CN113138563B - Multi-gyroplane controller semi-physical simulation system - Google Patents
Multi-gyroplane controller semi-physical simulation system Download PDFInfo
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Abstract
The invention discloses a semi-physical simulation system of a multi-gyroplane controller, which comprises a main control computer, a double-shaft turntable and a flight control board, wherein the double-shaft turntable is connected with the main control computer, receives gesture control information output by the main control computer, and rotates a main shaft and a tilting shaft according to the gesture control information; the flight control board is arranged on the table surface of the double-shaft turntable and is connected with the main control computer, and measured gesture movement information is fed back to the main control computer. The semi-physical simulation system of the multi-gyroplane controller disclosed by the invention is beneficial to setting of controller parameters, effectively reduces the cost and the risk of a flight test, and improves the repeatability and the reliability of the test.
Description
Technical Field
The invention relates to a semi-physical simulation system of a multi-gyroplane controller, and belongs to the field of aircraft control.
Background
The flight controller is an important component of the multi-rotor aircraft, comprises more complex technologies such as navigation and guidance, flight control and flight management, and is subjected to accurate simulation, so that the parameter setting efficiency of the flight controller is improved, and the flight control quality of the multi-rotor aircraft is improved.
Simulation systems can be divided into three main categories: mathematical simulation, semi-physical simulation and pure physical simulation.
The mathematical simulation is mainly based on the physical law satisfied by the system, and a corresponding mathematical model is established, so that the system simulation is performed, the model established by the mathematical simulation has higher accuracy under most conditions, but under the condition of individual special parameters, the model is too ideal and larger than the actual in-out model, and the model can be directly applied to reality and has deviation.
The pure physical simulation is based on a flight test, and can accurately reflect the characteristics of a flight system in practice, but the pure physical simulation has low safety, high cost and poor repeatability, so that the pure physical simulation is not convenient to directly apply.
The semi-physical simulation system is between the mathematical simulation system and the pure-physical simulation system, has the highest confidence in various simulation systems, has the advantages of high reliability, strong repeatability, high safety, low cost and the like, and improves the simulation precision while avoiding modeling difficulty.
The current simulation of the multi-rotor-wing controller is based on mathematical simulation and pure physical simulation, and a semi-physical-based multi-rotor-wing controller simulation system does not exist, so that flight control and attitude measurement information of the actual use of the multi-rotor-wing controller are necessarily introduced into simulation research.
Disclosure of Invention
In order to overcome the problems, the inventor makes intensive researches, and on one hand, provides a semi-physical simulation system of a multi-gyroplane controller, which comprises a main control computer, a double-shaft turntable and a flight control board.
According to the invention, the double-shaft turntable is connected with the main control computer, receives the gesture control information output by the main control computer, and rotates the main shaft and the inclined shaft according to the gesture control information;
the flight control board is arranged on the table surface of the double-shaft turntable and connected with the main control computer, and feeds back the measured gesture movement information to the main control computer.
Further, the main control computer is provided with a front-end unit, an analysis unit and a controller unit,
the front end unit transmits the attitude control deviation to the analysis unit, the analysis unit outputs the flight control quantity, the flight control quantity is transmitted to the turntable to control the turntable to rotate, and then the flight control board fixed on the front end unit measures the attitude motion information, so that the attitude control information is obtained.
Furthermore, the front-end unit can acquire the input control instruction and the measured gesture movement information, and the input control instruction and the measured information are subjected to difference to obtain gesture control deviation;
the input control instruction is information which is directly set by a user through input equipment of a main control computer,
and the measured gesture movement information is measured and fed back by the flight control board.
Preferably, a plurality of multi-gyroplane dynamics models are provided in the analysis unit, and different multi-gyroplane dynamics models are used according to the flying state of the multi-gyroplane.
