CN113296400B - Parameter setting method and system of two-loop overload automatic pilot - Google Patents
Parameter setting method and system of two-loop overload automatic pilot Download PDFInfo
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Abstract
The invention discloses a parameter setting method and system of a two-loop overload automatic pilot. The method comprises the following steps: constructing a dynamic model of the aircraft; selecting a key flight time point of the aircraft according to the variation characteristic of the power coefficient; calculating the specific parameter value of the autopilot model at the key flight time point; selecting a performance index of the autopilot model according to the index parameter of the actuating mechanism; calculating the control parameters of the automatic pilot at the key flight time point; uploading the control parameters to an automatic pilot through a pilot hardware interface; and the automatic pilot calculation module adopts an interpolation algorithm to calculate and obtain automatic pilot control parameters at any other time. The method effectively realizes the stable control of the transonic speed stage of the aircraft aiming at the characteristics of large aerodynamic characteristic fluctuation, poor maneuverability and the like of the aircraft in a transonic speed flight mode, and has simple calculation process and easy realization.
Description
Technical Field
The invention belongs to the technical field of aircraft control, and particularly relates to a parameter setting method and system of a two-loop overload autopilot.
Background
The motion of the aerospace craft has various coupling relations, for example, the attitude motion of the aerospace craft can be divided into three channels of pitching, yawing and rolling, and the three channels are mutually coupled through inertia, damping, aerodynamic force or electric links; during flight, structural characteristic parameters of the aircraft, such as the mass, the rotational inertia, the position of a mass center and the like of the aircraft and aerodynamic coefficients related to flight states, change continuously along with time, and the time variation of the structural characteristic parameters causes a motion equation of the aircraft to become a set of nonlinear differential equations with variable coefficients.
The two-loop overload automatic pilot is an aircraft automatic pilot structure which is applied more in engineering, namely a feedback structure of a rate gyroscope and an accelerometer is adopted, and the automatic pilot has the advantages of simple algorithm, high reliability and the like. However, when the aircraft is in a transonic flight state, the aerodynamic characteristics of the aircraft change violently, and the maneuverability is greatly reduced, so that the existing fixed pilot parameters suitable for the subsonic state cannot meet the flight indexes.
Disclosure of Invention
Aiming at least one defect or improvement requirement in the prior art, the invention provides a parameter setting method and a parameter setting system of a two-loop overload autopilot, which realize the stable flight of an aircraft in a transonic speed stage.
To achieve the above object, according to a first aspect of the present invention, there is provided a two-loop overload autopilot parameter setting method, comprising the steps of:
constructing a dynamic model of the aircraft, wherein the dynamic model comprises a dynamic coefficient of the motion of the aircraft;
selecting a key flight time point of an aircraft, and acquiring a power coefficient of the key flight time point;
constructing an automatic pilot model, and calculating specific parameter values of the automatic pilot model according to the dynamic model and the power coefficient of the key time point;
selecting a performance index of the autopilot model according to index parameters of an actuating mechanism for operating the aircraft;
calculating the automatic pilot control parameters of the key flight time points according to the power coefficient of the key flight time points, the specific parameter values of the automatic pilot model and the performance indexes of the automatic pilot model;
uploading the control parameters to a calculation module of an autopilot of the aircraft through an autopilot hardware interface of the aircraft;
and a calculation module of the automatic pilot adopts an interpolation algorithm to calculate and obtain the automatic pilot control parameters at any moment.
Preferably, the construction of the kinetic model comprises the steps of:
considering the moment of inertia, the mass and the position of the center of mass of the aircraft as constants;
regarding three channels of the aircraft in space pitch, yaw and roll as independent channels which are not coupled with each other;
on the basis, a short-period disturbance motion equation set of the aircraft in the direction vertical to the ground is obtained, and the short-period disturbance motion equation set is transformed to obtain a transfer function.
Preferably, the transfer function is:
g(s) is a transfer function, s is a transfer functionComplex parameter of number, a22,a24,a25,a34,a35Are all kinetic coefficients of aircraft motion, fyRepresenting the acceleration of the aircraft in an upward direction perpendicular to the ground, V representing the speed of the aircraft, deltazRepresenting the deflection angle of an actuator for maneuvering the aircraft,
representing the pitch rate of the aircraft motion.
