CN112000127B - Reverse-step-method-based aircraft lateral combined control method - Google Patents

Abstract

The invention discloses an aircraft lateral combined control method based on a backstepping method, which comprises the following steps: step one, establishing a transverse lateral channel coupling mathematical model, and calculating a power coefficient in the mathematical model according to the flight state and aerodynamic characteristics of an aircraft; step two, giving a lateral sideslip angle attitude instruction beta according to the guidance control requirement^dAnd a lateral roll angle attitude command gamma^d(ii) a Step three, obtaining a roll angle gamma, a sideslip angle beta and a roll angle speed according to inertial measurement strapdown resolving

Yaw rate omega_yBallistic declination angular velocity

Step four, giving out a normal number k according to the rapidity requirement₁、k₂、k₃、k₄(ii) a Step five, integrating the input of the step one, the step two, the step three and the step four, and outputting a yaw rudder instruction delta according to the backstepping principle_yAnd a rolling rudder command δ_xAnd obtaining the transverse and lateral combined controller. The backstepping-based aircraft transverse and lateral combined controller provided by the invention can realize decoupling control of the yaw channel and the rolling channel, and effectively improve the flight control quality of the yaw channel and the rolling channel.

Description

Reverse-step-method-based aircraft lateral combined control method

Technical Field

The invention relates to the field of flight control of aircrafts, in particular to a backstepping-based aircraft lateral combined control method.

Background

The transverse side channel of the aircraft has obvious coupling, and a six-degree-of-freedom model in missile flight mechanics compiled by Qian Xin Sen and the like can know kinematic coupling, pneumatic coupling and inertial coupling, wherein the kinematic coupling and the pneumatic coupling are main coupling quantities of the transverse side channel, and the transverse side channel coupling can affect the stability margin of a system on one hand and the attitude control precision on the other hand, for example, a sideslip angle can be coupled in the maneuvering process of controlling the aircraft by BTT, so that the risk of engine flameout can be obviously improved when the sideslip angle is increased for the aircraft with strict restriction requirements on the sideslip angle, for example, the aircraft based on an air suction engine. In engineering, a method for restraining a lateral slip angle of a BTT (rotating speed transmitter) control generally avoids simultaneous occurrence of an attack angle and a roll angular speed by a mode of rolling first and then turning or coordinating a roll angle instruction and an overload instruction, so that a coupled lateral slip angle is reduced, but the mode obviously reduces the rapidity of overload response of the BTT control.

The backstepping method is a control method for realizing stabilization and stabilization of a system by introducing the idea of static compensation and a gradual recursion mode aiming at a strict parameter feedback system, and domestic and foreign scholars mainly research the three-channel design of a stabilization control system in the field of aircraft control^[1]Height control^[2]Mass moment missile control^[3]Direct air composite guidance^[4]Guidance and control integrated design^[5]The application in the aspects of the prior domestic aircraft control method field does not relate to the aircraft lateral combined control based on the backstepping method, realizes the decoupling control of a yaw channel and a rolling channel, and improves the flight control quality. Background art references:

[1] application of the inversion method in missile nonlinear control system design [ J ] space control, 2010,28 (1): 3-6.

[2] Wubo Wen, Li Xiao Bing, Yao Chunming, Cao Yan, a missile height controller design based on the reverse step method [ J ] firepower and command control 2015,40(11): 153-.

[3] High growth, Jingwuxing, Lijun, design of quality moment missile control law based on adaptive inversion method [ J ]. war institute, 2011.6,32(6):686 and 690.

[4] Zhang Tianyu, Dong Chang hong, guided missile straight/gas composite guidance based on self-adaptive inversion method [ J ], university of Beijing aerospace, 201307,39(7): 902-.

[5] Wangchakai, Majiawei, Song Xiaona. guidance control integrated inversion sliding mode research based on interference observation [ J ]. firepower and command control, 2018,43(7):76-81.

