CN110568764A - Aircraft system anti-interference control method and system, controller and control method considering state quantization - Google Patents
Aircraft system anti-interference control method and system, controller and control method considering state quantization Download PDFInfo
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- CN110568764A CN110568764A CN201910976212.6A CN201910976212A CN110568764A CN 110568764 A CN110568764 A CN 110568764A CN 201910976212 A CN201910976212 A CN 201910976212A CN 110568764 A CN110568764 A CN 110568764A
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Abstract
An aircraft system anti-interference control method and system, a controller and a control method considering state quantization are disclosed, wherein a space model containing an elastic mode and an aircraft rigid state is established, an extended state observer based on the quantization state is established, the elastic mode and external interference are estimated, the controller based on the quantization state, the elastic mode estimation and the interference estimation is designed, the characteristics of strong anti-interference capability of the system and communication resource saving are improved, and the application capability of the anti-interference control method in practical engineering is enhanced.
Description
one, the technical field
the invention relates to an anti-interference control method and system, a controller and a control method for an aircraft system, in particular to an anti-interference control method and system, a controller and a control method for the aircraft system considering state quantization.
Second, background Art
the modern aircraft is large in size, complex in structure and heavy in burden, the aircraft faces various influences in the flight process, such as perturbation of system parameters and influence of external interference, the uncertainty can cause reduction of control accuracy of a control system, influence on stability performance of the system, and even can cause breakdown of the whole control system, and the aircraft system comprises links such as strong coupling and non-minimum phase between states, so that the aircraft system is a complex non-linear system. The aircraft control problem is a very important control problem, and is receiving more and more attention, it is noted that the conventional control methods (except sliding mode control method) suppress interference through feedback adjustment, and do not directly process interference in controller design, when strong interference is encountered, these methods may encounter some limitations, such as deterioration of dynamic performance of the system, and even instability of the system, in order to improve the anti-interference performance of the system, the control theory based on interference compensation is proposed and applied to aircraft system control, but it is usually assumed that the signal transmission is error-free, delay-free, and channel capacity is not considered, so that the conventional design and analysis method is difficult to be applied to a dynamic feedback control system with signal quantization or capacity limitation,
Aiming at the problems that the design of an observer and a controller needs to be fully researched when the system has a quantification function, the control performance of the system is improved.
The application technical scheme is made based on technical statements of the applicant in 2019, 9, 28 and similar technical problems, technical characteristics and technical effects in the background art obtained through retrieval.
third, the invention
The object of the invention is a method for acquiring an anti-interference control model of an aircraft system in consideration of state quantization,
The object of the invention is an anti-interference control model acquisition system for aircraft systems taking into account state quantification,
the object of the invention is an aircraft system interference rejection controller considering state quantization,
The invention provides an aircraft system anti-interference control method considering state quantization.
In order to overcome the technical defects, the invention aims to provide an aircraft system anti-interference control method and system, a controller and a control method considering state quantization, so that the characteristics of strong anti-interference capability of the system and communication resource saving are improved, and the application capability of the anti-interference control method in actual engineering is enhanced.
In order to achieve the purpose, the invention adopts the technical scheme that:
an aircraft system anti-interference control model acquisition method considering state quantization comprises the following steps:
Step 100: a space model containing an elastic mode and an aircraft rigid state is established,
Step 200: an extended state observer based on the quantization state is established, the elastic mode and the external interference are estimated,
step 300: a controller based on quantization state, elastic mode estimation and interference estimation is designed.
Due to the design of the steps, the characteristics of strong anti-interference capability of the system and communication resource saving are improved, and the application capability of the anti-interference control method in actual engineering is enhanced.
The present invention is designed that step 100 specifically includes the following contents:
The space model containing the elastic mode and the rigid state of the aircraft is Σ:
Whereinσ＝[σ1,σ2,σ3]Tω, u (t), d (t) represent aircraft attitude, angular velocity, control inputs, and external disturbances, respectively, η is the elastic mode of the aircraft system, and s (σ) ([ 0 σ) ] [3 -σ2；-σ3 0 σ1；σ2 -σ1 0]，I3is a 3 x 3 unit matrix and is,
The present invention is designed that step 200 specifically includes the following contents:
Based on the aircraft state space model, the following system model is obtained
Wherein
V＝δT[K C],f1＝ΛδJ-1ω×(Jω+δTC1χ),C1＝[01],Λ＝(I-δJ-1δT)-1.