More preferably, the multi-rotorcraft dynamics model of the longitudinal channel in hover state can be expressed as:
the multi-rotor dynamics model of the transverse channel in hover state can be expressed as:
the multi-rotor dynamics model of the yaw path in hover state can be expressed as:
the multiple rotor dynamics model of the vertical channel in hover state can be expressed as:
wherein ,representing state quantities, u, v, w representing aircraft speed along Ox b 、Oy b 、Oz b The three-axis components, p, q, r, represent the aircraft along Ox b 、Oy b 、Oz b Angular velocity of triaxial>θ, ψ represent the roll angle, pitch angle, yaw angle of the aircraft;
U＝[δ lat δ lon δ dir δ col ]representing the control variable, delta lat 、δ lon 、δ dir 、δ col Represented as a lateral input signal, a longitudinal input signal, a yaw input signal, and a total moment input signal, respectively;
x, Y, Z the forces in three directions under the body coordinate system;
l, M, N the moment in the three directions under the coordinate system of the machine body;
g represents gravitational acceleration;
wherein the variable with subscript parameter represents the pneumatic derivative obtained by deriving the subscript variable for the variable, and for X, Y, Z force the pneumatic derivative is multiplied by the subscript variable for the variablem represents a multi-gyroplane mass; for L, M, N moment, the pneumatic derivative is the reciprocal of the moment of inertia in the direction multiplied by the derivative of the variable to the index variable;
attenuation of frequency response in high frequency band under longitudinal channel in motor dynamics model of longitudinal channel, tau lon Representing the time delay of the longitudinal channel input signal, characterizing the time delay caused by the high frequency unmodeled part of the longitudinal channel multi-gyroplane；
Attenuation of frequency response in high frequency band under transverse channel in transverse channel motor dynamics model, tau lat Representing a time delay of the transverse channel input signal, representing a time delay caused by a high-frequency unmodeled part of the transverse channel multi-gyroplane;
is the attenuation of frequency response in a high frequency band under a yaw channel in a yaw channel motor dynamics model, and tau dir Representing a time delay of the yaw path input signal, representing a time delay caused by a high-frequency unmodeled part of the yaw path multi-rotor aircraft;
is the attenuation of the frequency response under the vertical channel in the high-frequency band in the dynamic model of the vertical channel motor, τ col Representing the time delay of the input signal of the vertical channel, and representing the time delay caused by the high-frequency unmodeled part of the multi-rotor aircraft of the vertical channel;
ω lag turning frequency, ω, indicative of motor dynamics lead Representing a correction to the yaw path lead link, t representing time.
According to the invention, the multi-rotor power model of the longitudinal channel in the forward flight state can be expressed as:
the multi-rotor dynamics model of the lateral-to-lateral approach in the forward flight state can be expressed as:
according to a preferred embodiment of the invention, the controller unit is a PID controller, the transfer function of which can be expressed as:
wherein ,KP Representing proportional control parameters, K I Representing integral control parameters, K D And represents a differential control parameter, s being an argument.
Preferably, in the controller unit, the angular rate ring adopts a complete PID form, the angular ring adopts independent proportional control, the angular ring forms a control quantity by making a difference between the expected attitude angle value and the measured attitude angle value, the control quantity is multiplied by a coefficient to be adjusted and used as the expected value of the angular rate ring, and the PID correction is performed after making a difference between the expected attitude angle value and the measured attitude angle value.
On the other hand, the invention also provides a multi-rotor-wing-machine controller semi-physical simulation method which is realized by adopting the multi-rotor-wing-machine controller semi-physical simulation system, and comprises the following steps:
s1, connecting a main control computer, a double-shaft turntable and a flight control board;
s2, setting a front end unit, a multi-rotor power unit and a controller unit;
s3, setting an input control instruction to obtain a simulation result;
wherein, step S1 and step S2 have no sequence requirement.
