CN115930698A - Method for converting rudder deflection angle of control channel into X-shaped rudder deflection angle under non-zero rolling angle condition - Google Patents
Method for converting rudder deflection angle of control channel into X-shaped rudder deflection angle under non-zero rolling angle condition Download PDFInfo
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Abstract
The invention discloses a rudder control method, a rudder control device, rudder control equipment and a rudder control storage medium of a self-adaptive rolling aircraft, wherein the rudder control method comprises the steps of obtaining a rolling angle and a rolling angle speed; judging whether the roll angular velocity exceeds a threshold value or not, if not, obtaining a real-time control surface included angle based on the roll angle and the control surface installation angle, otherwise, obtaining a predicted control surface included angle based on the roll angle, the roll angular velocity and the control surface installation angle; obtaining a conversion matrix between four rudder deflection angles and a three-channel control instruction based on the control surface included angle; and obtaining rudder deflection angles of four control surfaces in the X-shaped rudder based on the conversion matrix and the three-channel control instruction, and controlling the X-shaped rudder. The invention is applied to the field of navigation control, introduces the control surfaces to predict the included angle when the rotating speed of a projectile body is higher than the response speed of a steering engine, ensures that the control results of the rudder deflection angles of four rudders are consistent with three-channel instructions input by a control system on the premise of knowing the rolling angle of an aircraft and the control instructions of three control channels, and realizes the stability and control of the aircraft under the condition of non-zero rolling angle.
Description
Technical Field
The invention relates to the technical field of navigation control, in particular to a rudder control method, a rudder control device, rudder control equipment and a rudder control storage medium of a self-adaptive rolling aircraft under the condition of a non-zero rolling angle.
Background
The rotating rocket is a rocket type aircraft which rolls around a longitudinal axis of the rotating rocket continuously in the flight process, the negative influence of the interference factors such as pneumatic asymmetry, structural asymmetry and thrust eccentricity on the movement of a rocket body caused by manufacturing errors and the like can be reduced by the spinning of the rocket, the dynamic stability of the rocket is improved, the dispersion of an uncontrolled flight section is reduced, the pitching and yawing can be controlled simultaneously by using a single-channel executing mechanism, and the control system structure is simplified. Therefore, the rotary rocket has a series of advantages of simplifying the structure and the composition of a control system, improving the penetration capability, widening the processing and manufacturing error tolerance, avoiding asymmetric ablation and the like, and is widely applied to unmanned aerial vehicles, shells, rocket projectiles, tactical missiles, reentry aircrafts and the like.
The actuating mechanism that rotatory rocket usually adopted is the fixed rudder, and the fixed rudder can be around projectile body vertical axis and projectile body differential rotation to provide the control force of every single move and yaw direction, and the fixed rudder can simplify control system and constitute, is convenient for carry out the guidance to conventional aircraft and reforms, has reduced production maintenance cost. Due to actual tasks or flight requirements, some rotating bullets and arrows do not rotate at high speed in the whole flight process, and have different rotation angular velocities in different flight stages; some non-rotating bullets may also have a need of high-speed rotation in a specific flight phase, which results in that the design of the control system cannot be designed according to the method of rotating bullets which rotate at a fixed rotation angular velocity in the whole course, and the variable roll angular rate brings many inconveniences to the analysis and design of the control system, and the main problems are as follows:
(1) The rotational spring dynamics are unique primarily in that there is a strong coupling between the pitch and yaw channels. The reasons for causing the strong coupling mainly include magnus effect induced pneumatic cross-linking, gyroscopic effect induced inertial cross-linking and dynamics delay induced control cross-linking, which cause the strong coupling of a rotating missile yaw channel and a pitch channel, so that the yaw, pitch and roll control loops can not be separately designed in a control surface control mode as a common aircraft to obtain yaw, pitch, roll and linear decoupling, and the yaw, pitch, roll and linear decoupling must be considered together in the longitudinal and lateral directions, and the corresponding rudder deflection angle control mode can not be like the conventional steering engine decoupling control based on the zero roll angle condition.
(2) Since the control surface on the projectile rotates along with the projectile body and is described in a rotating coordinate system, and considering that the space motion of the projectile body and the inspection of the control performance of the system are described in a non-rotating coordinate system, the rotating coordinate system needs to be transformed, and the transformation can make the system become a periodic time-varying system and control cross-linking occurs.
(3) The generation mechanism of the control force of the rotating missile makes the control mode of the rotating missile completely different from the classical error control mode of a ballistic missile, and the control mode is mostly quasi-closed-loop average value control, so that how to effectively control the canard deflection in the rotation of the missile body, the canard average control force points to the required direction, and the difficulty is increased for the design of a control system.