Preferably, the key flight time point is selected according to the dynamic coefficient change characteristic of the aircraft motion.
Preferably, the key time-of-flight points are any number of the following:
an instantaneous point at which the aircraft leaves the launcher;
a booster separation time point of the aircraft;
a point in time at which the special instruction is issued;
a point in time at which the flight parameter reaches a maximum or minimum;
the moment the aircraft changes in shape;
the flying speed crosses the moment in the preset range before and after the sound speed.
Preferably, the calculating of the specific values of the parameters of the autopilot model comprises the steps of:
calculating an overload response natural frequency ω of the autopilot modelmThe calculation formula is
Overload response damping of the autopilot modelmThe calculation formula is as follows:
preferably, the selecting the performance index of the automatic pilot comprises the steps of:
and selecting the performance index of the autopilot according to the maximum deflection angle, the bandwidth and the damping ratio of an actuating mechanism for operating the aircraft.
Preferably, the critical time-of-flight autopilot control parameters include: the feedback scaling factor for accelerometer measurements and the feedback scaling factor for gyroscope measurements.
Preferably, it is assumed that the key time-of-flight points are t in sequence1，t2，t3，…，tnThe feedback proportionality coefficient of the acceleration measurement corresponding to the key time-of-flight point is ks，1，ks，2，ks，3，…，ks，nThe feedback proportionality coefficient of the gyro measurement value corresponding to each key time point is kg，1，kg，2，kg，3，…，kg，nAcceleration feedback coefficient k of the aircraft at any flight time ts(t) and the gyroscope feedback coefficient kgThe calculation of (t) comprises the steps of:
obtaining a range interval of t:
when t is1≤t＜tnDetermining that t is satisfiedi≤t＜ti+1The serial number i of (1 is more than or equal to i and less than or equal to n-1);
when t < t1Let i =1;
when t is more than or equal to tnLet i = n-1;
and calculating an interpolation result:
according to a second aspect of the present invention, there is provided a two-loop parameter tuning system for an overloaded autopilot, comprising a ground calculation module disposed at a ground end, an interface module between the ground calculation module and an aircraft, and an autopilot calculation module disposed at the aircraft end:
the ground computing module is used for constructing a dynamic model of the aircraft, and the dynamic model comprises a dynamic coefficient of the aircraft motion; the method is also used for selecting a key flight time point of the aircraft and acquiring a power coefficient of the key flight time point; the system is also used for constructing an automatic pilot model, and calculating the specific parameter value of the automatic pilot model according to the dynamic model and the power coefficient of the key time point; the performance index of the autopilot model is selected according to index parameters of an actuating mechanism for operating the aircraft; the system is also used for calculating the automatic pilot control parameters of the key flight time point according to the power coefficient of the key flight time point, the specific parameter value of the automatic pilot model and the performance index of the automatic pilot model;
the ground computing module and an interface module of the aircraft are used for uploading, writing and storing the autopilot control parameters of the key time points in the autopilot computing module of the aircraft end by the ground computing module;
and the automatic pilot calculation module is used for acquiring the automatic pilot control parameters of the key flight time point and calculating and acquiring the automatic pilot control parameters at any time by adopting an interpolation algorithm.
In general, compared with the prior art, the invention has the following beneficial effects: the method aims at real-time parameter setting of the two-loop overload autopilot, aims at the characteristics of large aerodynamic characteristic fluctuation, poor maneuverability and the like of an aircraft in a transonic speed flight mode, and can quickly calculate and set parameters of the autopilot by establishing reasonable model and setting corresponding target parameters based on a pole configuration analysis design method, thereby effectively realizing stable control of the aircraft at a transonic speed stage, and having simple calculation process and easy realization.
Drawings
FIG. 1 is a flow chart of a two-loop overload autopilot parameter tuning method according to an embodiment of the invention;
FIG. 2 is a block diagram of a design of a two-loop overload autopilot in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a two-loop override autopilot parameter tuning system in accordance with an embodiment of the present invention;
figure 4 is a control parameter curve and an aircraft ballistic curve for an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, a method for setting parameters of a two-loop overload automatic pilot according to an embodiment of the present invention includes:
s1, constructing a dynamic model of the aircraft, wherein the dynamic model comprises a dynamic coefficient of the motion of the aircraft.
