CN113296533A - Generalized actuator control allocation and reconfiguration method, device and related components thereof - Google Patents
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Abstract
The embodiment of the invention discloses a method, a device and related components for controlling distribution and reconstruction of a generalized actuator, wherein the method comprises the following steps: receiving a plurality of instructions v of a target state under a body coordinate system; obtaining the weight of each instruction v and constructing a diagonal weight matrix Wv(ii) a Acquiring the current navigation state and input values of the narrow actuators, and inputting the input values into an airplane model for linear processing to obtain a manipulation efficiency matrix B formed by the generalized actuators; the weight of each generalized actuator is appointed, and a diagonal weight matrix W is constructedu(ii) a Appointing the operable range lb of each generalized actuator to be less than or equal to x and less than or equal to ub; and converting the constraints of the plurality of instructions v and the working range of each generalized actuator into a convex optimization problem based on an active set for solving to obtain an output value x of each generalized actuator. The invention reasonably distributes the output of each pneumatic control surface and each power system of the aircraft and carries out control distribution and reconfiguration when a narrow actuator is saturated or fails.
Description
Technical Field
The invention relates to the technical field of aircraft navigation and control, in particular to a generalized actuator control distribution and reconstruction method, a generalized actuator control distribution and reconstruction device and related components thereof.
Background
At present, the vertical take-off and landing fixed wing aircraft gets more and more extensive attention along with the rapid development of three-electric technology (electric control, motor and battery). Since the vertical take-off and landing fixed wing aircraft not only has a power system capable of providing lift force, but also has an aerodynamic control surface of the fixed wing aircraft, the number of actuators which can be controlled is increased, and a more serious power-aerodynamic coupling problem is accompanied in a transition stage between the fixed wing and a rotor wing, so that the system presents stronger nonlinear characteristics, and the control difficulty is increased.
At present, the control mode of a vertical take-off and landing fixed wing aircraft which is widely applied is to decouple the aircraft into a rotor wing control problem and a fixed wing control problem respectively, namely a lift system of a rotor wing and an aerodynamic control surface of a fixed wing are controlled and distributed independently. However, in the transition process between the rotor and the fixed wing, it cannot be guaranteed that the expected force and moment commands are reasonably distributed, and the control efficiency of the lift system and the aerodynamic control surface cannot be fully utilized. It is therefore desirable to provide a control distribution that can effectively utilize the maneuvering capabilities of the VTOL fixed wings.
On the other hand, the comprehensive utilization of the aerodynamic control surface and the power system can still be regarded as the control distribution problem of multiple actuators. At present, direct distribution, generalized inverse, chain distribution, redistribution pseudo-inverse methods and the like are widely adopted, when an actuator is saturated, control distribution instructions cannot be guaranteed to be distributed according to designated weight, and when a fault occurs, another set of control distribution reconstruction is often required to be switched, and the method is redundant. Therefore, a control distribution method capable of uniformly processing the problems of control surface saturation and faults is needed.
Disclosure of Invention
The invention aims to provide a generalized actuator control distribution and reconstruction method, a generalized actuator control distribution and reconstruction device and related components thereof, and aims to solve the problems of reasonably distributing the output of each aerodynamic control surface and each power system of a vertical take-off and landing fixed wing aircraft and reasonably distributing and reconstructing control when a generalized actuator is saturated or fails.
In order to solve the technical problems, the invention aims to realize the following technical scheme:
in a first aspect: provided is a generalized actuator control distribution and reconstruction method, which comprises the following steps: receiving a plurality of instructions v of a target state under a body coordinate system, wherein the plurality of instructions v comprise acceleration and angular acceleration of the airplane under the body coordinate system;
obtaining the weight of each command v and constructing a diagonal weight matrix Wv；
Acquiring input values of a current navigation state and a narrow actuator, and inputting the current navigation state and the input values of the narrow actuator as input values of corresponding generalized actuators into an airplane model for linear processing to obtain a manipulation efficiency matrix B formed by the generalized actuators;
assigning weights to each of the generalized actuators and constructing a diagonal weight matrix Wu；
Appointing the workable range lb of each generalized actuator to be less than or equal to x and less than or equal to ub, wherein lb is the maximum working value, ub is the minimum working value, and x is the output value of the generalized actuator;
and converting the constraints of the plurality of instructions v and the working range of each generalized actuator into a convex optimization problem based on an active set for solving to obtain an output value x of each generalized actuator.