(4) The rotating projectile is controlled by pulse width modulation, the control surface is required to deflect continuously according to the rule of a control signal, the requirement on the rapidity of response of the steering engine is higher along with the increase of the spinning speed of the projectile body, and the control distribution relation of a rudder system meeting the requirement needs to be designed according to the characteristics of the rotating projectile.
(5) The large-range change of the roll angular rate, the generated pneumatic effects are different, the coupling strength between the pitching channel and the yawing channel is different, the time delay of a control system and the bandwidth response of a steering engine are different, and the control distribution relationship is difficult to describe and realize by using the same fixed rudder system.
Aiming at the mapping relation of the rudder deflection angle of the control channel, the nonlinear decoupling control of the actual rudder deflection angle can be realized, and the electric steering engine can be used on a rotating missile with higher rotating speed and is more effective as a rotating missile actuating mechanism. Because the X-shaped rudder cannot directly control the pitching and yawing movements of the missile body, compared with a cross rudder, the X-shaped rudder movement control method is more complex than that of a cross rudder, a moment distribution model is more complex, each control surface of the X rudder can influence the movement states of three degrees of freedom of pitching, yawing and rolling of the missile body, a missile body movement control system of the X-shaped rudder is different from a conventional cross rudder in that a control distribution link is added, and the structure of an X-shaped rudder control system is shown in figure 1.
The actual control distribution problem for an X-type rudder includes the rudder distribution problem, where the control command r is a 3X 1 vector containing rudder offsets that provide pitch, yaw, and roll moments. The actual steering engine control command u is a 4 multiplied by 1 vector and respectively corresponds to four rudder deflection angles of the X-shaped rudder, the number of the actuating mechanisms is more than the number of the actually required degrees of freedom, and the steering engine control command u has an overdrive characteristic. Therefore, the X-shaped rudder steering mode is flexible and various, the corresponding rudder dynamic model is complex, the accuracy and the reasonability of control distribution directly influence the subsequent actual missile attitude and motion control, and traditionally, in order to realize accurate and reasonable control distribution, the zero-roll angular velocity is usually adopted
The conditions assume that the roll angle γ of the projectile is made 0, close to 0 or kept at a fixed value. When the rolling bullet rolls, the longitudinal and lateral movements of the bullet have coupling influence, namely the rolling angular speedDegree->
When the pitch channel and the yaw channel are seriously connected and cannot be orthogonally decoupled, a plurality of constraints on control can be brought, the rudder control precision is poor, and the rudder effect is not high. The main problems are as follows:
(1) After the control instruction is transmitted to the control surface deflection system, the rudder deflection angle is calculated within required time; after the calculation is finished, information needs to be input into the steering engine, and the steering engine can reach the specified steering angle only by adjusting time. When the rolling speed of the projectile body is high, the actual position of the steering engine and the ideal position of the projectile body at the moment of sending the control command are greatly changed due to the accumulation of time.
(2) If the adjustment angles of the four steering engines are different, the adjustment time of the four steering engines is different. After each steering engine finishes the current instruction, the next instruction is executed, the position of a control surface is changed due to the rolling of the projectile body, the time sequences of the four steering engines are disordered, and finally the control distribution effect is not consistent with the ideal state.
(3) When the control system continuously transmits a control instruction to the control plane deflection system, the processing speed of the control plane deflection system is lower than that of the control system, and the deflection adjusting time of the steering engine is longer than that of the control plane system, a large amount of control instruction redundancy is caused.
(4) When the steering engine adjusts the deflection angle of the rudder, the projectile body continuously rotates, and when the steering engine adjusts and the projectile body spins, a control effect beyond expectation can be generated on a control command until the projectile body is out of control.
(5) Different rolling angles gamma and rolling angular speeds
When the control system transmits the control instruction, the corresponding effect of the rudder system is different. If a fixed control formula is adoptedThe table is controlled to be distributed at a small rolling angle gamma and a rolling angle speed->
In time, the deflection of the control surface can respond to a control command in time, and a better control effect is generated; otherwise, the use of a fixed control allocation scheme may lead to large control errors due to roll angle calculation deviations or may also result from roll angle speeds->
Control failure caused by exceeding the control load of the steering engine; however, if a control distribution scheme during high-speed rolling is adopted in the whole process, high-frequency shaking of the steering engine can be caused, and adverse factors such as high energy consumption, influence on projectile body stability and the like are generated.
