CN112180965A - High-precision overload control method - Google Patents

High-precision overload control method Download PDF

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Publication number
CN112180965A
CN112180965A CN202011095392.6A CN202011095392A CN112180965A CN 112180965 A CN112180965 A CN 112180965A CN 202011095392 A CN202011095392 A CN 202011095392A CN 112180965 A CN112180965 A CN 112180965A
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rudder
extended state
overload
instruction
state observer
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陈光山
奚勇
廖幻年
夏斌
何飞毅
霍红梅
田野
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Shanghai Aerospace Control Technology Institute
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Shanghai Aerospace Control Technology Institute
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
    • G05D1/0825—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using mathematical models
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Abstract

The invention discloses a high-precision overload control method, and belongs to the technical field of flight control. The method provided by the invention comprises the following steps: step one, calculating control parameters of a pitching or yawing composite control loop according to flight state quantities such as dynamic pressure, Mach number, synthetic attack angle, speed and the like calculated by a strapdown inertial navigation calculating unit; step two, calculating a rudder instruction of a composite control loop according to the attitude angular speed and the overload of the aircraft measured by the sensitive element processing unit, an overload instruction given by a guidance control system and the control parameters obtained by calculation in the step one; step three, iteratively calculating an extended state observer output rudder instruction according to the attitude angular velocity of the aircraft, the synthesized rudder instruction and the extended state observer output rudder instruction; step four, outputting a rudder instruction and a composite control loop rudder instruction according to the extended state observer to obtain a composite rudder instruction; and fifthly, sending the synthesized rudder instruction to a steering engine to drive the control surface of the aircraft to deflect, and realizing accurate overload tracking under nonlinear time-varying intensity interference.

