CN112034874A - Aircraft attitude stability tracking control method based on nonlinear sliding mode - Google Patents
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Abstract
The invention relates to an aircraft attitude stability tracking control method based on a nonlinear sliding mode, and belongs to the technical field of aircraft overload control. The method comprises the steps of measuring a yaw angle signal of an aircraft by a gyroscope, comparing the yaw angle signal with a yaw angle command signal to obtain a yaw angle error signal, constructing a nonlinear differential network to obtain two paths of nonlinear differential signals, and then performing nonlinear transformation to obtain two paths of nonlinear signals. On the basis, several types of differential signals, nonlinear signals and error signals are synthesized to form nonlinear sliding mode signals. And carrying out nonlinear transformation on the sliding mode signal to obtain a final yaw channel comprehensive control signal, and transmitting the final yaw channel comprehensive control signal to an aircraft yaw rudder system to realize the tracking of the aircraft yaw angle on the given signal. The method has the advantages that the sliding mode control is adopted, the robustness of the system is improved, and meanwhile, a rate gyroscope is not required to be adopted for measuring yaw angle rate signals, so that the control cost is reduced.
Description
Technical Field
The invention relates to the technical field of aircraft control, in particular to an aircraft attitude stability tracking control method adopting a nonlinear sliding mode.
Background
Attitude stabilization and control are the main core tasks of aircraft control, which determine the stability margin of the entire system. Meanwhile, the attitude control method with stable attitude as the core is also the most widely applied control method so far. The corresponding overload control and design method has better maneuverability, but the reliability is far lower than that of the attitude control method, so the application is not as wide as that of the attitude control.
However, in the conventional attitude control, the attitude angle and the attitude angle rate of the aircraft need to be measured, so that an attitude gyroscope needs to be installed to measure the attitude angle, and a rate gyroscope needs to be installed to measure the attitude angle rate of the aircraft. This, while ensuring excellent stability of the system, greatly increases the control cost.
Based on the background reasons, the invention provides a method for only measuring the attitude angle of the aircraft, then constructing two paths of differential signals by adopting a nonlinear differential network, and forming a sliding mode surface by adopting nonlinear transformation to form sliding mode control. The problem of insufficient stability margin caused by insufficient feedback of angular rate measurement is solved through good robustness of sliding mode control, and therefore the cost of stable control of the aircraft is reduced.
It is to be noted that the information invented in the above background section is only for enhancing the understanding of the background of the present invention, and therefore, may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The invention aims to provide an aircraft attitude stability tracking control method based on a nonlinear sliding mode, and further solves the problems of high control and measurement cost and insufficient stability margin caused by the limitations and defects of the related technology at least to a certain extent.
According to one aspect of the invention, an aircraft attitude stabilization tracking control method based on a nonlinear sliding mode is provided, and comprises the following steps:
step S10, measuring the yaw angle of the aircraft by adopting a gyroscope, setting a yaw angle expected value according to the flight mission of the aircraft, and comparing to obtain a yaw angle error signal;
step S20, constructing a differential network according to the yaw angle error information to obtain two paths of differential signals;
step S30, respectively designing nonlinear transformation according to the two paths of differential signals to obtain nonlinear change signals of the two paths of differential signals;
step S40, according to the yaw angle error signal of the aircraft, the difference signals of the two paths of difference networks and the signals after nonlinear transformation, constructing nonlinear sliding mode surface signals through linear superposition;
and step S50, performing nonlinear operation according to the nonlinear sliding mode surface signal to obtain a final yaw channel comprehensive signal, transmitting the final yaw channel comprehensive signal to an aircraft yaw channel yaw rudder system, and controlling the aircraft yaw angle to track the given signal.
In an exemplary embodiment of the present invention, constructing a differential network according to the yaw angle error information to obtain two differential signals includes:
θ2(n+1)＝θ2(n)+θd2T0；
wherein psi1In order to be a yaw angle signal,
for yaw angle desired signal, e1Is a yaw angle error signal. Wherein T is0,T1,T2,T3The detailed design of the network parameter is described in the following text. f. of2a、θd1、θd2Is an intermediate variable. Theta2Is a differential signal of a first path of differential network, theta2(n) is the nth data thereof, and its initial value is set to 0, i.e. theta2(1)＝0。
θ3(n+1)＝θ3(n)+θd3T0；
Wherein T is4,T5,T6The detailed design of the network parameter is described in the following text. f. of3a、θd3Is an intermediate variable. Theta3Is the differential signal of the second path of differential network, theta3(n) is the nth data thereof, and its initial value is set to 0, i.e. theta3(1)＝0。
In an exemplary embodiment of the present invention, respectively designing a nonlinear transformation according to the two differential signals, and obtaining nonlinear change signals of the two differential signals includes:
wherein theta is2First path of differential signal, f2aFor non-linearly transformed signals of the first differential signal, theta3For the second path of differential signals, f3aA non-linear transformation signal for the second path of differential signal, wherein1And2the detailed design of the parameter is described in the following examples.