Disclosure of Invention
Aiming at the problems that in the prior art, when a projectile body has rapid rolling motion, the response speeds of four steering engines are limited, the adjusting times of the steering engines are not uniform, the control redundancy and the time sequence are disordered, and the control of the projectile body with high and low rotating speeds is difficult to coordinate, the invention provides a rolling aircraft X-type rudder deflection angle control method, device, equipment and storage medium capable of self-adapting to the rolling angle speed of an aircraft, which establishes the conversion relation from a three-channel control instruction to four rudder deflection angles, introduces a rudder surface prediction included angle when the rotation speed of the projectile body is higher than the response speed of the steering engines, and recalculates the rudder surface included angle by adopting a method of predicting the angle, so that under the premise of the known rolling angle of the aircraft and the control instructions of three control channels, the rudder deflection angle control results of the four rudders are consistent with the three-channel instruction input by a control system, and obtains an optimal distribution scheme with the minimum deflection amount of the rudder surface, and realizes the stabilization and control of the aircraft under the condition of non-zero rolling angle.
In order to achieve the above object, the present invention provides a rudder control method for an adaptive roll aircraft, including the steps of:
step 1, acquiring a roll angle and a roll angular speed of an aircraft;
step 2, judging whether the roll angular velocity exceeds a threshold value, if not, obtaining a real-time control surface included angle based on the roll angle and a control surface installation angle, otherwise, obtaining a predicted control surface included angle based on the roll angular velocity, the roll angle and the control surface installation angle;
step 3, obtaining a conversion matrix between four rudder deflection angles of the X-shaped rudder and the three-channel control instruction based on the included angle of the control surface;
and 4, obtaining rudder deflection angles of four control surfaces in the X-shaped rudder based on the conversion matrix and the three-channel control instruction, and controlling the X-shaped rudder based on the rudder deflection angles.
In one embodiment, the adaptive rolling aircraft control method further includes step 5, determining whether the control cycle of the whole flight control is completed:
if yes, ending the control of the deflection angle of the X-shaped rudder;
and otherwise, entering the next flight control cycle, acquiring the next three-channel control instruction from the flight control system, and repeating the steps 1 to 5.
In one embodiment, in step 2, the threshold is the maximum response speed ω of the steering engine of the X-rudder max 。
In one embodiment, in step 2, the obtaining of the real-time control surface included angle based on the roll angle and the control surface installation angle specifically includes:
η＝γ+ζ
wherein eta is a real-time control surface included angle, gamma is a rolling angle of the aircraft, and zeta is a control surface installation angle.
In one embodiment, in step 3, when the control surface included angle is a real-time control surface included angle η, the conversion matrix is:
wherein A is a conversion matrix between four rudder deflection angles of the X-shaped rudder and the three-channel control command.
In one embodiment, in step 2, the control surface included angle based on the roll angle, the roll angular velocity, and the prediction specifically includes:
wherein the content of the first and second substances,
is a predicted control surface included angle, gamma is a rolling angle of the aircraft, zeta is a control surface installation angle, and>
is the roll angular velocity, t, of the aircraft m The time is adjusted for the steering engine.
In one embodiment, the steering engine adjustment time is as follows:
wherein alpha is an adjustment coefficient, beta is a proportionality coefficient of the maximum roll angular velocity of the aircraft with the response speed of the steering engine capable of responding, omega is the response speed of the steering engine, and t is the response speed of the steering engine s The output cycle of the command is controlled for three channels.
In one embodiment, in step 3, when the rudder surface included angle is a predicted rudder surface included angle
Then, the transformation matrix is:
wherein A is a conversion matrix between four rudder deflection angles of the X-shaped rudder and the three-channel control command.
In one embodiment, in step 4, the obtaining of the rudder deflection angles of the four control surfaces in the X-shaped rudder based on the conversion matrix and the three-channel control instruction specifically includes:
obtaining an inverse transformation matrix between four rudder deflection angles of the X-shaped rudder and a three-channel control command by a Moore-dependency pseudo-inverse method, wherein the inverse transformation matrix comprises the following steps:
F＝A T (AA T ) -1
wherein, F is an inverse transformation matrix between four rudder deflection angles of the X-shaped rudder and the three-channel control command, A is a transformation matrix between the four rudder deflection angles of the X-shaped rudder and the three-channel control command, and A is T Is a transposed matrix of the matrix A;
based on the inverse transformation matrix F between the four rudder deflection angles of the X-shaped rudder and the three-channel control instruction, the rudder deflection angles of the four control surfaces in the X-shaped rudder are obtained and are as follows:
wherein, delta x 、δ y 、δ z Control commands of three channels x, y and z, delta 1 、δ 2 、δ 3 、δ 4 The rudder deflection angles of four control surfaces in the X-shaped rudder are respectively.
