vector propellers under a body coordinate system and xs＝zs＝0。
To verify the feasibility of the system and method of the present invention, simulations were performed by the following method.
Assuming that the total volume of the aerostat is 300000m3170m for the coxswain, 50m for the maximum diameter, 20km for the flying height, 25m for the maximum section radius, and P for the position of the longitudinal slide block in the simulation processlon＝(xlon0,25) in the transverse slide position
Here, due to the limitation of the length of the guide rail, | x is takenlonLess than or equal to 40 and ylatLess than or equal to 15, the slide block can be a storage battery part or a movable load part,accounts for 30 percent of the total mass of the total aerostat, and the mass ratio of the sliding block is mulon＝0.2,，μlat＝0.1。
Given a flight height h c2 × 104m, for height tracking, the height difference Δ h is defined as 50m, when h isc-h > Δ h, tracking target to mass velocity
When h is generatedc-h ≦ Δ h, the tracking target is position h → hc. The given pose tracking plan is:
given an initial flying speed of 3m/s, the closed-loop simulation results are shown in fig. 6, 7 and 8, and it can be seen that the altitude tracking error is within 100m, as shown in fig. 4(a), three-axis attitude independent tracking control can be simultaneously realized, as shown in fig. 4(b, c, d), after the attitude is stabilized, the lateral deviation is 253m, the forward speed is gradually reduced, and the forward position is gradually enlarged, while fig. 5(b) and 5(c) show the change of the airflow angle, which indicates that the aerodynamic moment of the aircraft is simultaneously changed in the process of changing the center of mass.
The resultant differential force in the height direction and the yaw direction, and the decomposed output of the vector propeller are shown in fig. 6.
It can be seen that the proposed metamorphic core scheme and control method can effectively achieve the control objective. And (4) carrying out simulation at different initial speeds, and giving a practical steerable fixed point parking scheme by analyzing the control quality of the fixed point parking. The flight speed ranges from 0 to 3m/s, and the parameters of the controller for altitude hold and attitude tracking are unchanged.
First, the open-loop steering of the slider is analyzed without the result of closed-loop heading and altitude, as shown in FIG. 7. As can be seen from fig. 7, when the initial velocity is 0m/s, corresponding to a windless condition, due to the strong coupling of roll and yaw, as shown in fig. 7(d), the aerostat will turn within a certain range, as shown in fig. 7(c), and as the airspeed increases, the coupling of pitch and altitude is significant, and the altitude of the aircraft changes rapidly, as shown in fig. 7(a), and the position of the aircraft also expands, as shown in fig. 7 (c). Given the height and attitude of the fixed point in the process of standing and emptying, the simulation result of the closed loop is adopted, as shown in fig. 8, compared with fig. 7, the fixed point after the closed loop keeps regular lateral and forward movement, as shown in fig. 8(c), the height change is also small, when the airspeed is increased from 0.5m/s to 3m/s, the fixed point standing and emptying range is increased, and the lateral deviation is influenced by the control of the course angle.
It is particularly noted that when the initial speed is 0m/s, the range of the fixed-point parking is increased due to the strong coupling of yaw and roll, as shown in fig. 8(d), and the controllable yaw flight, which ensures that the aerostat does not move in a turn, but affects the increase of the flight speed, as shown in fig. 8 (c). If course control is not carried out, the aerostat can be hovered in a small range, and if course control is carried out, the main control range is expanded by the aircraft, and regular lateral movement deviation is obtained.
Although particular embodiments of the present invention have been described above, it will be understood by those skilled in the art that these are by way of example only and that various changes or modifications may be made to these embodiments without departing from the spirit and scope of the invention and, therefore, the scope of the invention is to be defined by the appended claims.