The following extended state observer with quantized states is designed:
where q (ω) represents the variable after being acted upon by the quantizer,in order to gain the observer,
the present invention contemplates that step 300 specifically includes the following:
the controller is designed as
Wherein k is1,k2Is the controller gain.
The invention designs an aircraft system anti-interference control model acquisition system considering state quantization, which comprises the following contents:
a spatial model building unit 10 is established containing elastic modes and rigid states of the aircraft,
an extended state observer based on the quantization state, an estimated elastic mode and an external disturbance establishing unit 20 are established,
a controller building unit 30 based on the quantization state, elastic mode estimation and interference estimation is designed.
the invention designs an aircraft system anti-interference controller considering state quantization, which comprises the following contents: an anti-interference control model of the aircraft system considering state quantization is stored in the controller,
The invention designs that the aircraft system anti-interference controller model considering state quantization is obtained according to the aircraft system anti-interference control model considering state quantization,
Step 100: a space model containing an elastic mode and an aircraft rigid state is established,
step 200: an extended state observer based on the quantization state is established, the elastic mode and the external interference are estimated,
Step 300: a controller based on quantization state, elastic mode estimation and interference estimation is designed.
the invention designs an aircraft system anti-interference control method considering state quantization, which comprises the following contents:
and an aircraft system anti-interference controller considering state quantization is applied in the CPU for control.
The invention has the technical effects that: the anti-interference control method provided by the invention has the advantages that the performance of the system is greatly improved under the conditions of elastic modal, external interference and quantization error influence by the anti-interference control method.
description of the drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a method for acquiring an anti-interference control model of an aircraft system with consideration of state quantization according to the present invention,
fig. 2 is a schematic structural diagram of an aircraft system anti-interference control model acquisition system with state quantization taken into consideration according to the present invention.
fifth, detailed description of the invention
Terms such as "having," "including," and "comprising," as used with respect to the present invention, are to be understood as not specifying the presence or addition of one or more other elements or combinations thereof, in accordance with the examination guidelines.
in the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
in the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention is further described below with reference to the following examples, which are intended to illustrate the invention but not to limit it further.
An aircraft system anti-interference control model acquisition method considering state quantization, according to a first embodiment of the present invention, includes the steps of:
step 100: a space model containing an elastic mode and an aircraft rigid state is established,
Step 200: an extended state observer based on the quantization state is established, the elastic mode and the external interference are estimated,
step 300: a controller based on quantization state, elastic mode estimation and interference estimation is designed, and in this embodiment, the step 100 specifically includes the following contents:
the space model containing the elastic mode and the rigid state of the aircraft is Σ:
Whereinσ＝[σ1,σ2,σ3]Tω, u (t), d (t) represent aircraft attitude, angular velocity, control inputs, and external disturbances, respectively, η is the elastic mode of the aircraft system, and s (σ) ([ 0 σ) ] [3 -σ2；-σ3 0 σ1；σ2 -σ1 0]，I3Is a 3 x 3 unit matrix and is,
In this embodiment, the step 200 specifically includes the following contents:
Based on the aircraft state space model, the following system model is obtained
Wherein
V＝δT[K C],f1＝ΛδJ-1ω×(Jω+δTC1χ),C1＝[01],Λ＝(I-δJ-1δT)-1.
the following extended state observer with quantized states is designed:
where q (ω) represents the variable after being acted upon by the quantizer,L1,L2,L3in order to gain the observer,
In this embodiment, the step 300 specifically includes the following contents:
the controller is designed as
wherein k is1,k2is the controller gain.
an anti-interference control model acquisition system of an aircraft system considering state quantization comprises the following contents:
a spatial model building unit 10 is established, containing elastic modes and rigid states of the aircraft, for obtaining dynamic and attitude models of the aircraft systems,
An extended state observer based on quantized states, an estimated elastic mode and external disturbance establishing unit 20 is established for obtaining the extended state aircraft system state,
A controller building unit 30 based on the quantitative states, elastic mode estimation and disturbance estimation is designed for acting on the aircraft system model.