In order to achieve the above object, the present invention further provides a rudder control device for an adaptive rolling aircraft, which performs an X-type rudder deflection angle control by using the above method, and the rudder control device for the adaptive rolling aircraft includes:
the information acquisition unit is used for acquiring the roll angle and the roll angular speed of the aircraft;
an angular velocity determination unit for determining whether the roll angular velocity exceeds a threshold value;
the control surface included angle real-time calculation unit is used for calculating a real-time control surface included angle according to the roll angle and the control surface installation angle;
the control surface included angle prediction unit is used for obtaining a predicted control surface included angle according to the roll angle, the roll angular speed and the control surface installation angle;
the conversion matrix calculation unit is used for obtaining a conversion matrix between the four rudder deflection angles of the X-shaped rudder and the three-channel control instruction according to the real-time control surface included angle or the predicted control surface included angle;
and the rudder deflection angle control unit is used for obtaining rudder deflection angles of four control surfaces in the X-shaped rudder according to the conversion matrix and the three-channel control command and controlling the X-shaped rudder based on the rudder deflection angles.
In order to achieve the above object, the present invention further provides a terminal device, including:
a memory for storing a program;
a processor for executing the program stored in the memory, the processor being configured to perform some or all of the steps of the method as described above when the program is executed.
To achieve the above object, the present invention also provides a computer-readable storage medium having stored therein computer-executable instructions; the computer executable instructions, when executed by a processor, are for implementing some or all of the steps of the method as described above.
The invention has the following beneficial technical effects:
1. the relation between the rudder deflection angles of the four steering engines and the three-channel rudder deflection angle control instruction is established, the roll angle is considered when the rudder deflection angle is calculated, when the steering engines are controlled, the instructions and the rudder deflection angle relation correspond one to one, and no time accumulated error exists;
2. the relation between the rudder deflection angles of the four steering engines and the three-channel rudder deflection angle control instruction is established, the initial installation angle of the control surface is considered when the rudder deflection angle is calculated, the rudder deflection angle is not limited to a cross-shaped rudder any more, the control distribution requirement under the condition of an X-shaped rudder can be met, and two pairs of control surfaces of the X-shaped rudder can not be required to be completely and vertically intersected;
3. considering steering engine adjustment and projectile body spinning factors, based on the influence of a steering engine adjustment period, a prediction angle is added when a control surface included angle is calculated, so that the actual control effect and the control stability are ensured, the problem of control surface control lag caused by rapid projectile body rolling is solved, and the projectile body control method is suitable for high-speed rotating spinning projectiles;
4. the scheme of minimum distribution of deflection quantity based on mathematical analysis effectively reduces the deflection amplitude and frequency of the steering engine and saves control energy;
5. the rudder deflection angle control method and the rudder deflection angle control algorithm can adaptively adjust the X-shaped rudder under the condition that the rolling angular velocities of the aircraft in the flying process are different.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a block diagram of a prior art X-type rudder control system;
fig. 2 is a schematic position diagram of the rudder machine in the initial state in embodiment 1 of the present invention;
fig. 3 is a schematic diagram of an included angle between the steering engine and a missile coordinate system at a certain moment in embodiment 1 of the present invention;
fig. 4 is a flowchart of a rudder control method of an adaptive roll aircraft according to embodiment 1 of the present invention;
fig. 5 is a block diagram showing the result of the rudder control device of the adaptive roll aircraft according to embodiment 2 of the present invention;
fig. 6 is a block diagram of a terminal device in embodiment 3 of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
It should be noted that all directional indicators (such as up, down, left, right, front, back \8230;) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
Example 1
The embodiment discloses a rudder control method of a self-adaptive rolling aircraft under a non-zero rolling angle condition, which is mainly applied to navigation control of rotating missiles and arrows such as unmanned aerial vehicles, shells, rocket missiles, tactical missiles, reentry aircrafts and the like. In this embodiment, by designing a rudder deflection angle control method for four control surfaces of an X-shaped rudder, on the premise that three control channel control instructions of a flight control system are known, the roll angle and the roll angular velocity of an aircraft are obtained according to measurement, and the three control channel control instructions are converted into rudder deflection angles of the four control surfaces and are consistent with the three control channel control instructions.