The invention has the beneficial effects that:
(1) According to the semi-physical simulation system of the multi-gyroplane controller, provided by the invention, the rationality and the performance of the design of the controller and the control algorithm can be comprehensively checked on the ground, and the parameter setting of the multi-gyroplane controller is assisted;
(2) According to the multi-gyroplane controller semi-physical simulation system provided by the invention, the control parameters are continuously and iteratively optimized according to the problems in the gesture output response, so that the safety guarantee is provided for successful flight test;
(3) According to the multi-rotor aircraft controller semi-physical simulation system provided by the invention, a dynamic model and a control model of a multi-rotor are established by utilizing the MATLAB/Simulink environment, and the attitude change of the multi-rotor aircraft controller semi-physical simulation system in the flight process is simulated by using the double-shaft turntable, so that the adjustment of the parameters of the controller is facilitated, the cost and the risk of a flight test are effectively reduced, and the repeatability and the reliability of the experiment are improved;
(4) According to the multi-gyroplane controller semi-physical simulation system provided by the invention, the controller parameters are subjected to iterative optimization according to the indexes such as overshoot, vibration, steady-state error, rise time and the like of the time domain response result, so that the design result is more close to actual use.
Drawings
FIG. 1 is a schematic diagram of a semi-physical simulation system of a multi-gyroplane controller according to a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram showing the structure of a control unit in a semi-physical simulation system of a multi-gyroplane controller according to a preferred embodiment of the present invention;
FIG. 3 shows the excitation signal as delta in embodiment 1 according to the present invention pitch Semi-physical simulation result diagram of 10 DEG step signal;
FIG. 4 shows the excitation signal as delta in embodiment 1 according to the present invention pitch Semi-physical simulation results of =20° step signal.
Detailed Description
The invention is further described in detail below by means of the figures and examples. The features and advantages of the present invention will become more apparent from the description.
The word "exemplary" is used herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
In one aspect, the invention provides a semi-physical simulation system of a multi-gyroplane controller, which comprises a main control computer, a double-shaft turntable and a flight control board, as shown in fig. 1.
The main control system is used for numerical simulation of multi-rotor flight control and outputting attitude control information to the double-shaft turntable;
the double-shaft turntable is used for simulating the actual three-shaft attitude change of the multiple rotor wings, wherein the three-shaft attitude change comprises rolling, pitching and yawing attitude change;
the flight control board is used for acquiring measurement quantity of gesture movement information.
According to the invention, the main control computer is provided with a front end unit, a multi-rotor power unit and a controller unit,
further, the front end unit transmits the attitude control deviation to the multi-gyroplane dynamics unit, the multi-gyroplane dynamics unit outputs flight control quantity, the flight control quantity is transmitted to the turntable to control the turntable to rotate, and then the flight control board fixed on the front end unit measures the attitude motion information, so that the attitude control information is obtained.
According to the present invention, the attitude control information includes a yaw path attitude angle instruction and a pitch path attitude angle instruction, or includes a yaw path attitude angle instruction and a roll path attitude angle instruction.
In a preferred embodiment, the main control computer adopts a rack-mounted structure, which is provided with multi-core CPUs, and the multi-cores are connected by a high-speed front-end processing bus, so that direct cache adhesion (cache-coherent) access is performed on all main memories.
Because of the many processes running in the host computer, in order to facilitate and quickly perform data communication, in a preferred embodiment, the data communication between processes is implemented in a shared memory (RTDB) manner.
In a preferred embodiment, the main control computer is based on MATLAB/Simulink environment, and the front-end unit is configured to obtain a gesture control deviation, specifically, the front-end unit is configured to obtain an input control command and measured gesture motion information, and to obtain the gesture control deviation by subtracting the input control command and the measured information from each other.
The input control instruction is information which is directly set by a user through input equipment of the main control computer, such as step signals with different amplitudes.
And the measurement quantity of the gesture movement information is fed back by the flight control board.
A multi-gyroplane dynamics model is provided in the analysis unit to analyze the multi-gyroplane state.
The traditional multi-rotor aircraft dynamics model is mostly built based on Newton's second law and momentum moment theorem, has strong nonlinearity, and although the nonlinearity model can accurately describe the motion characteristics of an aircraft, when a main control computer is used for carrying out numerical solution, the calculated amount is large, and the obtained result can reflect the stability of the aircraft better than an analytic solution, so that the design of subsequent flight control is not facilitated.