Further, acquiring input values of a current navigation state and a narrow actuator, and inputting the input values of the current navigation state and the narrow actuator as input values of corresponding generalized actuators into an aircraft model for linearization processing to obtain a manipulation efficiency matrix B composed of the generalized actuators, including:
acquiring input values of a current navigation state and a narrow actuator, and taking the input values of the current navigation state and the narrow actuator as input values of a generalized actuator;
input values u of all generalized actuators*Inputting the command v into an airplane model, and calculating to obtain a command v of the current state*；
Input value u to generalized actuator*Setting an input deviation delta u to obtain a new input value u ', and inputting u ' into the airplane model to obtain a new command v ';
according to the input deviation amount delta u and the command v*And calculating the manipulation effectiveness of each generalized actuator by the command v', and constructing a manipulation effectiveness matrix B.
Further, according to the input deviation amount Deltau and the command v*And calculating the manipulation effectiveness of each generalized actuator by the command v', and constructing a manipulation effectiveness matrix B, which comprises the following steps:
and calculating the command deviation amount delta v of each generalized actuator according to the following formula:
Δv＝v′-v*；
and calculating the manipulation efficiency Bn of each generalized actuator according to the following formula:
Bn＝Δv/Δu。
further, converting the plurality of the constraints of the command v and the working range of each generalized actuator into a convex optimization problem based on an active set for solving, and obtaining an output value x of each generalized actuator, includes:
and converting the constraints of the plurality of commands v and the working range of each generalized actuator into the following formula to solve:
wherein xdIs the output value of the desired generalized actuator.
Further, after the step of converting the plurality of commands v and the constraints of the operable ranges of the generalized actuators into the following formula for solving, the method further includes:
the equations (1) and (2) are approximately converted to x that solves the following cost function J as small as possible:
where γ represents the degree of importance to K in the control allocation problem;
converting the formula (3) into the following formulas (4a) and (4 b):
x＝argminx‖Ax-b‖ (4a)
lb≤x≤ub (4b)
and solving the formulas (4a) and (4b) by using an active set method to obtain the output value x of each generalized actuator.
Further, the navigation state includes: angular velocity, roll angle, pitch angle, yaw angle, angle of attack, sideslip angle, airspeed, ground speed, and altitude of the aircraft.
Further, the method for specifying the workable range lb of each generalized actuator is less than or equal to x and less than or equal to ub comprises the following steps:
defining the workable range of the generalized actuator in a nominal range when the generalized actuator has no fault;
and limiting the upper limit and the lower limit of the working range of the generalized actuator to the dead-lock value when the fault occurs.
In a second aspect: the embodiment of the invention also provides a generalized actuator control distribution and reconfiguration device of a vertical take-off and landing fixed wing aircraft, which comprises: the target receiving unit is used for receiving a plurality of commands v of a target state under a body coordinate system, wherein the commands v comprise acceleration and angular acceleration of the airplane under the body coordinate system;
diagonal weight matrix WvA determining unit for obtaining the weight of each instruction v and constructing a diagonal weight matrix Wv；
The control efficiency matrix determining unit is used for acquiring input values of a current navigation state and a narrow actuator, and inputting the input values of the current navigation state and the narrow actuator into the airplane model as input values of corresponding generalized actuators for linear processing to obtain a control efficiency matrix B consisting of the generalized actuators;
diagonal weight matrix WuA determining unit for specifying the weight of each generalized actuator and constructing a diagonal weight matrix Wu；
The movable range determining unit is used for appointing the workable range lb of each generalized actuator to be less than or equal to x and less than or equal to ub, wherein lb is the maximum working value, ub is the minimum working value, and x is the output value of the generalized actuator;
and the optimal allocation unit is used for converting the plurality of instructions v and the constraints of the working ranges of the generalized actuators into a convex optimization problem based on an active set for solving to obtain the output value x of each generalized actuator.
In a third aspect, embodiments of the present invention further provide a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method for assigning and reconstructing the control of the generalized actuators of the vtol fixed-wing aircraft according to the first aspect.