Aiming at the problems that when the projectile body rolls rapidly, the response speeds of four steering engines are limited, the adjusting times of the steering engines are not uniform, and control redundancy and time sequence disorder exist, the included angle of the control surface is recalculated in an angle predicting mode; aiming at the problem of control redundancy, an optimal allocation scheme with the minimum deflection of a control surface is obtained through a Moore-depend pseudo-inverse method, and the stability and control of the aircraft under the condition of a non-zero roll angle are realized.
In the specific implementation process of the method for controlling the deflection angle of the X-shaped rudder in the embodiment, firstly, the serial number of the steering engine is determined, then the state information of the control surface is initialized, the conversion from the control instruction to the control of the deflection angle of the rudder is established, secondly, the adjustment period of the steering engine is fixed, when the rotation speed of the projectile is higher than the response speed of the steering engine, the predicted included angle of the control surface is introduced, the included angle eta of the control surface is recalculated in a mode of predicting the angle, then, the optimal control method of the deflection angle of the rudder is solved according to the optimal control, and the method for converting the three-channel control instruction into the control of the deflection angle of the X-shaped rudder and the corresponding relation of the three-channel control instruction are realized under the condition of the non-zero rolling angle.
The definitions of the positive directions of the numbers of the steering engines in different documents are different. When the projectile body does not spin, the positive and negative signs of the parameters are only influenced by the difference of the positive direction definition, and due to the position conversion of the projectile body during spinning, if the projectile body is not uniformly defined, the problems that the actual control effect is opposite to the ideal effect, the matrix is singular when the steering engine passes through a special position and the like are easily caused. Therefore, in this embodiment, the steering engines are first numbered, and the rotation directions are defined in a unified manner. The initial position, number and positive direction of the steering engine are shown in figure 2 (rear view). According to the definition of a common missile coordinate system, the included angles between the steering engine of the X-shaped rudder and the Y and Z coordinate axes are both 45 degrees in an initial state. The normal force generated by each rudder is positive in the clockwise direction.
When the projectile moves, assuming that the steering engine is in the position shown in fig. 3 at a certain moment, an included angle η between the control surface and the control surface of the projectile coordinate system exists, and because two pairs of control surfaces of the X-shaped rudder in fig. 2-3 are completely and vertically intersected, the included angles η between the four control surfaces and the control surface of the projectile coordinate system are all the same. On a missile coordinate system, the conversion relation between rudder deflection angles of four steering engines and three-channel control commands is as follows:
namely, a conversion matrix A between the X-type rudder and the three-channel control command is
Wherein, delta x 、δ y 、δ z For x, y, z three-channel control commands, delta 1 、δ 2 、δ 3 、δ 4 The rudder deflection angles corresponding to the control surfaces connected with the four steering engines in sequence are provided, eta is a control surface included angle, and the control surface included angle eta is the sum of a rolling angle gamma and an initial installation angle zeta, namely:
η＝γ+ζ
the value of the initial installation angle zeta is equal to the included angle between the No. 3 steering engine and the Y-axis positive half shaft of the missile coordinate system. If the control surfaces are equiangularly distributed, the initial setting angle ζ is 45 °. At the moment, the inertia transmission in the bomb body is utilizedThe sensor can measure the roll angle gamma and the roll angular speed of the projectile body
And the rotation direction can be obtained through each steering engine feedback device, and the deflection angles delta of the control planes corresponding to the four steering engines at the current moment can be respectively obtained 1 、δ 2 、δ 3 、δ 4 Thus, the control command to the rudder deflection angle under the condition that the missile rolls is realized.
However, when the projectile body rolls rapidly, the adjusting time of the four steering engines is not uniform, and the problems of control redundancy and time sequence disorder exist. The present embodiment thus presents two different rudder control methods of rolling an aircraft based on the difference in roll angular velocity of the projectile, and with reference to fig. 4, the method comprises the steps of:
step 1, obtaining a roll angle gamma and a roll angle speed of an aircraft
In a specific embodiment, the roll angle γ and the roll angular velocity->
Can be measured by an inertial sensor in the bomb body;
step 2, judging whether the roll angular velocity is lower than a threshold value or not, if not, obtaining a real-time control surface included angle based on the roll angle and the control surface installation angle, otherwise, obtaining a predicted control surface included angle based on the roll angle, the roll angular velocity and the control surface installation angle;
in the process of determining the response speed of the steering engine, the threshold can be set according to the requirement, and the value of the threshold is the maximum response speed omega of the steering engine of the X-shaped rudder max Usually, the response speed omega of the steering engine of the X-shaped rudder meets omega ≦ omega max 。
Roll angular velocity required by steering engine of X-shaped rudder to aircraft
Is below the threshold value omega max When is at time
Wherein beta is the maximum proportional coefficient of the steering engine responding to the projectile body rolling angular velocity under the current condition, and the parameter can be measured through a ground test.