Description

High-precision overload control method
Technical Field
The invention relates to the field of flight control of aircrafts, in particular to an overload high-precision control method under nonlinear time-varying intensity interference.
Background
In the flying process of the aircraft, aerodynamic interference changes along with the change of a flying state (such as Mach number, synthetic attack angle and the like), particularly for the aircraft with a non-axisymmetric appearance, the magnitude of the aerodynamic interference is obviously increased, and the characteristic of nonlinear time-varying strong interference can be shown in the process of drastic change of the flying state.
Aiming at the problem that the tracking precision of the overload instruction is reduced under the nonlinear time-varying strong interference of PID control, the existing method comprises the following steps: [1] yellow fly 22426, rey, Shao Lei, Zhang Jinpeng, design of an aircraft longitudinal control system based on an extended state observer [ J ] system engineering and electronic technology, 2012,34(1): 125-; [2] sunward, zhao bud, inertial stabilization platform extended state observer/PD composite control [ J ]. chinese technical teaching of inertia, 2017,25(1): 6-10; documents [1] and [2] all propose that an extended state observer is adopted to observe interference and perturbation on the basis of linear controllers such as PID control or LQR and the like and compensate the interference to rudder instructions to achieve effective inhibition of the interference and good tracking of the instructions, but all the observers adopted in the documents are non-linear extended state observers, and the non-linear controllers have the characteristic that stability is difficult to distinguish and guarantee, and have a large application risk in engineering.
Disclosure of Invention
The high-precision overload control method provided by the invention can effectively improve the overload tracking precision under the nonlinear time-varying strong interference, thereby improving the flight control quality of the aircraft.
The invention provides a high-precision overload control method, which comprises the following steps: step one, calculating a pitching or yawing composite control loop control parameter according to a flight state quantity calculated by a strapdown inertial navigation calculating unit;
step two, calculating a rudder instruction U of the composite control loop according to the attitude angular speed and the overload of the aircraft measured by the sensitive element processing unit, an overload instruction given by the guidance control system and the control parameters obtained by calculation in the step one0；
Step three, iteratively calculating an extended state observer output rudder instruction U according to the attitude angular velocity of the aircraft, the synthesized rudder instruction and the extended state observer output rudder instructione；
Step four, outputting a rudder instruction U according to the extended state observereAnd a combined control loop rudder instruction U0Obtaining a synthetic rudder instruction U;
and fifthly, sending the synthesized rudder instruction to a steering engine to drive the control surface of the aircraft to deflect, and realizing accurate overload tracking under nonlinear time-varying intensity interference.
Further, the flight state quantity in the first step comprises: time of flight, dynamic pressure, mach number, speed, resultant angle of attack, engine state, angle of attack, sideslip angle.
Further, the control parameters of the composite control loop in the first step include a damping loop feedback gain Ksf, a composite loop feedback gain Kg, an acceleration loop feedback gain Ki, and an overload transmission gain Ka.
Further, in the third step, the S-domain calculation formula of the output steering finger Ue of the extended state observer is as follows:
Figure BDA0002723552850000021
in the above formula, s is a complex variable in the Laplace transform; ω is pitch or yaw angular velocity; beta is a1、β2Is a normal number; kbAre variables.
Further, the discrete domain calculation formula of the extended state observer output rudder instruction ue (k) in the third step is:
Ue(k)＝A1Ue(k-1)+A2Ue(k-2)+B1U(k-1)+B2U(k-2)+C1ω(k)+C2ω(k-2)
wherein the content of the first and second substances,
Figure BDA0002723552850000022
Figure BDA0002723552850000023
wherein k is a variable, k represents the current beat, k-1 represents the previous beat, and k-2 represents the previous two beats; t is a calculation step length; ω is pitch or yaw angular velocity; beta is a1、β2Is a normal number; kbAre variables.
Further, in the calculation formula of S domain and discrete domain of the extended state observer outputting rudder instruction, KbThe feedback control parameter is a value which is in a direct proportional relation with the reciprocal of the pitching or yawing rudder efficiency, and the typical value is
Figure BDA0002723552850000031
Wherein KsShows the steering engine gain, a3Representing the coefficient of efficiency of the pitch or yaw rudder in units of s-2。
Further, in the S-domain and discrete-domain calculation formula of the extended state observer for outputting the rudder instruction, beta1、β2For the extended state observer parameters, the value is proportional to the convergence speed of the extended state observer, beta1、β2The larger the value, the faster the convergence speed of the extended state observer, and the smaller the value, the slower the convergence speed of the extended state observer.