Disclosure of Invention

The invention solves the problems that the coupling is obvious in a transverse channel and the system stability and the attitude control precision are influenced, and provides a backstepping-based aircraft transverse and lateral combined control method, which realizes the decoupling control of a yaw channel and a rolling channel and improves the flight control quality.

The invention provides an aircraft transverse and lateral combined control method based on a backstepping method, which comprises the following steps:

step one, establishing a transverse lateral channel coupling mathematical model, and calculating a power coefficient in the mathematical model;

step two, giving a lateral sideslip angle attitude instruction beta according to the guidance control requirement^dAnd a lateral roll angle attitude command gamma^d；

Step three, obtaining a roll angle gamma, a sideslip angle beta and a roll angle speed according to inertial measurement strapdown resolving

Yaw rate omega_yBallistic declination angular velocity

Step four, giving out a normal number k according to the rapidity requirement₁、k₂、k₃、k₄；

And step five, integrating the input of the step one, the step two, the step three and the step four, and outputting rudder instructions of a yaw channel and a rolling channel according to a backstepping principle to obtain the combined controller of the transverse and lateral channels.

Further, the establishing of the transverse lateral channel coupling mathematical model in the step one is as follows:

in the formula

Wherein beta represents a sideslip angle, gamma represents a roll angle, alpha represents an angle of attack, and omega_yIndicating yaw rate, #_vShows the ballistic declination angle, delta_yRepresenting yaw path rudder command, δ_xIndicating a rolling channel rudder instruction, b₂～b₅For yaw channel power coefficient calculated from flight conditions and the aerodynamic package, c₂～c₃The rolling channel power coefficient is calculated according to the flight state and the pneumatic bag.

Further, k is selected as the normal number in the fourth step₁、k₂、k₃、k₄Should satisfy k₁<k₂，k₁<k₃，k₂<k₄。

Further, in the fifth step, the rudder instruction output expressions of the yaw channel and the rolling channel are

In the above formula e₁＝x₁-x₁ ^dWherein

β^dFor a slip angle command, gamma^dIs a roll angle command;

e₂＝x₂-ρ，H₁、H₂、P₁、P₂are symmetric positive definite matrices and satisfy respectively

The advantages of the invention include: the aircraft transverse and lateral combined controller based on the backstepping method can realize decoupling control of the yaw channel and the rolling channel and effectively improve the flight control quality of the yaw channel and the rolling channel.

Drawings

FIG. 1 is a flow chart of an aircraft lateral combined control method based on a back stepping method.

Detailed Description

The invention is further illustrated below with reference to the figures and examples.

With reference to fig. 1, a transverse and lateral channel coupling mathematical model shown in formula 1 is established according to the aerodynamic characteristics of the aircraft, and a lateral and lateral slip angle attitude command beta is given according to the guidance control requirement^dAnd a lateral roll angle attitude command gamma^dObtaining a roll angle gamma, a sideslip angle beta and a roll angle speed according to inertial measurement strapdown calculation

Yaw rate omega_yBallistic declination angular velocity

Then, a normal number k is given according to the guidance control rapidity requirement₁、k₂、k₃、k₄Combining the above inputs, and outputting yaw rudder instruction delta by combined control of yaw channel and rolling channel according to the principle of backstepping method_yAnd a rolling rudder instruction, wherein the rudder instruction is sent to the steering engine to drive the control surface of the aircraft to deflect, so that the effective tracking of the sideslip angle instruction and the rolling angle instruction is realized.

In one embodiment of the invention, in the method for controlling the aircraft laterally and transversely in a combined manner based on the backstepping method, a power coefficient b of a yaw channel is given in advance according to the flight state and the pneumatic characteristic₂～b₅(in this embodiment b₂＝-18.9、b₃＝22、b₄＝0.0855、b₅0.0137), rolling channel dynamics coefficient c₂～c₃(this embodiment)In case c₂＝50、c₃270), giving a sideslip angle attitude command beta according to the guidance control requirement in advance^d0 DEG, and roll angle attitude command gamma^d＝50°。

In this embodiment, the specific workflow is described as follows:

1. and establishing a transverse lateral channel coupling mathematical model as shown in the following formula.