In an exemplary embodiment of the present invention, the constructing a nonlinear sliding mode surface signal according to the yaw angle error signal of the aircraft, the differential signals of the two differential networks, and the nonlinear transformed signals thereof by linear superposition includes:
s＝k1e1+k2θ2+k3θ3+k4fa1+k5fa2+k6fa3。
wherein k is1、k2、k3、k4、k5、k6The detailed design of the parameter is described in the following examples. e.g. of the type1For said yaw angle error signal, theta2And theta3Is the differential signal of the two-way differential network, f2aAnd f3aAnd s is a nonlinear sliding mode surface signal.
In an exemplary embodiment of the present invention, performing a nonlinear operation according to the nonlinear sliding mode surface signal to obtain a final yaw channel integrated signal includes:
wherein k is7、k8The detailed design of the parameter is described in the following examples. s is the nonlinear sliding mode surface informationU, UpThe signal is integrated for the yaw path.
The invention provides a method for realizing the attitude stabilization of an aircraft by only measuring the attitude angle of the aircraft, which reduces the installation of a rate gyroscope and the measurement of attitude angle rate signals, thereby reducing the cost of control measurement and implementation. Meanwhile, a method for obtaining nonlinear signals by adopting error difference provided by a difference network and carrying out nonlinear transformation is provided, and finally a nonlinear sliding mode is formed to form a sliding mode control method.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a flow chart of an aircraft attitude stabilization tracking control method based on a nonlinear sliding mode, provided by the invention;
FIG. 2 is a plot of yaw angle signals (in degrees) for a method provided by an embodiment of the present invention;
FIG. 3 is a plot of yaw angle error signal (in degrees) for a method provided by an embodiment of the present invention;
fig. 4 is a differential signal (without unit) of a first path differential network according to the method provided by the embodiment of the present invention;
FIG. 5 is a differential signal curve (without units) of a second path of differential network according to the method provided by the embodiment of the present invention;
fig. 6 is a non-linear signal curve (without unit) of the differential signals of the first path differential network according to the method provided by the embodiment of the present invention;
fig. 7 is a non-linear signal curve (without unit) of the differential signals of the second path differential network according to the method provided by the embodiment of the present invention;
FIG. 8 is a non-linear sliding surface signal curve (without units) for a method provided by an embodiment of the invention;
FIG. 9 is a yaw path integrated signal plot (without units) of a method provided by an embodiment of the present invention;
FIG. 10 is a plot of yaw rudder deflection angle (in degrees) for a method provided by an embodiment of the present invention;
FIG. 11 is a graph of the side slip angle (in degrees) for a method provided by an embodiment of the present invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the invention.
The invention provides a method for measuring an attitude angle of an aircraft by adopting a gyroscope, forming a nonlinear sliding mode by a differential network, nonlinear transformation and the like, and realizing accurate tracking of a yaw angle of the aircraft by sliding mode control. Compared with the traditional attitude control method, the method does not need to measure the attitude angular rate, so that the method has the advantages of simple measurement and low control cost. Meanwhile, the method of combined control by the differential signal and the nonlinear sliding mode greatly improves the robustness and stability of the system.
The following will further explain and explain an aircraft attitude stabilization tracking control method based on a nonlinear sliding mode according to the present invention with reference to the accompanying drawings. Referring to fig. 1, the aircraft attitude stabilization tracking control method based on the nonlinear sliding mode may include the following steps:
and step S10, measuring the yaw angle of the aircraft by adopting a gyroscope, setting a yaw angle expected value according to the flight mission of the aircraft, and comparing to obtain a yaw angle error signal.