In a fourth aspect, the embodiments of the present invention further provide a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and the computer program, when executed by a processor, causes the processor to execute the generalized actuator control allocation and reconstruction method for a vertical take-off and landing fixed-wing aircraft according to the first aspect.
The embodiment of the invention provides a method, a device and related components for controlling, distributing and reconstructing a generalized actuator, and can fully utilize the control efficiency of an airplane by controlling the generalized actuator; on the other hand, under the condition that the generalized actuator is saturated or fails, the generalized actuator can be conveniently controlled and reconstructed.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart diagram illustrating a generalized actuator control allocation and reconfiguration method according to an embodiment of the present invention;
FIG. 2 is a sub-flow diagram of a generalized actuator control allocation and reconfiguration method according to an embodiment of the present invention;
FIG. 3 is a schematic block diagram of a generalized actuator control distribution and reconfiguration device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Referring to fig. 1, an embodiment of the present invention provides a generalized actuator control allocation and reconfiguration method, which includes steps S1 to S6:
s1, receiving a plurality of commands v of a target state in a body coordinate system, wherein the plurality of commands v comprise acceleration and angular acceleration of the airplane in the body coordinate system;
s2, acquiring the weight of each command v and constructing a diagonal weight matrix Wv；
S3, acquiring input values of a current navigation state and a narrow actuator, and inputting the current navigation state and the input values of the narrow actuator as input values of corresponding generalized actuators into an airplane model for linear processing to obtain a manipulation efficiency matrix B formed by the generalized actuators;
s4, appointing the weight of each generalized actuator and constructing a diagonal weight matrix Wu；
S5, appointing the workable range lb of each generalized actuator to be less than or equal to x and less than or equal to ub, wherein lb is the maximum working value, ub is the minimum working value, and x is the output value of the generalized actuator;
and S6, converting the plurality of instructions v and the constraints of the working ranges of the generalized actuators into a convex optimization problem based on an active set for solving, and obtaining the output value x of each generalized actuator.
In the present embodiment, the actuator in the narrow sense generally refers to an actual actuator of an airplane, and the actuator in the narrow sense includes, but is not limited to, an air-operated steering engine and a rotor motor, wherein the state of the actuator in the narrow sense includes the rotation speed of the rotor motor, the position of an air-operated control surface, and the like; the navigational state includes, but is not limited to, angular velocity, roll angle, pitch angle, yaw angle, angle of attack, sideslip angle, airspeed, ground speed, altitude of the aircraft.
The roll angle and the pitch angle represent two attitudes of the aircraft, which have the capability of generating vertical and lateral acceleration, for example, at a certain airspeed (the speed of the aircraft relative to the air), the aircraft generates lift force by a rotor motor when flying forward, and the aircraft can generate a lift force by driving the head of the aircraft to lift, that is, the pitch angle is increased.
In the present embodiment, the two attitudes, i.e., the roll angle and the pitch angle are not actual actuators of the aircraft, but are also regarded as actuator processes, and such actuators other than the actuators and actual actuators are called generalized actuators, that is, input values of the generalized actuators include the navigation state and input values of the actuators in the narrow sense.
In the step S1, in step S1,
wherein a isx、ay、azRespectively the acceleration of the X axis, the Y axis and the Z axis of the airplane under a coordinate system of the airplane body,
the angular acceleration of the plane in the body coordinate system is the X-axis, Y-axis and Z-axis, and the subscript CMD indicates the acquired command.
In step S2, a diagonal weight matrix W is constructed based on the weights obtained for each command vvThe aim is that when the control distribution of the generalized actuator cannot meet the command v, the airplane model will be more inclined to meet WvInstructions with large weights.