In the present invention, unlike the conventional multi-gyroplane dynamics model, the multi-gyroplane dynamics model is represented as:
wherein ,representing state quantities, u, v, w representing aircraft speed along Ox b 、Oy b 、Oz b The three-axis components, p, q, r, represent the aircraft along Ox b 、Oy b 、Oz b Angular velocity of triaxial>θ, ψ represent the attitude angle of the aircraft;
U＝[δ lat δ lon δ dir δ col ]representing the control variable, delta lat 、δ lon 、δ dir 、δ col Represented as a lateral input signal, a longitudinal input signal, a yaw input signal, and a total moment input signal, respectively.
Further, in the present invention, the aircraft state quantity is regarded as an initial value X at the equilibrium point 0 Sum of the state quantity change amount Δx:
X＝X 0 +ΔX (two)
Substituting equation (two) into equation (one) may represent the multi-gyroplane dynamics model as:
further, f (X 0 +ΔX，U 0 +ΔU) at equilibrium point X 0 Taylor expansion is performed at the position, and the second-order and above terms are ignored, so that the following can be obtained:
substituting the state quantity of the multiple rotors to obtain the state space expression of the multiple rotor planes:
the parameters in the coefficient matrix A, B are a stable derivative and a control derivative, which are obtained by respectively deriving 9 rigid body states by 6-degree-of-freedom forces and moments;
x, Y, Z the forces in three directions under the body coordinate system;
l, M, N the moment in the three directions under the coordinate system of the machine body;
in the method, parameters with subscripts represent that the variable is obtained after deriving the subscript variableThe resulting aerodynamic derivative, for X, Y, Z force, is the derivative of the variable over the index variable multiplied byFor example:
m represents a multi-gyroplane mass;
for L, M, N moment, the pneumatic derivative is the reciprocal of the moment of inertia in that direction multiplied by the derivative of the variable over the index variable, for example:
I xx 、I yy 、I zz and the moment of inertia in the x, y and z axis directions are respectively shown.
Furthermore, in the invention, a plurality of multi-rotor-wing aircraft dynamics models are arranged in the analysis unit, and different multi-rotor-wing aircraft dynamics models are used according to different flight states of the multi-rotor-wing aircraft, so that the accuracy and the reliability of the semi-physical simulation system are ensured.
The different flight states include a hover state and a forward flight state.
In a multi-gyroplane hover state, the four control axes are decoupled, and therefore, in the hover state, the multi-gyroplane dynamics model can be decomposed into a longitudinal channel, a transverse channel, a yaw channel, and a vertical channel.
Specifically, the multi-rotorcraft dynamics model of the longitudinal channel in hover state can be expressed as:
the multi-rotor dynamics model of the transverse channel in hover state can be expressed as:
the multi-rotor dynamics model of the yaw path in hover state can be expressed as:
the multiple rotor dynamics model of the vertical channel in hover state can be expressed as:
wherein ,is the attenuation of the frequency response in the high frequency band under the longitudinal channel in the motor dynamics model of the longitudinal channel, tau lon Representing the time delay of the input signal of the longitudinal channel, and representing the time delay caused by the high-frequency unmodeled part of the multi-rotor aircraft of the longitudinal channel;
is the attenuation of the frequency response under the transverse channel in the high-frequency band in the motor dynamics model of the transverse channel, and tau lat Representing a time delay of the transverse channel input signal, representing a time delay caused by a high-frequency unmodeled part of the transverse channel multi-gyroplane;
is the attenuation of the frequency response of the yaw channel in a high-frequency band in a motor dynamics model of the yaw channel, and tau dir Representing a time delay of the yaw path input signal, representing a time delay caused by a high-frequency unmodeled part of the yaw path multi-rotor aircraft;
is the attenuation of the frequency response of the vertical channel in the high frequency band in the motor dynamics model of the vertical channel, tau col Representing the time delay of the input signal of the vertical channel, and representing the time delay caused by the high-frequency unmodeled part of the multi-rotor aircraft of the vertical channel;
ω lag turning frequency, ω, indicative of motor dynamics lead Representing a correction to the yaw path lead link, t representing time.