Further, the dynamic model is established on the basis of the following reasonable assumptions about the short-cycle motion of the aircraft at a certain time and nearby:
(1) Changes of moment of inertia, mass, centroid position and the like are assumed to be tiny and can be regarded as constants;
(2) The aircraft is regarded as independent channels which are not coupled with each other in three channels of space pitch, yaw and roll, namely each channel can be independently researched;
(3) On the basis, a short-period disturbance motion equation set of the aircraft in the direction vertical to the ground is obtained, and the short-period disturbance motion equation set is transformed to obtain a transfer function.
The transfer function is:
g(s) is a transfer function, and s is a complex parameter of the transfer function.
a22,a24,a25,a34,a35The aerodynamic coefficient of the aircraft is a kinetic coefficient of the aircraft motion, and is generally obtained by calculating aerodynamic data of the aircraft, and the aerodynamic data is obtained by performing wind tunnel test or aerodynamic fluid mechanics calculation on the aircraft.
fyIndicating that the aircraft is on the verticalAcceleration in the upward direction perpendicular to the ground (unit: m/s)2) And V represents the speed of the aircraft (unit: m/s), deltazRepresenting the angle of deflection (in rad) of the actuators (control surfaces) that manoeuvre the aircraft,
representing the pitch rate (in rad/s) of the aircraft motion.
And S2, selecting a key flight time point of the aircraft, and acquiring a power coefficient of the key flight time point.
Further, the key time-of-flight point is based on the kinetic coefficient a of the aircraft motion22,a24,a25,a34,a35The time-dependent change characteristics are selected, and the key flight time points correspond to turning points, inflection points and the like of the power coefficient change process and can be any more than one of the following time points:
(1) An instantaneous point at which the aircraft leaves the launcher;
(2) A booster separation time point of the aircraft;
(3) A point in time at which a special instruction is issued;
(4) A point in time at which the flight parameter reaches a maximum or minimum;
(5) The moment at which the aircraft profile changes;
(6) The flying speed crosses the time within the preset range before and after the sound speed, for example, the time when the aircraft reaches 0.9 times, 0.95 times, 0.98 times, 1 time, 1.02 times, 1.05 times, 1.1 times, and the like of the sound speed.
And S3, constructing an automatic pilot model, and calculating specific parameter values of the automatic pilot model according to the dynamic model and the power coefficient of the key time point.
The autopilot is an adjusting device which automatically controls the trajectory of the aircraft according to technical requirements.
Further, the specific implementation process of step S3 is as follows.
The transfer function G (S) of step S1 is rearranged and equivalently rewritten to obtain:
wherein K ismGain, ω, referred to as aircraft overload responsemReferred to as aircraft overload response natural frequency, ζmReferred to as aircraft overload response damping, the expression for which is:
aircraft overload response gain:
aircraft overload response natural frequency:
aircraft overload response damping:
the expressions of the other two parameters are respectively:
wherein, ω ismAnd ζmAs used in step S5.
And S4, selecting the performance index of the autopilot model according to the index parameter of the actuating mechanism for operating the aircraft.
Further, the index parameter of the actuator may be obtained from the specification of the actuator, and the index parameter closely related to the selection of the performance index of the automatic pilot includes the maximum deflection angle δm_djBandwidth ω, bandwidthb_djDamping ratio ζdjAnd the like.
The damping ratio zeta of the automatic pilot is selected to be between 0.5 and 0.8, and the natural frequency omega of the automatic pilot is selected to be 0.3 multiplied by omegab_dj～0.2×ωb_djThe performance index of the autopilot is used, and the performance index needs to be slightly adjusted on the basis of a real object test in the specific implementation.
And S5, calculating the control parameters of the automatic pilot at the key flight time point according to the power coefficient of the key flight time point, the specific parameter value of the automatic pilot model and the performance index of the automatic pilot model.
Further, the critical time-of-flight autopilot control parameters include: a feedback scaling factor for accelerometer measurements and a feedback scaling factor for gyroscope measurements.