Then a real-time control surface included angle is obtained based on the roll angle and the control surface installation angle, and is:
η＝γ+ζ
wherein eta is a real-time control surface included angle, gamma is a rolling angle of the aircraft, and zeta is a control surface installation angle.
Roll angular velocity required by steering engine of X-shaped rudder to aircraft
Response speed exceeding threshold value omega max And in the process, recalculating the included angle of the control surface by adopting an angle predicting mode.
At this time
For a rotating projectile rotating at a high speed, when the spinning speed of the projectile body is increased, the requirement on the rapidity of response of a steering engine is higher, and the problem that the response speed is difficult to meet the actual control requirement due to the fact that the performance of the steering engine is fixed and the adjusting capacity is limited is solved. Meanwhile, in order to ensure that four steering engines can complete different control instructions in a very short time, a control instruction larger than an expected control instruction is given, so that the steering engines can complete expected control at the end of the time. For this reason, the time of each steering engine control is defined as the steering engine adjustment time, and is recorded as t m . At the moment, the calculation formula of the predicted included angle of the control surface is as follows:
wherein the content of the first and second substances,
is the predicted rudder face angle. During a particular application, t m Can be obtained by experimental estimation, and can also be obtained by measuring the response speed of a steering engine and the rolling angular speed of an elastomer, and the method comprises the following steps:
wherein the content of the first and second substances,
omega is the response speed of the steering engine, beta is the maximum proportionality coefficient of the response speed omega of the steering engine capable of responding to the rolling angular velocity of the projectile under the current condition, and the parameter can be measured through a ground test. α is an adjustment coefficient, t s The output period of the control command is determined by the control system.
And 3, obtaining a conversion matrix between the four rudder deflection angles of the X-shaped rudder and the three-channel control instruction based on the included angle of the control surface.
When the rolling angular velocity of the aircraft
Maximum response speed omega of steering engine lower than X-type rudder max And (3) calculating a conversion matrix between four rudder deflection angles of the X-shaped rudder and the three-channel control instruction according to the real-time control surface included angle eta in the step (2), namely:
it should be noted that the X-type rudder is a redundant control method, so the transformation matrix a is not unique and can have various forms, for example, the transformation matrix can also be expressed as:
when the rolling angular velocity of the aircraft
Steering engine maximum response speed omega exceeding X-type rudder max If yes, the included angle of the control surface is predicted according to the step 2>
Calculating a conversion matrix between four rudder deflection angles of the X-type rudder and the three-channel control command, namely:
similarly, since the X-type rudder is a redundant control method, the conversion matrix a is not unique, and may have various forms, for example, the conversion matrix may also be expressed as:
and 4, obtaining rudder deflection angles of four control surfaces in the X-shaped rudder based on the conversion matrix and the three-channel control instruction, and controlling the X-shaped rudder based on the rudder deflection angles.
Because the conversion process from the control command to the rudder deflection angle control is a redundant control process, an optimal control solution needs to be solved in order to realize the performance optimization of the control system. The conversion relation between the rudder deflection angles of the four X-type rudders and the three-channel control command is known as the conversion relation from the three-channel control command to the four rudder deflection angles:
through a Moore-dependency pseudo-inverse method, obtaining a least square result of an inverse transformation matrix F from the three-channel control command to the four rudder deflection angles is as follows:
F＝A T (AA T ) -1
the result is the optimal distribution scheme with the minimum deflection of the control surface, so the optimal rudder deflection angle control formula with the X-shaped rudder is as follows:
wherein A is T Is a transposed matrix of the matrix A;
step 5, judging whether the control cycle of the whole flight control is finished:
if yes, ending the control of the deflection angle of the X-shaped rudder;
and otherwise, entering the next flight control period, acquiring the next three-channel control instruction from the flight control system, and repeating the steps 1 to 5 until the whole flight control period is finished.