The motor dynamics model is a model for describing the kinematic characteristics of the multi-rotor aircraft motor, and is not described in detail in the invention.
In the forward flight state of the multi-rotor aircraft, different from the hovering state, strong coupling exists among the four control channels, particularly between a pitching channel and a vertical channel and between a rolling channel and a yawing channel, so that in the forward flight state, the multi-rotor aircraft dynamic model can be decomposed into a longitudinal channel and a transverse channel.
The multi-rotor dynamics model of the longitudinal tunnel in the forward flight state can be expressed as:
the multi-rotor dynamics model of the lateral-to-lateral approach in the forward flight state can be expressed as:
preferably, the controller unit is a PID controller, the PID controller includes three correction links of proportion, integration and differentiation, and effective adjustment of the control amount is achieved through linear superposition, and in the present invention, the transfer function of the PID controller may be expressed as:
wherein ,KP Representing proportional control parameters, K I Representing integral control parameters, K D Representing the differential control parameter.
Preferably, in the controller unit, the angular rate loop adopts a complete PID form, the angular loop adopts independent P control, the angular loop forms a control quantity by differencing the expected attitude angle value and the measured attitude angle value, the control quantity is multiplied by a coefficient to be adjusted and used as the expected angular rate loop value, the PID correction is carried out after differencing the expected angular rate value and the expected angular rate value, as shown in fig. 2, wherein θ t Is a desired pitch angle, θ is a pitch angle, θ e Is the pitch angle error amount; q d For a desired pitch rate, q is the angular rate about the y-direction of the fuselage, q e Is the pitch rate error amount.
The dual-axis turntable has a main axis for simulating yaw angle motion of the multi-rotor unmanned aerial vehicle and a tilt axis for simulating pitch angle and roll angle motion of the multi-rotor unmanned aerial vehicle.
Preferably, the dual-axis turntable is connected with the main control computer through a serial port RS422, receives the gesture control information output by the main control computer, and rotates the main axis and the inclined axis according to the gesture control information.
The flight control board is fixed on the table top of the double-shaft turntable to measure the gesture movement information of the turntable, preferably, the flight control board is a PIXHAWK flight control board which is connected with the main control computer through a USB interface to transmit the measured gesture movement information to the main control computer.
On the other hand, the invention also provides a multi-rotor-wing-machine controller semi-physical simulation method which is realized by adopting the multi-rotor-wing-machine controller semi-physical simulation system, and comprises the following steps:
s1, connecting a main control computer, a double-shaft turntable and a flight control board;
s2, setting a front end unit, an analysis unit and a controller unit;
s3, setting an input control instruction to obtain a simulation result.
The step S1 and the step S2 have no sequence requirement and can be mutually exchanged.
In step S1, the dual-axis turntable is connected to the main control computer through the serial port RS422, receives the posture control information output by the main control computer, and rotates the main axis and the tilt axis according to the posture control information.
The flight control board is arranged on the table surface of the double-shaft turntable and is connected with the main control computer through a USB interface, and the measured gesture movement information is transmitted to the main control computer.
In step S2, the front end unit is configured to receive an input control command and gesture motion information, and obtain a gesture control deviation by differencing the input control command and the measurement information.
Further, the front end unit transmits the attitude control deviation to the analysis unit, the analysis unit outputs the flight control quantity, the flight control quantity is transmitted to the turntable to control the turntable to rotate, and then the flight control board fixed on the front end unit measures the attitude motion information, so that the attitude control information is obtained.
The analysis unit is provided with a plurality of multi-gyroplane dynamics models, and different multi-gyroplane dynamics models are used for analysis according to the flight state of the multi-gyroplane.