The design block diagram of the aircraft autopilot is shown in FIG. 2, where fycIs an overload input command signal of an aircraft autopilot, fyIs an overload output signal of an aircraft autopilot; s is a complex parameter of the transfer function, GdMathematical models representing actuators, ksIs the feedback proportionality coefficient, k, of the accelerometer measurementsgIs the feedback proportionality coefficient of the gyroscope measured value, c represents the installation position of the accelerometer relative to the aircraft centroid, and the autopilot parameter ks、kgThe calculation method is as follows:
in the above formula, the calculation of P1, P2, P3, Q1, Q2 is related to the above parameters, and the formula is as follows
Wherein A is1，A2，Tα，
In relation to the kinetic coefficient in Step1, the calculation method is as follows:
and S6, calculating and acquiring the automatic driving control parameters at any moment by adopting an interpolation algorithm.
Suppose the key time-of-flight points are t in turn1，t2，t3，…，tnThe feedback proportionality coefficient of the acceleration measurements corresponding to the key time-of-flight point is ks，1，ks，2，ks，3，…，ks，nThe feedback proportionality coefficient of the gyro measurement value corresponding to each key time point is kg，1，kg，2，kg，3，…，kg，nAcceleration feedback coefficient k of the aircraft at any flight time ts(t) and the gyroscope feedback coefficient kgThe calculation of (t) comprises the steps of:
(1) Obtaining a range interval of t:
when t is1≤t＜tnDetermining that t is satisfiedi≤t＜ti+1The serial number i of (1 is more than or equal to i and less than or equal to n-1);
when t < t1Let i =1;
when t is more than or equal to tnLet i = n-1;
(2) And calculating an interpolation result:
fig. 3 shows a two-loop parameter setting system of an overloaded autopilot according to an embodiment of the present invention, which includes a ground calculation module disposed at a ground end, an interface module between the ground calculation module and an aircraft, and an autopilot calculation module disposed at the aircraft end:
the ground calculation module is used for constructing a dynamic model of the aircraft, and the dynamic model comprises a dynamic coefficient of the motion of the aircraft; the method is also used for selecting a key flight time point of the aircraft and acquiring a power coefficient of the key flight time point; the dynamic coefficient calculation method is also used for constructing an automatic pilot model and calculating the specific parameter value of the automatic pilot model according to the dynamic model and the dynamic coefficient of the key time point; the performance index of the autopilot model is selected according to the index parameters of the actuating mechanism for operating the aircraft; the system is also used for calculating the automatic pilot control parameters of the key flight time points according to the power coefficient of the key flight time points, the specific parameter values of the automatic pilot model and the performance indexes of the automatic pilot model;
the ground computing module and an interface module of the aircraft are used for uploading, writing and storing the autopilot control parameters of the key time points in the autopilot computing module of the aircraft end by the ground computing module;
and the automatic pilot calculation module is used for acquiring the automatic pilot control parameters of the key flight time point and calculating and acquiring the automatic pilot control parameters at any time by adopting an interpolation algorithm.
The implementation principle and technical effect of the ground computing module and the autopilot computing module at the aircraft end are the same as those of the method, and are not described herein again.
FIG. 4 shows the acceleration feedback coefficient k calculated according to the present inventions(t) and the gyroscope feedback coefficient kg(t) curve of the change.
It should be noted that in any of the above embodiments, the methods are not necessarily executed in sequential order, but as long as it cannot be assumed from the execution logic that they are necessarily executed in a certain order, it means that they can be executed in any other possible order.
It will be understood by those skilled in the art that the foregoing is only an exemplary embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, since various modifications, substitutions and improvements within the spirit and scope of the invention are possible and within the scope of the appended claims.
Claims (7)
1. A parameter setting method of a two-loop overload automatic pilot is characterized by comprising the following steps:
constructing a dynamic model of the aircraft, wherein the dynamic model comprises a dynamic coefficient of the motion of the aircraft;
selecting a key flight time point of the aircraft, and acquiring a power coefficient of the key flight time point, wherein the key flight time point is selected according to the power coefficient change characteristic of the aircraft motion;
constructing an autopilot model, and calculating the natural frequency and overload response damping of the autopilot model according to the dynamic model and the power coefficient of the key flight time point;
selecting the performance index of the autopilot according to the maximum deflection angle, the bandwidth and the damping ratio of an actuating mechanism for operating the aircraft;
calculating the automatic pilot control parameters of the key flight time point according to the power coefficient of the key flight time point, the natural frequency and overload response damping of the automatic pilot model and the performance index of the automatic pilot model;
calculating and acquiring automatic driving control parameters at any moment by adopting an interpolation algorithm;
the construction of the kinetic model comprises the following steps:
considering the moment of inertia, the mass and the position of the center of mass of the aircraft as constants;
regarding the three channels of the aircraft in space pitch, yaw and roll as independent channels which are not coupled with each other;
on the basis, a short-period disturbance motion equation set of the aircraft in the direction vertical to the ground is obtained, and the short-period disturbance motion equation set is transformed to obtain a transfer function.