Example 2
Based on the rudder control method of the adaptive rolling aircraft in embodiment 1, the present embodiment discloses a rudder control device of the adaptive rolling aircraft. Referring to fig. 5, the rudder control device of the adaptive rolling aircraft includes an information obtaining unit, an angular velocity determining unit, a control surface included angle real-time calculating unit, a control surface included angle predicting unit, a transformation matrix calculating unit, and a rudder deflection angle control unit, and is configured to perform part or all of the steps of the rudder control method of the adaptive rolling aircraft in embodiment 1. Specifically, the method comprises the following steps:
the information acquisition unit is used for acquiring the roll angle and the roll angular speed of the aircraft;
the angular velocity judging unit is used for judging whether the roll angular velocity exceeds a threshold value;
the control surface included angle real-time calculation unit is used for calculating a real-time control surface included angle according to the roll angle and the control surface installation angle;
the control surface included angle prediction unit is used for obtaining a predicted control surface included angle according to the roll angle, the roll angular speed and the control surface installation angle;
the conversion matrix calculation unit is used for obtaining a conversion matrix between four rudder deflection angles of the X-shaped rudder and the three-channel control instruction according to the real-time control surface included angle or the predicted control surface included angle;
the rudder deflection angle control unit is used for obtaining rudder deflection angles of four control surfaces in the X-shaped rudder according to the conversion matrix and the three-channel control instruction, and controlling the X-shaped rudder based on the rudder deflection angles.
In this embodiment, the specific working processes and working principles of the information obtaining unit, the angular velocity determining unit, the control surface included angle real-time calculating unit, the control surface included angle predicting unit, the conversion matrix calculating unit and the rudder deflection angle controlling unit are the same as those of the method in embodiment 1, and therefore, the detailed description thereof is omitted in this embodiment.
Example 3
Fig. 6 shows a terminal device disclosed in this embodiment, which includes a transmitter, a receiver, a memory, and a processor. The transmitter is used for transmitting instructions and data, the receiver is used for receiving the instructions and the data, the memory is used for storing computer-executed instructions, and the processor is used for executing the computer-executed instructions stored in the memory so as to realize part or all of the steps executed by the rudder control method of the adaptive rolling aircraft in the embodiment 1. The implementation process is the same as that of the adaptive roll aircraft control in the foregoing embodiment 1.
It should be noted that the memory described above may be separate or integrated with the processor. When the memory is independently set, the terminal device further includes a bus for connecting the memory and the processor.
Example 4
The embodiment also discloses a computer-readable storage medium, in which a computer is stored, and when the processor executes the computer to execute the instructions, the processor implements part or all of the steps performed by the rudder control method for the adaptive roll aircraft in the embodiment 1.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (12)
1. A rudder control method of an adaptive rolling aircraft is characterized by comprising the following steps:
step 1, acquiring a roll angle and a roll angular speed of an aircraft;
step 2, judging whether the roll angular velocity exceeds a threshold value, if not, obtaining a real-time control surface included angle based on the roll angle and the control surface installation angle, otherwise, obtaining a predicted control surface included angle based on the roll angular velocity, the roll angle and the control surface installation angle;
step 3, obtaining a conversion matrix between four rudder deflection angles of the X-shaped rudder and the three-channel control instruction based on the included angle of the control surface;
and 4, obtaining rudder deflection angles of four control surfaces in the X-shaped rudder based on the conversion matrix and the three-channel control command, and controlling the X-shaped rudder based on the rudder deflection angles.
2. The rudder control method for the adaptive roll aircraft according to claim 1, characterized by further comprising a step 5 of judging whether the control cycle of the whole flight control is completed:
if yes, ending the control of the deflection angle of the X-shaped rudder;
and otherwise, entering the next flight control cycle, acquiring the next three-channel control instruction from the flight control system, and repeating the steps 1 to 5.
3. The rudder control method for the adaptive-roll aircraft according to claim 1, wherein in the step 2, the threshold is the maximum response speed ω of the steering engine of the X-type rudder max 。
4. The rudder control method for the adaptive rolling aircraft according to claim 1, 2 or 3, wherein in the step 2, the real-time control surface included angle is obtained based on the rolling angle and the control surface installation angle, and specifically:
η＝γ+ζ
wherein eta is a real-time control surface included angle, gamma is a rolling angle of the aircraft, and zeta is a control surface installation angle.
5. The rudder control method for the adaptive cascading aircraft as claimed in claim 4, wherein in step 3, when the rudder angle is a real-time rudder angle η, the conversion matrix is:
wherein A is a conversion matrix between four rudder deflection angles of the X-shaped rudder and the three-channel control command.
6. The rudder control method for the adaptive roll aircraft according to claim 1, 2 or 3, wherein in step 2, the rudder angle based on the roll angle, the roll angular velocity and the predicted rudder angle is specifically:
wherein the content of the first and second substances,
for the predicted control surface angle, gamma is the roll angle of the aircraft, zeta is the control surface installation angle, and>
is the roll angular velocity, t, of the aircraft m The time is adjusted for the steering engine.