Specifically, first, a gyroscope is mounted on the aircraft, and the yaw angle of the aircraft is measured and designated by ψ1。
Secondly, setting an expected signal of the yaw angle of the aircraft according to the flight task requirement of the aircraft control system and recording the expected signal as
Finally, comparing the aircraft yaw angle with the aircraft yaw angle expected value to obtain a yaw angle error signal, and recording the yaw angle error signal as e1The calculation method is as follows:
and step S20, constructing a differential network according to the yaw angle error information to obtain two paths of differential signals.
Specifically, first, the yaw angle error signal is used as an input, and a first path of differential network is constructed as follows:
θ2(n+1)＝θ2(n)+θd2T0；
wherein T is0,T1,T2,T3The detailed design of the network parameter is described in the following text. f. of2a、θd1、θd2Is an intermediate variable. Theta2Is a differential signal of a first path of differential network, theta2(n) is the nth data thereof, and its initial value is set to 0, i.e. theta2(1)＝0。
Secondly, the yaw angle error signal is used as input, and a second path of differential network is constructed as follows:
θ3(n+1)＝θ3(n)+θd3T0；
wherein T is4,T5,T6The detailed design of the network parameter is described in the following text. f. of3a、θd3Is an intermediate variable. Theta3Is the differential signal of the second path of differential network, theta3(n) is the nth data thereof, and its initial value is set to 0, i.e. theta3(1)＝0。
And step S30, respectively designing nonlinear transformation according to the two paths of differential signals to obtain nonlinear change signals of the two paths of differential signals.
Specifically, firstly, according to the first path of differential signal θ2Designing nonlinear transformation to obtain the first pathNonlinear conversion signal of differential signal, denoted as f2aThe transformation is as follows:
secondly, according to the second path of differential signal theta3Designing nonlinear transformation to obtain nonlinear transformation signal of the second path of differential signal, and recording the signal as f3aThe transformation is as follows:
wherein1And2the detailed design of the parameter is described in the following examples.
And step S40, constructing a nonlinear sliding mode surface signal through linear superposition according to the yaw angle error signal of the aircraft, the differential signals of the two differential networks and the nonlinear-transformed signals of the two differential networks.
Specifically, the yaw angle error signal e is used1Differential signal theta of two-way differential network2And theta3And its signal f after nonlinear transformation2aAnd f3aAnd comprehensively obtaining a nonlinear sliding mode surface signal, recording the nonlinear sliding mode surface signal as s:
s＝k1e1+k2θ2+k3θ3+k4fa1+k5fa2+k6fa3。
wherein k is1、k2、k3、k4、k5、k6The detailed design of the parameter is described in the following examples.
And step S50, performing nonlinear operation according to the nonlinear sliding mode surface signal to obtain a final yaw channel comprehensive signal, transmitting the final yaw channel comprehensive signal to an aircraft yaw channel yaw rudder system, and controlling the aircraft yaw angle to track the given signal.
Specifically, the following nonlinear processing is performed on the nonlinear sliding mode surface signal s to obtain a yaw channel comprehensive signal denoted as upThe calculation method is as follows:
wherein k is7、k8The detailed design of the parameter is described in the following examples.
On the basis, the comprehensive signal of the yaw channel is transmitted to the aircraft yaw rudder, so that the aircraft yaw angle can track the given yaw angle command signal, and the control task of the aircraft yaw channel is realized.
Case implementation and computer simulation result analysis
To verify the correctness of the method provided by the invention, an expected yaw angle command is set as
In step S10, the yaw angle of the aircraft is measured by the gyroscope to obtain a yaw angle signal as shown in fig. 2, and a yaw angle error signal as shown in fig. 3.
In step S20, a parameter T is selected4＝5，T5＝0.1，T6＝0.01，T0＝0.001，T1＝0.01，T2＝0.1，T3And (5) constructing a differential network to obtain two paths of differential signals, wherein the differential network is 0.01. The differential signals of the first path of differential network are shown in fig. 4, and the differential signals of the second path of differential network are shown in fig. 5.
In step S30, a parameter is selected1＝0.6，2The nonlinear variation signal of the two differential signals is obtained as shown in fig. 6 and 7, which is equal to 0.8.
In step S40, a parameter k is selected1＝2、k2＝1、k3＝1、k4＝1、k5＝2、k6A nonlinear sliding mode surface signal is obtained as shown in fig. 8.
In step S50, a parameter k is selected7＝1、k8The resulting yaw channel integrated signal is shown in fig. 9, 2. The final aircraft yaw rudder curve is shown in fig. 10 and the sideslip angle curve is shown in fig. 11.