Further, beta1、β2Taking value principle into consideration of observer convergenceSpeed and control loop stability margins, typically over a range of beta1＝10～100，β2＝40～200。
Further, the calculation formula for synthesizing the rudder instruction U in the fourth step is:
U＝U0+Ue
wherein U is0For combined control loop rudder commands, UeA rudder command is output for the extended state observer.
The advantages of the invention include: the high-precision overload control method based on the linear extended state observer provided by the invention solves the problem of reduced overload tracking precision under time-varying strong pneumatic interference.
Drawings
Fig. 1 is a structural diagram of a pitch or yaw loop control of a high-precision overload control method provided by the invention.
Detailed Description
The invention is further illustrated below with reference to the figures and examples.
With reference to fig. 1, the control parameters (including Ksf, Kg, Ki, Ka) of the pitch or yaw composite control loop are calculated according to the flight state quantities such as dynamic pressure, mach number, synthetic attack angle, speed and the like calculated by the strapdown inertial navigation resolving unit, and the rudder instruction U of the composite control loop is calculated according to the attitude angular velocity and overload of the aircraft measured by the sensitive element processing unit, the overload instruction given by the guidance control system and the control parameters of the composite control loop0And iteratively calculating an extended state observer output rudder instruction U according to the attitude angular velocity of the aircraft, the synthesized rudder instruction and the extended state observer output rudder instructioneAnd the extended state observer outputs a rudder instruction UeAnd a combined control loop rudder instruction U0The sum is a synthesized rudder instruction U, the synthesized rudder instruction is sent to a steering engine to drive the control surface of the aircraft to deflect, and accurate overload tracking under nonlinear time-varying intensity interference is realized.
In one embodiment of the invention, the pitch or yaw rudder efficiency coefficient a is estimated in advance according to flight conditions (including dynamic pressure, Mach number, synthetic attack angle, speed and the like)3WhereinKsTake 1 according to the formula
Figure BDA0002723552850000041
Calculating feedback control parameter K of extended state observerb。
In this embodiment, the specific workflow is described as follows:
1. calculating control parameters of a pitching or yawing composite control loop, including Ksf, Kg, Ki and Ka, according to flight state quantities such as dynamic pressure, Mach number, synthetic attack angle, speed and the like calculated by a strapdown inertial navigation calculating unit;
2. estimating the efficiency coefficient a of the pitching or yawing rudder according to the flight state quantities such as flight time, dynamic pressure, Mach number, synthetic attack angle, speed and the like calculated by the strapdown inertial navigation resolving unit3According to the formula
Figure BDA0002723552850000042
Calculate KbWherein in this case KsTaking 3.6;
3. according to the attitude angular speed omega and overload N of the aircraft measured by the sensitive element processing unitaAn overload instruction N given by a guidance control systemcAnd calculating a rudder instruction U of the composite control loop by the control parameters obtained by calculation in the step 10The calculation formula is as follows:
Xi(k)＝Kg×ω(k)+Ka×Na(k)-Nc(k)
U0(k)＝Ksf×ω(k)+0.5×T×Ki×(Xi(k)+Xi(k-1))
in the above formula, k is a variable and represents the current beat, and k-1 represents the last beat; t is the calculated step length (in the case of the scheme, 0.0025 seconds); xiFor intermediate variables, the initial value takes 0.
4. According to the attitude angular velocity omega of the aircraft, the synthesized rudder instruction U, the output rudder instruction of the extended state observer and the K obtained by calculation in the step 2bIterative computation of extended state observer output rudder instruction UeThe calculation formula is as follows:
Ue(k)＝A1Ue(k-1)+A2Ue(k-2)+B1U(k-1)+B2U(k-2)+C1ω(k)+C2ω(k-2)
in the above formula, the first and second carbon atoms are,
Figure BDA0002723552850000043
Figure BDA0002723552850000044
in this case beta1Take 60, beta2Taking 90 and T and taking 0.0025; k is a variable and represents the current beat, k-1 represents the last beat, and k-2 represents the last two beats.
4. Outputting a rudder instruction U according to the extended state observereAnd a combined control loop rudder instruction U0And calculating a synthetic rudder instruction U, wherein the calculation formula is as follows: u (k) ═ U0(k)+Ue(k)。
5. And (4) combining the current beat into a rudder instruction U (k) and sending the rudder instruction U (k) to a steering engine to drive the control surface of the aircraft to deflect, so as to realize accurate overload tracking under nonlinear time-varying intensity interference.
According to the invention, the time-varying strong interference is observed and compensated through the linear extended state observer on the basis of a composite control loop, so that the overload tracking precision of the time-varying strong interference is improved, and the flight control quality of an aircraft is improved.
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 (10)