In a multi-gyroplane hovering state, decomposing a multi-gyroplane dynamics model into a longitudinal channel, a transverse channel, a yaw channel and a vertical channel;
wherein, the multi-rotor dynamics model of the longitudinal channel in the hovering state can be expressed as:
the multi-rotor dynamics model of the transverse channel in hover state can be expressed as:
the multi-rotor dynamics model of the yaw path in hover state can be expressed as:
the multiple rotor dynamics model of the vertical channel in hover state can be expressed as:
in the forward flight state of the multi-rotor craft, the multi-rotor craft dynamics model is decomposed into a longitudinal channel and a transverse lateral channel;
wherein, the multi-rotor power optical model of the longitudinal channel in the forward flying state can be expressed as:
the multi-rotor dynamics model of the lateral-to-lateral approach in the forward flight state can be expressed as:
the controller unit is a PID controller, and the transfer function of the PID controller can be expressed as:
further, in the controller unit, an angular rate ring is used as an inner ring, an angular rate ring is used as an outer ring, the angular rate ring adopts a complete PID form, and the angular rate ring adopts independent P control.
In a preferred embodiment, the parameters of the PID controller are determined by:
s21, obtaining a preliminary PID parameter based on a nonlinear multi-rotor-wing-vehicle gesture dynamics model, exciting the nonlinear multi-rotor-wing-vehicle gesture dynamics model by using a step signal, obtaining a time-dependent change curve of an angle response result, and setting the preliminary PID parameter in a controller unit;
s22, taking the same step signal as that in the step S21 as an input control instruction of the semi-simulation system, and recording a time-dependent change curve of an angle response result of the biaxial turntable;
s23, comparing the change curves of the angle response results obtained in the step S21 and the step S22 along with time, correcting the primary PID parameters, placing the corrected PID parameters in a controller unit, and repeating the steps S22 and S23 until the obtained change curve of the biaxial turntable is basically the same as the change curve in the step S21;
s24, repeating the steps S21-S23, and optimizing for a plurality of times by adopting different step signals to obtain the final PID controller parameters.
In step S21, the nonlinear posture multi-gyroplane dynamics model refers to a multi-gyroplane dynamics model constructed based on newton' S second law and momentum moment theorem, that is, a traditional multi-gyroplane posture dynamics model, and a specific model construction method is not described in detail in the present invention.
Further, the nonlinear multi-gyroplane attitude dynamics model includes a pitch channel sub-model, a roll channel sub-model and a yaw channel sub-model, and preferably, in step S21, any one or more channel sub-models of the pitch channel sub-model, the roll channel sub-model and the yaw channel sub-model in the nonlinear multi-gyroplane attitude dynamics model are selected to determine the preliminary PID parameters, so that the performance of the PID controller in both the frequency domain and the time domain is better.
Further, any channel submodel is excited by a step signal, and a change curve of an attitude angle response result with time is recorded.
In step S3, the variable to be evaluated by simulation is input as an input control command to the main control computer, and the gesture motion information measured by the flight control board is the simulation result, which can be stored and output by the main control computer.
Examples
Example 1
Setting a multi-rotor-wing-plane controller semi-physical simulation system, wherein a flight control board adopts PIXHAWK CUB 2.0, a main control computer adopts a six-core CPU with a main frequency of 3.6GHz, a controller unit in the main control computer is a PID controller based on a MATLAB/Simulink environment, and a multi-rotor-wing-plane dynamic model of a longitudinal channel under a multi-rotor-wing-plane hovering state is as follows:
the multi-rotor-machine dynamic model of the transverse channel in the hovering state is as follows:
the multi-rotor-machine dynamic model of the yaw channel in the hovering state is as follows:
the multi-rotor-machine dynamic model of the vertical channel under the hovering state is as follows:
the multi-rotor-machine dynamic model of the longitudinal channel in the forward flying state is as follows:
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the multi-rotor-wing power optical model of the transverse and lateral channels in the forward flying state is as follows:
based on the frequency domain and time domain analysis method, PID parameters are designed for three attitude control channels of the self-grinding four rotors, and the final PID control parameters are determined as the following results through multiple rounds of iterative optimization:
TABLE 1 four rotor attitude control PID parameter design results
With excitation signal delta pitch The step signal of 10 deg. is taken as an input control command, simulated and compared with the mathematical simulation of the same excitation signal, the result is shown in figure 3,
with excitation signal delta pitch The simulation was performed with a step signal of =20° as the input control command, and compared with the mathematical simulation of the same excitation signal, and the result is shown in fig. 4.