7. The rudder control method of the adaptive cascading aircraft as claimed in claim 6, wherein the steering engine adjusting time is as follows:
wherein alpha is an adjustment coefficient, beta is a proportionality coefficient of the maximum roll angular velocity of the aircraft with the response speed of the steering engine capable of responding, omega is the response speed of the steering engine, and t is the response speed of the steering engine s The output cycle of the command is controlled for three channels.
8. The rudder control method for an adaptive roll aircraft according to claim 6, wherein in step 3, when the rudder angle is a predicted rudder angle
Then, the transformation matrix is: />
Wherein A is a conversion matrix between four rudder deflection angles of the X-shaped rudder and the three-channel control command.
9. The rudder control method for the adaptive cascading aircraft as claimed in claim 1, 2 or 3, wherein in the step 4, the rudder deflection angles of four control surfaces in the X-shaped rudder are obtained based on the conversion matrix and the three-channel control command, and specifically:
obtaining an inverse transformation matrix between four rudder deflection angles of the X-shaped rudder and a three-channel control command by a Moore-dependency pseudo-inverse method, wherein the inverse transformation matrix comprises the following steps:
F＝A T (AA T ) -1
wherein, F is an inverse transformation matrix between four rudder deflection angles of the X-shaped rudder and the three-channel control command, A is a transformation matrix between the four rudder deflection angles of the X-shaped rudder and the three-channel control command, and A is T Is a transposed matrix of the matrix A;
based on the inverse transformation matrix F between the four rudder deflection angles of the X-shaped rudder and the three-channel control instruction, obtaining the rudder deflection angles of the four control surfaces in the X-shaped rudder, wherein the rudder deflection angles are as follows:
wherein, delta x 、δ y 、δ z Control commands for three channels x, y, z, delta, respectively 1 、δ 2 、δ 3 、δ 4 The rudder deflection angles of four control surfaces in the X-shaped rudder are respectively.
10. A rudder control device of an adaptive roll aircraft, characterized in that a rudder deflection angle control of an X-type rudder is performed by the method of any one of claims 1 to 9, the rudder control device of the adaptive roll aircraft comprising:
the information acquisition unit is used for acquiring the roll angle and the roll angular speed of the aircraft;
an angular velocity determination unit configured to determine whether the roll angular velocity exceeds a threshold;
the control surface included angle real-time calculation unit is used for calculating a real-time control surface included angle according to the rolling angle and the control surface installation angle;
the control surface included angle prediction unit is used for obtaining a predicted control surface included angle according to the roll angle, the roll angular speed and the control surface installation angle;
the conversion matrix calculation unit is used for obtaining a conversion matrix between the four rudder deflection angles of the X-shaped rudder and the three-channel control instruction according to the real-time control surface included angle or the predicted control surface included angle;
and the rudder deflection angle control unit is used for obtaining rudder deflection angles of four control surfaces in the X-shaped rudder according to the conversion matrix and the three-channel control command and controlling the X-shaped rudder based on the rudder deflection angles.
11. A terminal device, comprising:
a memory for storing a program;
a processor for executing the program stored by the memory, the processor being configured to perform some or all of the steps of the method of any of claims 1 to 9 when the program is executed.
12. A computer-readable storage medium having computer-executable instructions stored therein; the computer executable instructions are for implementing part or all of the steps of the method as claimed in any one of claims 1 to 9 when executed by a processor.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116679750A (en) * | 2023-06-06 | 2023-09-01 | 北京理工大学 | Aircraft guidance control method based on dynamic rudder resource control allocation |
| CN117537670A (en) * | 2023-06-05 | 2024-02-09 | 西安现代控制技术研究所 | Rudder distribution method for improving remote missile rudder resource utilization efficiency |
| CN118009819A (en) * | 2024-04-10 | 2024-05-10 | 西安现代控制技术研究所 | Turning control strategy design method under weak resource condition |
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- 2023-01-10 CN CN202310034779.8A patent/CN115930698A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117537670A (en) * | 2023-06-05 | 2024-02-09 | 西安现代控制技术研究所 | Rudder distribution method for improving remote missile rudder resource utilization efficiency |
| CN116679750A (en) * | 2023-06-06 | 2023-09-01 | 北京理工大学 | Aircraft guidance control method based on dynamic rudder resource control allocation |
| CN116679750B (en) * | 2023-06-06 | 2024-03-29 | 北京理工大学 | Aircraft guidance control method based on dynamic rudder resource control allocation |
| CN118009819A (en) * | 2024-04-10 | 2024-05-10 | 西安现代控制技术研究所 | Turning control strategy design method under weak resource condition |
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