CN117555239A - Longitudinal self-adaptive control method, device and storage medium for wide-speed-domain aircraft - Google Patents
Longitudinal self-adaptive control method, device and storage medium for wide-speed-domain aircraft Download PDFInfo
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Abstract
Embodiments of the present disclosure provide a method, an apparatus, and a storage medium for longitudinal adaptive control of a wide-speed-domain aircraft, where the method includes: acquiring flight state parameters; determining a longitudinal motion model of the target aircraft based on short-period motion according to the flight state parameters; the longitudinal motion model comprises interference terms and non-interference terms; according to the flight state parameters, determining a linear state feedback control model corresponding to the non-interference item; determining a compensation model corresponding to the interference item according to the flight state parameter; determining a nonlinear self-adaptive control law of the target aircraft according to the linear state feedback control model and the compensation model; and controlling the target aircraft according to the nonlinear adaptive control law. The technical scheme provided by the application is used for solving the problem that the calculation accuracy of the existing calculation model is not high.
Description
Technical Field
The present document relates to the field of aircraft flight control technologies, and in particular, to a method, an apparatus, and a storage medium for longitudinal adaptive control of a wide-speed-domain aircraft.
Background
Aiming at the difficult problem existing in the design of the flight control system of the wide-speed-range aircraft, the active control technology based on the adaptive control method is researched, and the design of the flight control system based on the adaptive control method under the conditions that the full flight profile, the large-span speed range and the aerodynamic parameters have deviation is developed, so that the key for solving the difficult flight control of the wide-speed-range aircraft is realized.
The L1 self-adaptive control is an improved model reference self-adaptation, the method is also called as fast robust self-adaptive control, and a controller designed based on the method can ensure that a system outputs a tracking reference signal and has good transient performance and steady state performance. Compared with the traditional model reference self-adaptive method, the L1 self-adaptive control is added with a low-pass filter and high-gain feedback, so that high-frequency components in control signals can be restrained, a rapid self-adaptive adjustment effect is obtained, the bandwidth of the filter is determined by utilizing the gain stability requirement based on L1 norm, and therefore good transient control performance can be obtained on the premise of realizing tracking error asymptotic convergence, and high-frequency oscillation is avoided. The L1 self-adaptive control method is applied to a certain degree in a longitudinal flight control scheme of the wide-speed-range aircraft due to the advantages of simple design process, easiness in implementation and the like of the linear system.
However, the following problems still exist in the L1 adaptive control method: 1) Requiring that the upper bound of uncertainty in the aircraft model be known, the system reference input and the controller coefficient meet different bounded conditions; 2) The selection of the feedback gain and the feedback transfer function is difficult; 3) The design of the flight control laws relies heavily on model information.
Disclosure of Invention
In view of the above analysis, the present application aims to propose a method, a device and a storage medium for longitudinal adaptive control of a wide-speed-domain aircraft, so as to solve at least one of the above technical problems.
In a first aspect, one or more embodiments of the present disclosure provide a method for longitudinal adaptive control of a wide-speed-domain aircraft, comprising:
acquiring flight state parameters;
determining a longitudinal motion model of the target aircraft based on short-period motion according to the flight state parameters; the longitudinal motion model comprises interference terms and non-interference terms;
according to the flight state parameters, determining a linear state feedback control model corresponding to the non-interference item;
determining a compensation model corresponding to the interference item according to the flight state parameter;
determining a nonlinear self-adaptive control law of the target aircraft according to the linear state feedback control model and the compensation model;
and controlling the target aircraft according to the nonlinear adaptive control law.
Further, the determining the interference term based on short-period motion according to the flight state parameter includes:
determining an interference estimation model based on short-period motion according to the flight state parameters;
determining the error of the true value and the estimated value of the flight state parameter according to the interference estimation model;
and determining the interference item according to the error.
Further, the interference estimation model is specifically:
wherein,the k step length is represented by a time-varying diagonal dominant matrix for unknown parameter estimation, eta and mu are interference estimator parameters, delta Y is the deviation between an estimated value and a measured value of a state to be estimated, and delta U represents the error between the estimated value and the measured value of an input quantity.