Claims (10)
1. The utility model provides a control system that is used for stratospheric aerostatics fixed point to stay empty which characterized in that: comprises a height keeping module and an attitude tracking module, wherein the height keeping module and the attitude tracking module are connected with a vector thrust composite module, the attitude tracking module is connected with a pitching and rolling control module, the vector thrust composite module is connected with a nonlinear mapping module, the nonlinear mapping module and the pitching and rolling control module are connected with a main controller of the aerostat, the main controller is connected with the height keeping module and the attitude tracking module through a state measuring module,
the state measurement module is used for measuring attitude information and vertical height information of the aerostat, and position and speed information under a geographic coordinate system;
the height keeping module is used for receiving the current height and target height information of the mass center of the whole system in a geographic coordinate system and generating height tracking acceleration in a machine body coordinate system by using a proportional-derivative-integral controller;
the attitude tracking module is used for receiving current attitude information and target attitude information of the mass center of the whole system in a geographic coordinate system and generating attitude tracking acceleration in a body coordinate system by using a proportional-integral controller;
the vector thrust composite module is used for receiving the altitude tracking acceleration and the attitude tracking acceleration and generating power required by the altitude direction and the yaw direction; the pitching and rolling control module is used for receiving the attitude tracking acceleration and generating the position information of the sliding block required for controlling the pitching and rolling directions;
the nonlinear mapping module is used for receiving the power generated by the vector thrust composite module, and generating the thrust required by each propeller of the aerostat and the corresponding angle thereof by combining a dynamic equation of the aerostat.
2. The control system for fixed-point parking of the stratospheric aerostat according to claim 1, wherein: the vector thrust composite module comprises a height thrust generation module and a yaw difference power generation module, the height thrust generation module is connected with the height maintaining module, the yaw difference power generation module is connected with the attitude tracking module, the height thrust generation module receives height tracking acceleration and generates thrust in the height direction by using a dynamic inverse algorithm; the yaw difference power generation module receives corresponding deflection angle information in attitude tracking acceleration and generates differential force of deflection direction by using a dynamic inverse algorithm;
and the pitching and rolling control module receives corresponding pitch angle and rolling angle information in the attitude tracking acceleration and generates the position information of the sliding block by utilizing a dynamic inverse algorithm.
3. The control system for fixed-point parking of the stratospheric aerostat according to claim 1, wherein: be provided with vertical slider and horizontal slider on the aerostatics, vertical slider is along the motion of longitudinal guide, the longitudinal guide sets up on the aerostatics surface, and is located the xoz planes of organism coordinate system, horizontal slider is along the motion of horizontal guide, horizontal guide sets up on the aerostatics surface, and is located the yoz plane of organism coordinate system, horizontal guide intersects with longitudinal guide, and its intersect point falls on the intersect of organism coordinate system and aircraft bottom surface.
4. The control system for fixed-point parking of the stratospheric aerostat according to claim 1, wherein: the altitude keeping module comprises an altitude tracking speed module and an altitude tracking acceleration module, the altitude tracking speed module is used for receiving current altitude and target altitude information of a whole system center of mass under a geographic coordinate system and current forward flying speed and pitch angle information under a body coordinate system, the altitude tracking speed under the body coordinate system is generated by using a proportional controller, the altitude tracking acceleration module is used for receiving the altitude tracking speed and the speed of an aircraft in the z-axis direction of the body coordinate system, and the altitude tracking acceleration under the body coordinate system is generated by using a proportional-integral controller.
5. A control method for a control system for fixed-point parking of a stratospheric aerostat according to claim 1, characterized by comprising the following steps:
step one, setting target height and attitude information;
secondly, calculating the thrust in the height direction and the differential force in the yaw direction according to the target height and the attitude information and the current height and attitude information of the center of mass of the whole system, and calculating the thrust and the corresponding angle required by each vector propeller on the aerostat by using a dynamic equation of the aerostat so as to control the aerostat in the height direction and the yaw direction;
and thirdly, calculating the position information of the sliding block according to the target attitude information and the current attitude information of the mass center of the whole system, and further controlling the movement of the sliding block, thereby realizing the control of the aerostat in the pitching and rolling directions.
6. The control method of the control system for fixed-point parking of the stratospheric aerostat according to claim 5, wherein the control method of the aerostat in height and deflection direction comprises the following steps:
step I, calculating thrust in the height direction through proportional-differential-integral control and a dynamic inverse algorithm according to the target height information and the current height information of the mass center of the whole system;
step II, calculating the differential force in the yaw direction through proportional differential integral control and a dynamic inverse algorithm according to the target attitude information and the current attitude information of the mass center of the whole system;
and step III, calculating the thrust and the corresponding angle required by each vector propeller on the aerostat by using a dynamic equation of the aerostat according to the differential force in the height direction and the yaw direction.