From the figure, the corresponding result of the attitude angle in the embodiment is similar to the purely mathematical simulation result, and the curve trend is similar, i.e. the method in the embodiment is closer to reality, which is beneficial to improving the design effect of the model-based controller.
At delta pitch＝10° and δpitch Under the excitation of the instruction of 20 °, the simulation results of the embodiment all have small static differences in transient response, i.e. the speed of eliminating static differences is slow, and the rising time t 63 The time domain response is ideal between 0.2s and 0.3s, and the time domain response can be used for verifying the design result of the controller and assisting in parameter adjustment, so that a reasonable and reliable semi-physical simulation scheme is provided for the verification of the design of the multi-rotor aircraft controller, and the safety of a flight test is ensured.
In the description of the present invention, it should be noted that the positional or positional relationship indicated by the terms such as "upper", "lower", "inner", "outer", "front", "rear", etc. are based on the positional or positional relationship in the operation state of the present invention, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," "fourth," and the like 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 explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected in common; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The invention has been described above in connection with preferred embodiments, which are, however, exemplary only and for illustrative purposes. On this basis, the invention can be subjected to various substitutions and improvements, and all fall within the protection scope of the invention.
Claims (4)
1. The multi-gyroplane controller semi-physical simulation method is realized by adopting a multi-gyroplane controller semi-physical simulation system and comprises the following steps of:
s1, connecting a main control computer, a double-shaft turntable and a flight control board;
s2, setting a front end unit, a multi-rotor power unit and a controller unit;
s3, setting an input control instruction to obtain a simulation result;
wherein, the step S1 and the step S2 have no sequence requirement;
the multi-gyroplane controller semi-physical simulation system comprises a main control computer, a double-shaft turntable and a flight control board;
the double-shaft turntable is connected with the main control computer, receives gesture control information output by the main control computer, and rotates the main shaft and the inclined shaft according to the gesture control information;
the flight control board is arranged on the table surface of the double-shaft turntable and is connected with the main control computer, and measured gesture movement information is fed back to the main control computer;
the main control computer is provided with a front end unit, an analysis unit and a controller unit,
the front end unit transmits the attitude control deviation to the analysis unit, the analysis unit outputs the flight control quantity, the controller unit adjusts the flight control quantity, outputs attitude control information, and transmits the attitude control information to the turntable to control the turntable to rotate, and then the flight control board fixed on the front end unit measures the attitude motion information, so that the attitude motion information is obtained;
the analysis unit is provided with a plurality of multi-rotor-aircraft dynamics models, and different multi-rotor-aircraft dynamics models are used according to the flight state of the multi-rotor-aircraft;
the multi-rotor dynamics model of the longitudinal channel in hover state can be expressed as:
the multi-rotor dynamics model of the transverse channel in hover state can be expressed as:
the multi-rotor dynamics model of the yaw path in hover state can be expressed as:
the multiple rotor dynamics model of the vertical channel in hover state can be expressed as:
wherein ,representing state quantities, u, v, w representing aircraft speed along Ox b 、Oy b 、Oz b The three-axis components, p, q, r, represent the aircraft along Ox b 、Oy b 、Oz b Angular velocity of triaxial>θ, ψ represent the roll angle, pitch angle, yaw angle of the aircraft;
U＝[δ lat δ lon δ dir δ col ]representing the control variable, delta lat 、δ lon 、δ dir 、δ col Represented as a lateral input signal, a longitudinal input signal, a yaw input signal, and a total moment input signal, respectively;
x, Y, Z the forces in three directions under the body coordinate system;
l, M, N the moment in the three directions under the coordinate system of the machine body;
g represents gravitational acceleration;