1. A high-precision overload control method is characterized by comprising the following steps:
step one, calculating a pitching or yawing composite control loop control parameter according to a flight state quantity calculated by a strapdown inertial navigation calculating unit;
step two, calculating a rudder instruction U of the composite control loop according to the attitude angular speed and the overload of the aircraft measured by the sensitive element processing unit, an overload instruction given by the guidance control system and the control parameters obtained by calculation in the step one0；
Step three, iteratively calculating an extended state observer output rudder instruction U according to the attitude angular velocity of the aircraft, the synthesized rudder instruction and the extended state observer output rudder instructione；
Step four, outputting a rudder instruction U according to the extended state observereAnd a combined control loop rudder instruction U0Obtaining a synthetic rudder instruction U;
and fifthly, sending the synthesized rudder instruction to a steering engine to drive the control surface of the aircraft to deflect, and realizing accurate overload tracking under nonlinear time-varying intensity interference.
2. A high precision overload control method according to claim 1, wherein the flight state quantity in the first step comprises: time of flight, dynamic pressure, mach number, speed, resultant angle of attack, engine state, angle of attack, sideslip angle.
3. A high accuracy overload control method according to claim 1, wherein the composite control loop control parameters in the first step include damping loop feedback gain Ksf, composite loop feedback gain Kg, acceleration loop feedback gain Ki, and overload transmission gain Ka.
4. The high-precision overload control method according to claim 1, wherein the S-domain calculation formula of the output steering finger Ue of the extended state observer in step three is as follows:
Figure FDA0002723552840000011
in the above formula, s is a complex variable in the Laplace transform; ω is pitch or yaw angular velocity; beta is a1、β2Is a normal number；KbAre variables.
5. A high-precision overload control method according to claim 4, wherein the discrete domain calculation formula of the extended state observer output rudder instruction ue (k) in the third step is as follows:
Ue(k)＝A1Ue(k-1)+A2Ue(k-2)+B1U(k-1)+B2U(k-2)+C1ω(k)+C2ω(k-2)
wherein the content of the first and second substances,
Figure FDA0002723552840000021
Figure FDA0002723552840000022
wherein k is a variable, k represents the current beat, k-1 represents the previous beat, and k-2 represents the previous two beats; t is a calculation step length; ω is pitch or yaw angular velocity; beta is a1、β2Is a normal number; kbAre variables.
6. A high-precision overload control method according to claim 5, wherein K is in an S-domain and discrete-domain calculation formula of the extended state observer for outputting rudder instructionsbThe feedback control parameter is a value which is in a direct proportional relation with the reciprocal of the pitching or yawing rudder efficiency, and the typical value is
Figure FDA0002723552840000023
Wherein KsShows the steering engine gain, a3Representing the coefficient of efficiency of the pitch or yaw rudder in units of s-2。
7. The high-precision overload control method according to claim 6, wherein in the S-domain and discrete-domain calculation formulas of the extended state observer for outputting rudder commands, β is1、β2For observation of the dilated stateThe value of the parameter of the device is in direct proportion to the convergence speed of the extended state observer, beta1、β2The larger the value, the faster the convergence speed of the extended state observer, and the smaller the value, the slower the convergence speed of the extended state observer.
8. A high accuracy overload control method according to claim 7, wherein β is1、β2The value taking principle is to take account of the convergence speed of the observer and the stability margin of a control loop, and the typical value taking range is beta1＝10～100，β2＝40～200。
9. A high accuracy overload control method according to claim 8, wherein β is1、β2Value of beta1＝60、β2＝90。
10. A high-precision overload control method according to claim 6, wherein the calculation formula of the synthesized rudder instruction U in the fourth step is as follows:
U＝U0+Ue
wherein U is0For combined control loop rudder commands, UeA rudder command is output for the extended state observer.
CN202011095392.6A 2020-10-14 2020-10-14 High-precision overload control method Pending CN112180965A (en)

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Publication number Priority date Publication date Assignee Title
CN113064443A (en) * 2021-03-08 2021-07-02 北京理工大学 Gain online adjustment method and damping loop control method using same
CN114200828A (en) * 2021-11-09 2022-03-18 西北工业大学 Supersonic speed large maneuvering target continuous large overload stall prevention method
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CN114013666A (en) * 2021-11-19 2022-02-08 中国航发沈阳发动机研究所 Active stability augmentation control method and device for aircraft engine
CN114013666B (en) * 2021-11-19 2024-04-12 中国航发沈阳发动机研究所 Active stability augmentation control method and device for aero-engine
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CN116661495A (en) * 2023-05-30 2023-08-29 北京理工大学 Near-range deceleration control method for aircraft
CN116661495B (en) * 2023-05-30 2024-02-20 北京理工大学 Near-range deceleration control method for aircraft
CN117707205A (en) * 2024-02-05 2024-03-15 湖南云箭科技有限公司 Guidance aircraft speed control method and system
CN117707205B (en) * 2024-02-05 2024-04-23 湖南云箭科技有限公司 Guidance aircraft speed control method and system

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