7. The control method for the control system for fixed-point parking of the stratospheric aerostat according to claim 6, wherein the method for generating the thrust in the height direction comprises the steps of:
step i, calculating the height tracking speed w in the body coordinate system through proportional control according to the target height information, the current height information of the mass center of the whole system and the current forward flying speed and pitch angle information in the body coordinate systemc，
Wherein z isgcAnd zgRespectively representing a target height and a current height under an inertial coordinate system, k representing a coefficient of a proportional controller, and u and theta respectively representing a forward flying speed and a pitch angle under a body coordinate system;
step ii, according to the altitude tracking speed and the current speed of the aircraft in the z-axis direction of the body coordinate system, proportional integral control is utilizedHeight tracking acceleration under system and computer body coordinate system
Wherein k ispwAnd kiwRespectively representing the coefficients of proportional-integral control, and w representing the speed of the aircraft in the z-axis direction of a body coordinate system;
step iii, calculating the thrust T in the height direction by utilizing a dynamic inverse algorithm according to the height tracking accelerationZc。
8. The control method of the control system for fixed-point parking of the stratospheric aerostat according to claim 7, wherein: according to the target attitude information and the current attitude information of the centroid of the whole system, the attitude tracking acceleration under the computer body coordinate system is controlled by proportional-differential-integral and by using the following equation
And
re-using yaw acceleration in the attitude tracking acceleration
Calculating the differential force T in the yaw directionψc，
Wherein k ispφ，kdφ，kiφ，kpθ，kdθ，kiθ，kdψ，kpψRespectively representing the coefficients of the PID controllers of the corresponding channels, phic,θc,ψcIndicating the target attitude information in a geographical coordinate system,. psic＝atan2(-Vwy,-Vwx)，VwyAnd VwxRespectively represents the horizontal component of the wind speed in the target environment of the aerostat under the inertial coordinate system, phicAnd thetacRepresenting constants, phi, theta, psi, represent the current pose information in the geographic coordinate system.
9. The control method of the control system for fixed-point parking of the stratospheric aerostat according to claim 8, wherein: tracking roll angular acceleration among accelerations using the attitude
And pitch angular acceleration
And calculating the position information of the sliding block by combining a dynamic inverse algorithm, and further controlling the movement of the sliding block.
10. The control method of the control system for fixed-point parking of the stratospheric aerostat according to claim 9, wherein: the thrust T in the height direction is calculated by the following equationZcDifferential force T in yaw directionψcAnd the position information of the slider are recorded,
wherein the content of the first and second substances,
a matrix of control coefficients is represented which,
Δcof＝diag(ms+m33,Ix+m44,Iy+m55,Iz+m66) Represents the quality matrix, mSIs the quality of the entire system, Ix,Iy,IzRespectively representing the three-axis moment of inertia, m, of the aerostat33,m44,m55,m66Respectively representing the additional mass of the aerostat's altitude, roll, pitch and yaw channels,
and
respectively, the mass ratio of the longitudinal slider and the transverse slider, G the mass of the aerostat and (x)s,ys,zs) The installation positions of the left and right vector propellers on the aerostat under a body coordinate system are represented, and x iss＝zs＝0，
(X) represents a nonlinear term related to the state of the aerostat in a kinetic equation, h (X) represents a nonlinear functional relation between a system output variable and a current state variable, and xlonc,ylatcRespectively representing the corresponding position information of the longitudinal slide block and the transverse slide block on the aerostat,
which represents a generalized inverse of the general sense,
calculating left and right vector spirals on the aerostat by using the following equationThrust T corresponding to propellercl、TcrAnd the angle of rotation deltacl、δcr，
Wherein, TclH、TcrHHorizontal thrust, T, representing left and right vector thrust, respectivelyclV、TcrVRespectively representing the vertical thrust of the left vector thrust and the right vector thrust,
(xs,ys,zs) The mounting positions of the left and right vector propellers under a body coordinate system and xs＝zs＝0。
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