An aircraft system immunity controller considering state quantization, comprising the following contents: an anti-interference control model of the aircraft system considering state quantization is stored in the controller,
In the embodiment, the state quantization considered aircraft system anti-interference controller model is obtained according to the state quantization considered aircraft system anti-interference control model obtaining method,
step 100: a space model containing an elastic mode and an aircraft rigid state is established,
Step 200: an extended state observer based on the quantization state is established, the elastic mode and the external interference are estimated,
Step 300: a controller based on quantization state, elastic mode estimation and interference estimation is designed.
an aircraft system anti-interference control method considering state quantization comprises the following contents:
and an aircraft system anti-interference controller considering state quantization is applied in the CPU for control.
the above embodiment is only one implementation form of the aircraft system anti-interference control method and system, controller and control method considering state quantization provided by the present invention, and it is within the protection scope of the present invention to add or reduce components or steps therein according to other variations of the scheme provided by the present invention, or to apply the present invention to other technical fields close to the present invention.
Claims (8)
1. an aircraft system anti-interference control model acquisition method considering state quantization is characterized by comprising the following steps: the method comprises the following steps:
step 100: a space model containing an elastic mode and an aircraft rigid state is established,
Step 200: an extended state observer based on the quantization state is established, the elastic mode and the external interference are estimated,
step 300: a controller based on quantization state, elastic mode estimation and interference estimation is designed.
2. the method for acquiring the anti-interference control model of the aircraft system considering the state quantization of claim 1, wherein the method comprises the following steps: the step 100 specifically includes the following contents:
the space model containing the elastic mode and the rigid state of the aircraft is Σ:
whereinσ＝[σ1,σ2,σ3]Tω, u (t), d (t) represent aircraft attitude, angular velocity, control inputs, and external disturbances, respectively, η is the elastic mode of the aircraft system, and s (σ) ([ 0 σ) ] [3 -σ2；-σ3 0 σ1；σ2 -σ1 0]，I3is a 3 x 3 identity matrix.
3. The method for acquiring the anti-interference control model of the aircraft system considering the state quantization of claim 1, wherein the method comprises the following steps: the step 200 specifically includes the following contents:
based on the aircraft state space model, the following system model is obtained
Wherein
Λ1＝(J-δTδ)-1,
V＝δT[K C],f1＝ΛδJ-1ω×(Jω+δTC1χ),C1＝[01],Λ＝(I-δJ-1δT)-1.
the following extended state observer with quantized states is designed:
Where q (ω) represents the variable after being acted upon by the quantizer,L1,L2,L3Is the observer gain.
4. The method for acquiring the anti-interference control model of the aircraft system considering the state quantization of claim 1, wherein the method comprises the following steps: step 300 specifically includes the following steps:
the controller is designed as
wherein k is1,k2is the controller gain.
5. The utility model provides an consider anti-interference control model of aircraft system of state quantization and obtain system which characterized by: comprises the following contents:
A spatial model building unit 10 is established containing elastic modes and rigid states of the aircraft,
An extended state observer based on the quantization state, an estimated elastic mode and an external disturbance establishing unit 20 are established,
a controller building unit 30 based on the quantization state, elastic mode estimation and interference estimation is designed.
6. An aircraft system anti-interference controller considering state quantization is characterized in that: comprises the following contents: an anti-interference control model of the aircraft system considering state quantization is stored in the controller.
7. the state-quantized aircraft system immunity controller of claim 6, wherein: the aircraft system anti-interference controller model considering the state quantization is obtained according to the aircraft system anti-interference control model considering the state quantization acquisition method,
step 100: a space model containing an elastic mode and an aircraft rigid state is established,
step 200: an extended state observer based on the quantization state is established, the elastic mode and the external interference are estimated,
Step 300: a controller based on quantization state, elastic mode estimation and interference estimation is designed.
8. an aircraft system anti-interference control method considering state quantization is characterized in that: comprises the following contents:
and an aircraft system anti-interference controller considering state quantization is applied in the CPU for control.
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