In the above formula

Wherein beta represents a sideslip angle, gamma represents a roll angle, alpha represents an angle of attack, and omega_yIndicates yaw rate,

Shows the ballistic declination angular velocity, delta_yRepresenting yaw path rudder command, δ_xIndicating a rolling channel rudder instruction, b₂～b₅For the yaw channel dynamic coefficient, given in advance, c₂～c₃The rolling channel dynamic coefficient is given in advance.

2. Giving a lateral sideslip angle attitude instruction beta according to the guidance control requirement^dAnd a lateral roll angle attitude command gamma^dThis is given in advance.

3. Obtaining a roll angle gamma, a sideslip angle beta and a roll angle speed according to inertial measurement strapdown resolving

Yaw rate omega_yBallistic declination angular velocity

3. Giving positive according to the quickness requirementConstant k₁、k₂、k₃、k₄In this case, given k₁＝3、k₂＝5、k₃＝8、k₄＝10。

4. Calculating a yaw channel rudder instruction delta based on backstepping method horizontal and lateral combined control_yRolling channel rudder command delta_xThe calculation expressions of the yaw rudder command and the roll rudder command are as follows.

In the above formula e₁＝x₁-x₁ ^dWherein

e₂＝x₂-ρ。

Get

Then

Thereby calculating the yaw channel rudder instruction delta_yRolling channel rudder command delta_xAnd obtaining the transverse and lateral combined controller.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.

Claims (2)

1. A method for controlling the horizontal and lateral combination of an aircraft based on a backstepping method is characterized by comprising the following steps:

step one, establishing a transverse lateral channel coupling mathematical model, and calculating a power coefficient in the mathematical model;

step two, giving a lateral sideslip angle attitude instruction beta according to the guidance control requirement^dAnd a lateral roll angle attitude command gamma^d；

Step three, obtaining a roll angle gamma, a sideslip angle beta and a roll angle speed according to inertial measurement strapdown resolving

Yaw rate omega_yBallistic declination angular velocity

Step four, giving out a normal number k according to the rapidity requirement₁、k₂、k₃、k₄；

Step five, integrating the input of the step one, the step two, the step three and the step four, and outputting a yaw rudder instruction delta according to the backstepping principle_yAnd a rolling rudder command δ_xObtaining a transverse and lateral combined controller;

in the first step, the establishment of the transverse and lateral channel coupling mathematical model comprises the following steps:

in formula 1

Wherein beta represents a sideslip angle, gamma represents a roll angle, alpha represents an angle of attack, and omega_yIndicating yaw rate, #_vShows the ballistic declination angle, delta_yRepresenting yaw path rudder command, δ_xIndicating a rolling channel rudder instruction, b₂～b₅For yaw channel power coefficient calculated from flight conditions and the aerodynamic package, c₂～c₃The rolling channel power coefficient is calculated according to the flight state and the pneumatic bag;

in the fifth step, the rudder instruction output expressions of the yaw channel and the rolling channel are as follows:

in the above formula

δ_yRepresenting yaw path rudder command, δ_xRepresenting a rolling channel rudder instruction;

e₁＝x₁-x₁ ^dwherein

β^dFor a slip angle command, gamma^dIs a roll angle command;

e₂＝x₂-ρ，H₁、H₂、P₁、P₂are symmetric positive definite matrices and satisfy respectively

2. The method as claimed in claim 1, wherein the selection of the normal number k in the fourth step is based on a reverse step method₁、k₂、k₃、k₄Should satisfy k₁＜k₂，k₁＜k₃，k₂＜k₄。

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