For example, in actual flight, if the importance of acceleration and angular acceleration is ranked as
az、ax、ay、
A diagonal weight matrix W may be constructedvIn the form:
in one embodiment, with reference to FIG. 2, step S3 includes the following steps S31-S34:
s31, acquiring input values of the current navigation state and the narrow actuator, and taking the input values of the current navigation state and the narrow actuator as input values of the generalized actuator;
s32, input value u of each generalized actuator*Inputting the command v into an airplane model, and calculating to obtain a command v of the current state*；
In this embodiment, the aircraft model may be based on the input values u of the generalized actuators*Calculate the current v*For different airplanes with predefined airplane models, the calculation mode of each airplane model may be different, but the command v of the current generalized actuator state can be calculated*。
S33 input value u to generalized actuator*An input deviation amount delta u is set to obtain a new input value u ', and u' is input into the airplaneObtaining a new instruction v' in the model;
the new input value u' for each generalized actuator is calculated as follows:
u′＝u*+Δu；
wherein the input deviation amount Deltau is set manually or according to a default rule, and then a new v 'is calculated according to the u', and the v 'generated by the selected u' is compared with the original v*This is a rule of choice for Δ u, which is understood in a relative sense, the range of absolute values depending on the case, e.g. setting u*When the angle is 10 °, Δ u may be 0.5 °, and a new input u' may be calculated*+Δu＝10.5°
And calculating the command deviation amount delta v of each generalized actuator according to the following formula:
Δv＝v′-v*；
s34, according to the input deviation amount delta u and the command v*And calculating the manipulation effectiveness Bn of each generalized actuator by the command v', and constructing a manipulation effectiveness matrix B.
And calculating the manipulation efficiency Bn of each generalized actuator according to the following formula:
Bn＝Δv/Δu；
the above formula shows that the manipulated variable Bn has a linear relationship between the two variables Δ v and Δ u.
Assuming that the generalized actuator input values are: phi, theta, deltae、δa、ω1、ω2、ω3、ω4Where phi is the roll angle, theta is the pitch angle, deltaeFor raising or lowering rudder position, deltaaIs the aileron position, ω1、ω2、ω3、ω4Is the respective rotational speed of 4 rotor motors, then the efficiency matrix B is:
in one embodiment, in step S4: diagonal weight matrix WvAnd diagonal weight matrix WuHaving a similar form and structure, wherein a diagonal weight matrix W is constructeduThe objective is that the aircraft model will be more biased towards the generalized actuator that is desired to be used, e.g., it is more desired to use the outer flap rather than the inner flap, such that the weight of the outer flap is higher than the weight of the inner flap; on the other hand, the pitch angle attitude in the generalized actuator and the lift system of the rotor wing have the manipulation efficiency of vertical acceleration, when the airspeed is small, the manipulation efficiency of the lift system of the rotor wing is high, the propeller of the rotor wing motor is distributed by the airplane model to provide larger vertical acceleration, and as the airspeed is gradually increased, the airplane model tends to provide lift by aerodynamic force caused by airplane pitching; that is to say, the method can reasonably distribute the output of each aerodynamic control surface and each rotor wing lift system of the vertical take-off and landing fixed wing aircraft, thereby fully utilizing the control efficiency of the aircraft.
In one embodiment, in steps S5 and S6: the control distribution problem can be defined as that the output value x of the generalized actuator is less energy-consuming of the benefit actuator while satisfying the command v as much as possible, that is, the constraints of the multiple commands v and the operable range of each generalized actuator are converted into the following formula to be solved:
wherein xdIs the output value of the expected generalized actuator;
in another embodiment, after the step of converting the above-mentioned constraints of the plurality of commands v and the operable range of each generalized actuator into the following formula to solve, the equations (1) and (2) can also be approximately converted into x for solving the following cost function J as small as possible:
where γ represents the degree of importance to K in the control allocation problem;
and converting the formula (3) into the following formulas (4a) and (4 b):
x＝argminx‖Ax-b‖ (4a)
lb≤x≤ub (4b)
solving the formulas (4a) and (4b) by using an active set method to obtain an output value x of each generalized actuator, wherein for the convex optimization problem, the existing solver can be used to solve, for example, the quadprog function of MATLAB, which is not explained in the embodiment; it should be noted that l and b in lb appearing in formula (4b) are an integer, i.e. "lb", and ub is also different from b appearing in formula (4a) alone.