As can be seen from fig. 2, the control effect is very good, and there is overshoot, but the overshoot is very small. Meanwhile, the response speed is high. As can be seen from fig. 10, the aircraft rudder deflection angle is relatively smooth and the maximum rudder deflection angle does not exceed 2 degrees. As can be seen from fig. 8, the nonlinear sliding mode surface signal is large, but the whole control effect is not affected, and mainly in the solution of the yaw channel integrated signal, the automatic adjustment function of gain self-adaptation is provided, so that the yaw channel integrated signal shown in fig. 9 is still reasonable. And the parameter design of the whole aircraft controller shows that the parameters of the aircraft controller are mostly integers from 1 to 3. The visible parameters are respectively uniform, and the parameter adjustment is very simple. Mainly, the distribution of various signals is uniform. Therefore, the method provided by the invention has the advantages of clear physical significance, simple and convenient parameter adjustment and excellent control effect, and has very high engineering application value.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
Claims (5)
1. An aircraft attitude stability tracking control method based on a nonlinear sliding mode is characterized by comprising the following steps:
step S10, measuring the yaw angle of the aircraft by adopting a gyroscope, setting a yaw angle expected value according to the flight mission of the aircraft, and comparing to obtain a yaw angle error signal;
step S20, constructing a differential network according to the yaw angle error information to obtain two paths of differential signals;
step S30, respectively designing nonlinear transformation according to the two paths of differential signals to obtain nonlinear change signals of the two paths of differential signals;
step S40, according to the yaw angle error signal of the aircraft, the difference signals of the two paths of difference networks and the signals after nonlinear transformation, constructing nonlinear sliding mode surface signals through linear superposition;
and step S50, performing nonlinear operation according to the nonlinear sliding mode surface signal to obtain a final yaw channel comprehensive signal, transmitting the final yaw channel comprehensive signal to an aircraft yaw channel yaw rudder system, and controlling the aircraft yaw angle to track the given signal.
2. The method for controlling the attitude stability tracking of the aircraft based on the nonlinear sliding mode according to claim 1, wherein a differential network is constructed according to the yaw angle error information, and obtaining two paths of differential signals comprises:
θ2(n+1)＝θ2(n)+θd2T0；
wherein psi1In order to be a yaw angle signal,
for yaw angle desired signal, e1Is a yaw angle error signal. Wherein T is0,T1,T2,T3Is a network constant parameter. f. of2a、θd1、θd2Is an intermediate variable. Theta2Is a differential signal of a first path of differential network, theta2(n) is the nth data thereof, and its initial value is set to 0, i.e. theta2(1)＝0。
θ3(n+1)＝θ3(n)+θd3T0；
Wherein T is4,T5,T6Is a network constant parameter. f. of3a、θd3Is an intermediate variable. Theta3Is the differential signal of the second path of differential network, theta3(n) is the nth data thereof, and its initial value is set to 0, i.e. theta3(1)＝0。
3. The method for controlling the attitude stability tracking of the aircraft based on the nonlinear sliding mode according to claim 1, wherein the step of respectively designing nonlinear transformation according to the two paths of differential signals to obtain nonlinear change signals of the two paths of differential signals comprises the following steps:
wherein theta is2First path of differential signal, f2aFor non-linearly transformed signals of the first differential signal, theta3For the second path of differential signals, f3aA non-linear transformation signal for the second path of differential signal, wherein1And2is a constant parameter.
4. The method for tracking and controlling the attitude stability of the aircraft based on the nonlinear sliding mode according to claim 1, wherein the step of constructing the nonlinear sliding mode surface signal by linearly superposing the yaw angle error signal of the aircraft, the differential signals of the two differential networks and the nonlinear-transformed signal thereof comprises the following steps:
s＝k1e1+k2θ2+k3θ3+k4fa1+k5fa2+k6fa3。
wherein k is1、k2、k3、k4、k5、k6Is a constant parameter. e.g. of the type1For said yaw angle error signal, theta2And theta3Is the differential signal of the two-way differential network, f2aAnd f3aAnd s is a nonlinear sliding mode surface signal.
5. The method for controlling the stable tracking of the attitude of the aircraft based on the nonlinear sliding mode according to claim 1, wherein the step of performing nonlinear operation according to the nonlinear sliding mode surface signal to obtain a final yaw channel comprehensive signal comprises the following steps:
wherein k is7、k8Is a constant parameter. s is the nonlinear sliding mode surface signal upThe signal is integrated for the yaw path.
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