wherein the variable with subscript parameter represents the pneumatic derivative obtained by deriving the subscript variable for the variable, and for X, Y, Z force the pneumatic derivative is multiplied by the subscript variable for the variablem represents a multi-gyroplane mass; for L, M, N moment, the pneumatic derivative is the reciprocal of the moment of inertia in the direction multiplied by the derivative of the variable to the index variable;
attenuation of frequency response in high frequency band under longitudinal channel in motor dynamics model of longitudinal channel, tau lon Representing the time delay of the input signal of the longitudinal channel, and representing the time delay caused by the high-frequency unmodeled part of the multi-rotor aircraft of the longitudinal channel;
attenuation of frequency response in high frequency band under transverse channel in transverse channel motor dynamics model, tau lat Representing a time delay of the transverse channel input signal, representing a time delay caused by a high-frequency unmodeled part of the transverse channel multi-gyroplane;
is the attenuation of frequency response in a high frequency band under a yaw channel in a yaw channel motor dynamics model, and tau dir Representing a time delay of the yaw path input signal, representing a time delay caused by a high-frequency unmodeled part of the yaw path multi-rotor aircraft;
is the attenuation of the frequency response under the vertical channel in the high-frequency band in the dynamic model of the vertical channel motor, τ col Representing the time delay of the input signal of the vertical channel, and representing the time delay caused by the high-frequency unmodeled part of the multi-rotor aircraft of the vertical channel;
ω lag turning frequency, ω, indicative of motor dynamics lead Representing correction of a yaw channel advance link, and t represents time;
the multi-rotor dynamics model of the longitudinal tunnel in the forward flight state can be expressed as:
the multi-rotor dynamics model of the lateral-to-lateral approach in the forward flight state can be expressed as:
in S2, the controller unit is a PID controller, and parameters of the PID controller are determined by:
s21, obtaining a preliminary PID parameter based on a nonlinear multi-rotor-wing-vehicle gesture dynamics model, exciting the nonlinear multi-rotor-wing-vehicle gesture dynamics model by using a step signal, obtaining a time-dependent change curve of an angle response result, and setting the preliminary PID parameter in a controller unit;
s22, taking the same step signal as that in the step S21 as an input control instruction of the semi-simulation system, and recording a time-dependent change curve of an angle response result of the biaxial turntable;
s23, comparing the change curves of the angle response results obtained in the step S21 and the step S22 along with time, correcting the primary PID parameters, placing the corrected PID parameters in a controller unit, and repeating the steps S22 and S23 until the obtained change curve of the biaxial turntable is the same as the change curve in the step S21;
s24, repeating the steps S21-S23, and optimizing for a plurality of times by adopting different step signals to obtain the final PID controller parameters.
2. The multi-gyroplane controller semi-physical simulation method of claim 1, wherein,
the front-end unit can acquire an input control instruction and measured gesture motion information, and the input control instruction and the measured information are subjected to difference to obtain gesture control deviation;
the input control instruction is information which is directly set by a user through input equipment of a main control computer,
and the measured gesture movement information is measured and fed back by the flight control board.
3. The multi-gyroplane controller semi-physical simulation method of claim 1, wherein,
the transfer function of the PID controller can be expressed as:
wherein ,KP Representing proportional control parameters, K I Representing integral control parameters, K D And represents a differential control parameter, s being an argument.
4. The multi-gyroplane controller semi-physical simulation method of claim 1, wherein,
in the controller unit, the angular rate ring adopts a complete PID form, the angular ring adopts independent proportional control, the angular ring forms a control quantity by making a difference between the expected value of the attitude angle and the measured value of the attitude angle, the control quantity is multiplied by a coefficient to be used as the expected value of the angular rate ring after adjustment, and the PID correction is carried out after the deviation is obtained by making a difference between the expected value of the attitude angle and the measured value of the angular rate.
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