For example, a command v is specified as 4-dimensional, v ═ 0.60.40.70.5]TAssuming that the output value x of each generalized actuator is 8-dimensional, the upper limit ub of the input value of each generalized actuator is 1, the lower limit lb of the input value of each generalized actuator is 0, and since the importance degree of satisfying the command v is much higher than the consumption of the generalized actuator, γ is 10000, in this example, W is assumed to bev＝diag([5 5 2 1])，WuTaking a unit array, and setting a B array as:
and obtaining corresponding A, b, lb and ub according to the information, solving the convex optimization problem through a quadrprog function of MATLAB, and obtaining the output value x of the generalized actuator as follows:
x＝[0.9482 0.7836 1.0000 0.0000 0.2162 0.0514 1.0000 0.0000]T
in the normal flight process of the airplane, the workable range lb of each generalized actuator is not less than x and not more than ub, and in the embodiment, the workable range of the generalized actuator is defined as a nominal range when no fault exists; when a fault occurs, the maximum output value ub and the minimum output value lb of the operable range of the generalized actuator are limited to the stuck value, for example, when a fault occurs that a certain aerodynamic control surface of an airplane is stuck, the maximum output value ub and the minimum output value lb of the generalized actuator are limited to the stuck value range, that is, the output value x stuck at a certain specific position of the generalized actuator is specified to be only in the stuck position during control distribution, that is, the position constraint of the output value x of the generalized actuator requiring solution becomes, for example, the minimum output value lb of the generalized actuator is 0, the maximum output value ub is 1, the position constraint of the input x is lb < x < ub, that is, 0 < x < 1, if x is stuck at the position 0.4, then lb < ub > 0.4, 0.4 < x < 0.4, and the problem of the generalized actuator stuck fault is converted into the problem of changing the operable range of the generalized actuator, the solving method of the problem is the same, the consistency of the solving method is ensured, and the method is simple, convenient and effective in processing the fault information.
In the actual application process, the aerodynamic control surface of the vertical take-off and landing fixed wing aircraft and a lift force system of a rotor wing are controlled and distributed together, and the roll angle and the pitch angle are used as generalized aerodynamic control surfaces, so that the control efficiency of the aircraft is fully utilized; the control distribution and reconstruction problems of the generalized actuators are uniformly converted into a convex optimization problem based on active set solution, so that the instruction weight of force and moment can be effectively adopted when the instruction of the generalized actuator is saturated, and the control reconstruction of the generalized actuator is facilitated when the generalized actuator breaks down.
With reference to fig. 3, an embodiment of the present invention further provides a generalized actuator control assigning and reconfiguring apparatus 100 including:
a receiving target unit 101, configured to receive a plurality of commands v of a target state in a body coordinate system, where the plurality of commands v includes an acceleration and an angular acceleration of the aircraft in the body coordinate system;
diagonal weight matrix Wv A determining unit 102, configured to obtain a weight of each instruction v and construct a diagonal weight matrix Wv；
The control efficiency matrix determining unit 103 is configured to obtain input values of a current navigation state and a narrow actuator, and input the input values of the current navigation state and the narrow actuator as input values of corresponding generalized actuators to an aircraft model for linear processing to obtain a control efficiency matrix B formed by the generalized actuators;
diagonal weight matrix Wu A determining unit 104 for specifying the weight of each generalized actuator and constructing a diagonal weight matrix Wu；
The movable range determining unit 105 is used for specifying that x is more than or equal to ub within the operable range lb of each generalized actuator, wherein lb is a maximum working value, ub is a minimum working value, and x is an output value of the generalized actuator;
and the optimal allocation unit 106 is configured to convert the plurality of instructions v and the constraints of the working ranges of the generalized actuators into a convex optimization problem based on an active set, and solve the convex optimization problem to obtain an output value x of each generalized actuator.
Further, the manipulation performance matrix determination unit 103 includes:
the operation efficiency determining unit is used for acquiring the current navigation state and the input value of the narrow actuator, and taking the current navigation state and the input value of the narrow actuator as the input values of the generalized actuator;
a first calculation unit for calculating an input value u for each of the generalized actuators*Inputting the command v into an airplane model, and calculating to obtain a command v of the current state*；
A second calculation unit for calculating an input value u to the generalized actuator*Setting an input deviation delta u to obtain a new input value u ', and inputting u ' into the airplane model to obtain a new command v ';
a third calculating unit for calculating the input deviation amount Δ u and the command v*And calculating the manipulation effectiveness of each generalized actuator by the command v', and constructing a manipulation effectiveness matrix B.