2. The method of claim 1, wherein the transfer function is:
g(s) is a transfer function, s is a complex parameter of the transfer function, a22,a24,a25,a34,a35Are all kinetic coefficients of aircraft motion, fyRepresenting the acceleration of the aircraft in an upward direction perpendicular to the groundV denotes the speed of the aircraft, deltazRepresenting the deflection angle of an actuator for maneuvering the aircraft,
representing the pitch rate of the aircraft motion.
3. The method of claim 1, wherein the critical time of flight points are any number of the following:
instantaneous point at which the aircraft leaves the launcher;
a booster separation time point of the aircraft;
a point in time at which a special instruction is issued;
a point in time at which the flight parameter reaches a maximum or minimum;
the moment the aircraft changes in shape;
the flying speed crosses the moment in the preset range before and after the sound speed.
4. The method of claim 2, wherein calculating the natural frequency and the overload response damping of the autopilot model comprises the steps of:
calculating an overload response natural frequency ω of the autopilot modelmThe calculation formula is
Overload response damping ζ for the autopilot modelmThe calculation formula is as follows:
5. the method of claim 1, wherein the critical time-of-flight autopilot control parameters comprise: a feedback scaling factor for accelerometer measurements and a feedback scaling factor for gyroscope measurements.
6. The method of claim 5, wherein the key time of flight points are assumed to be t in sequence1，t2，t3，…，tnThe feedback proportionality coefficient of the acceleration measurement corresponding to the key time-of-flight point is ks，1，ks，2，ks，3，…，ks，nThe feedback proportionality coefficient of the gyro measurement value corresponding to each key time point is kg，1，kg，2，kg，3，…，kg，nThen the acceleration feedback coefficient k of the aircraft at any flight time ts(t) and the gyroscope feedback coefficient kgThe calculation of (t) comprises the steps of:
obtaining a range interval of t:
when t is1≤t<tnDetermining that t is satisfiedi≤t<ti+1The serial number i of (1 is more than or equal to i and less than or equal to n-1);
when t is<t1Let i =1;
when t is more than or equal to tnLet i = n-1;
and (3) calculating an interpolation result:
7. the parameter setting system of the two-loop overload autopilot is characterized by comprising a ground calculation module arranged at the ground end, an interface module and an autopilot calculation module arranged at the aircraft end, wherein the ground calculation module is used for setting the parameters of the two-loop overload autopilot and comprises:
the ground computing module is used for constructing a dynamic model of the aircraft, and the dynamic model comprises a dynamic coefficient of the aircraft motion; the system is also used for selecting a key flight time point of the aircraft and acquiring the power coefficient of the key flight time point, wherein the key flight time point is selected according to the power coefficient change characteristic of the aircraft motion; the system is also used for constructing an autopilot model, and calculating the natural frequency and overload response damping of the autopilot model according to the dynamic model and the power coefficient of the key flight time point; the system is also used for selecting the performance index of the autopilot according to the maximum deflection angle, the bandwidth and the damping ratio of an actuating mechanism for operating the aircraft; the system is also used for calculating the automatic pilot control parameters of the key flight time point according to the power coefficient of the key flight time point, the natural frequency and overload response damping of the automatic pilot model and the performance index of the automatic pilot model;
the interface module is used for uploading, writing and storing the autopilot control parameters of the key flight time points calculated by the ground calculation module in the autopilot calculation module;
the automatic pilot calculation module is used for acquiring the automatic pilot control parameters of the key flight time points and calculating and acquiring the automatic pilot control parameters at any time by adopting an interpolation algorithm;
the construction of the kinetic model comprises the following steps:
the moment of inertia, the mass and the position of the center of mass of the aircraft are regarded as constants;
regarding the three channels of the aircraft in space pitch, yaw and roll as independent channels which are not coupled with each other;
on the basis, a short-period disturbance motion equation set of the aircraft in the direction vertical to the ground is obtained, and the short-period disturbance motion equation set is transformed to obtain a transfer function.
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