Further, the third calculation unit includes:
and the deviation amount calculating unit is used for calculating the command deviation amount delta v of each generalized actuator according to the following formula:
Δv＝v′-v*；
according to the input deviation amount delta u and the command v*And calculating the manipulation effectiveness Bn of each generalized actuator by the command v', and constructing a manipulation effectiveness matrix B.
The operation efficiency calculation unit is used for calculating the manipulation efficiency Bn of each generalized actuator according to the following formula:
Bn＝Δv/Δu。
further, the optimal allocation unit 106 includes:
the conversion unit is used for converting the constraints of the plurality of commands v and the working range of each generalized actuator into the following formula to solve the problem:
wherein xdIs the output value of the expected generalized actuator;
further, the method for approximating equation (1) and equation (2) is to solve x which makes the following cost function J as small as possible:
where γ represents the degree of importance to K in the control allocation problem;
and converting the formula (3) into the following formulas (4a) and (4 b):
x＝argminx‖Ax-b‖ (4a)
lb≤x≤ub (4b)
and solving the formulas (4a) and (4b) by using an active set method to obtain the output value x of each generalized actuator.
The navigation state includes: angular velocity, roll angle, pitch angle, yaw angle, angle of attack, sideslip angle, airspeed, ground speed, and altitude of the aircraft.
Further, the activity range determining unit 105 includes:
the nominal unit is used for defining the working range of the generalized actuator within a nominal range when no fault exists;
and the jamming unit is used for limiting the upper limit and the lower limit of the working range of the generalized actuator to be at a jamming value when a fault occurs.
The device can fully utilize the control efficiency of the airplane by controlling the generalized actuator; on the other hand, under the condition that the generalized actuator is saturated or fails, the generalized actuator can be conveniently controlled and reconstructed.
The contents of the above-mentioned apparatuses and methods correspond to each other, and for details of the above-mentioned apparatuses, reference may be made to the description of the foregoing method embodiments, which are not repeated herein.
Embodiments of the present invention further provide a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method for assigning and reconstructing the control of the generalized actuators of a vertical take-off and landing fixed-wing aircraft as described above.
Embodiments of the present invention also provide a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, which when executed by a processor causes the processor to execute the method for assigning and reconstructing actuator control in a generalized manner based on a VTOL fixed-wing aircraft as described above.
The specific working processes of the devices, apparatuses, and units may refer to corresponding processes in the foregoing method embodiments, and are not described herein again. Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided by the present invention, it should be understood that the disclosed apparatus, device and method can be implemented in other ways. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only a logical division, and there may be other divisions when the actual implementation is performed, or units having the same function may be grouped into one unit, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a magnetic disk, or an optical disk.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A generalized actuator control allocation and reconfiguration method, comprising:
receiving a plurality of instructions v of a target state under a body coordinate system, wherein the plurality of instructions v comprise acceleration and angular acceleration of the airplane under the body coordinate system;
obtaining the weight of each command v and constructing a diagonal weight matrix Wv；
Acquiring input values of a current navigation state and a narrow actuator, and inputting the current navigation state and the input values of the narrow actuator as input values of corresponding generalized actuators into an airplane model for linear processing to obtain a manipulation efficiency matrix B formed by the generalized actuators;
assigning weights to each of the generalized actuators and constructing a diagonal weight matrix Wu；
Appointing the workable range lb of each generalized actuator to be less than or equal to x and less than or equal to ub, wherein lb is the maximum working value, ub is the minimum working value, and x is the output value of the generalized actuator;
and converting the constraints of the plurality of instructions v and the working range of each generalized actuator into a convex optimization problem based on an active set for solving to obtain an output value x of each generalized actuator.
2. The method for generalized actuator control allocation and reconfiguration of a vtol fixed wing aircraft according to claim 1, wherein: acquiring input values of a current navigation state and a narrow actuator, and inputting the input values of the current navigation state and the narrow actuator into an aircraft model as input values of corresponding generalized actuators for linear processing to obtain a manipulation efficiency matrix B consisting of the generalized actuators, wherein the manipulation efficiency matrix B comprises the following steps:
acquiring input values of a current navigation state and a narrow actuator, and taking the input values of the current navigation state and the narrow actuator as input values of a generalized actuator;
input values u of all generalized actuators*Inputting the command v into an airplane model, and calculating to obtain a command v of the current state*；
Input value u to generalized actuator*Setting an input deviation delta u to obtain a new input value u ', and inputting u ' into the airplane model to obtain a new command v ';
according to the input deviation amount delta u and the command v*And calculating the manipulation effectiveness of each generalized actuator by the command v', and constructing a manipulation effectiveness matrix B.
3. The method for assigning and reconfiguring actuator control in a generalized manner for a VTOL fixed-wing aircraft according to claim 2, wherein: according to the input deviation amount delta u and the command v*And calculating the manipulation effectiveness of each generalized actuator by the command v', and constructing a manipulation effectiveness matrix B, which comprises the following steps:
and calculating the command deviation amount delta v of each generalized actuator according to the following formula:
Δv＝v′-v*；
and calculating the manipulation efficiency Bn of each generalized actuator according to the following formula:
Bn＝Δv/Δu。
4. the method for generalized actuator control allocation and reconfiguration of a vtol fixed wing aircraft according to claim 1, wherein: converting the constraints of the plurality of instructions v and the working ranges of the generalized actuators into a convex optimization problem based on an active set for solving to obtain the output value x of each generalized actuator, wherein the method comprises the following steps:
and converting the constraints of the plurality of commands v and the working range of each generalized actuator into the following formula to solve:
wherein xdIs the output value of the desired generalized actuator.
5. The method for generalized actuator control allocation and reconfiguration of a vtol fixed wing aircraft according to claim 1, wherein: after the step of converting the constraints of the plurality of commands v and the workable range of each generalized actuator into the following formula for solving, the method further includes:
the equations (1) and (2) are approximately converted to x that solves the following cost function J as small as possible:
where γ represents the degree of importance to K in the control allocation problem;
converting the formula (3) into the following formulas (4a) and (4 b):
x＝argminx‖Ax-b‖ (4a)
lb≤x≤ub (4b)
and solving the formulas (4a) and (4b) by using an active set method to obtain the output value x of each generalized actuator.
6. The method for generalized actuator control allocation and reconfiguration of a vtol fixed wing aircraft according to claim 1, wherein: the navigation state includes: angular velocity, roll angle, pitch angle, yaw angle, angle of attack, sideslip angle, airspeed, ground speed, and altitude of the aircraft.
7. The method for generalized actuator control allocation and reconfiguration of a vtol fixed wing aircraft according to claim 1, wherein: and designating the operable range lb of each generalized actuator to be less than or equal to x and less than or equal to ub, wherein the method comprises the following steps:
defining the workable range of the generalized actuator in a nominal range when the generalized actuator has no fault;
and limiting the upper limit and the lower limit of the working range of the generalized actuator to the dead-lock value when the fault occurs.
8. A generalized actuator control distribution and reconfiguration device for a VTOL fixed wing aircraft, comprising:
the system comprises a receiving target unit, a processing unit and a control unit, wherein the receiving target unit is used for receiving a plurality of instructions v of a target state under a body coordinate system, and the plurality of instructions v comprise acceleration and angular acceleration of the airplane under the body coordinate system;
diagonal weight matrix WvA determining unit for obtaining the weight of each instruction v and constructing a diagonal weight matrix Wv；
The control efficiency matrix determining unit is used for acquiring input values of a current navigation state and a narrow actuator, and inputting the input values of the current navigation state and the narrow actuator into the airplane model as input values of corresponding generalized actuators for linear processing to obtain a control efficiency matrix B consisting of the generalized actuators;
diagonal weight matrix WuA determination unit for specifying the weight of each of the generalized actuators and constructing a diagonal weight matrix Wu；
The movable range determining unit is used for appointing that the operable range lb of each generalized actuator is not less than x and not more than ub, wherein lb is the maximum working value, ub is the minimum working value, and x is the output value of the generalized actuator;
and the optimal allocation unit is used for converting the plurality of instructions v and the constraints of the working ranges of the generalized actuators into a convex optimization problem based on an active set for solving to obtain the output value x of each generalized actuator.
9. A computer apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements the method for assigning and reconfiguring a generalized actuator control based on a vertical take-off and landing fixed-wing aircraft according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to carry out the method of assigning and reconfiguring a generalized actuator control based on a vtol fixed-wing aircraft according to any one of claims 1 to 7.
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