Further, the longitudinal motion model specifically includes:
in the aboveAlpha is the angle of attack, q is the pitch angle rate, delta e F is an elevator α Force disturbance term for angle of attack channel, f q Moment disturbance term for pitch angle speed channel, b q For pitch steering efficiency.
Further, the linear state feedback control model specifically includes:
wherein delta e1 Obtaining elevator deflection, k for linear state feedback calculation α For tracking error feedback coefficient of attack angle, k α >0，k q Is the pitch angle rate feedback coefficient, k q >0, x state variable, e is tracking error, q is pitch angle rate.
Further, the compensation model is:
wherein K is d Representing interference compensation gain, K x For linear feedback gain, f α Force disturbance term for angle of attack channel, f q Moment disturbance term delta as pitch angle speed channel e2 Representing compensating interference term f α And f q The required elevator deflection;b＝[0 b q ] T ,b d ＝[1 0] T ,c＝[1 0]。
in a second aspect, embodiments of the present application provide a longitudinal adaptive control device for a wide-speed-domain aircraft, including:
the device comprises an acquisition module, a data processing module and a control module;
the acquisition module is used for acquiring flight state parameters;
the data processing module is used for determining a longitudinal motion model of the target aircraft based on short-period motion according to the flight state parameters; the longitudinal motion model comprises interference terms and non-interference terms; according to the flight state parameters, determining a linear state feedback control model corresponding to the non-interference item; determining a compensation model corresponding to the interference item according to the flight state parameter; determining a nonlinear self-adaptive control law of the target aircraft according to the linear state feedback control model and the compensation model;
the control module is used for controlling the target aircraft according to the nonlinear self-adaptive control law.
Further, the device also comprises a preprocessing module;
the data processing module is also used for determining an interference estimation model according to the flight state parameters, and the interference estimation model can calculate the attack angle force interference term and the pitch angle speed moment interference term simultaneously.
Further, the interference estimation model is specifically:
wherein,the k step length is represented by a time-varying diagonal dominant matrix for unknown parameter estimation, eta and mu are interference estimator parameters, delta Y is the deviation between an estimated value and a measured value of a state to be estimated, and delta U represents the error between the estimated value and the measured value of an input quantity.
In a third aspect, embodiments of the present application provide a storage medium, including:
for storing computer-executable instructions which, when executed, implement the method of any of the first aspects.
Compared with the prior art, the application can at least realize the following technical effects:
based on the short periodic motion, the disturbance term and the non-disturbance term are defined in a longitudinal motion model. Then, a compensation model is created for the interference item, and a linear state feedback control model is created for the non-interference item, so that the compensation model and the linear state feedback control model are used for replacing a low-pass filter and a parameter self-adaptive law, the whole control scheme is changed from being applicable to the linear self-adaptive control law to being applicable to the non-linear self-adaptive control law, and therefore upper boundaries of parameter setting are not needed.
Drawings
For a clearer description of one or more embodiments of the present description or of the solutions of the prior art, the drawings that are necessary for the description of the embodiments or of the prior art will be briefly described, it being apparent that the drawings in the description that follow are only some of the embodiments described in the description, from which, for a person skilled in the art, other drawings can be obtained without inventive faculty.
FIG. 1 is a flow diagram of a method for longitudinal adaptive control of a wide-speed-domain aircraft in accordance with one or more embodiments of the present disclosure;
FIG. 2 is an angle of attack instruction and response provided by one or more embodiments of the present disclosure;
FIG. 3 is a pitch rate response provided by one or more embodiments of the present disclosure;
FIG. 4 is a pitch response provided by one or more embodiments of the present disclosure;
FIG. 5 is an elevator deflection angle provided by one or more embodiments of the present disclosure;
FIG. 6 is an illustration of angle of attack mismatch interference provided by one or more embodiments of the present disclosure;
fig. 7 is a pitch rate matching disturbance provided by one or more embodiments of the present disclosure.
Detailed Description
In order to enable a person skilled in the art to better understand the technical solutions in one or more embodiments of the present specification, the technical solutions in one or more embodiments of the present specification will be clearly and completely described below with reference to the drawings in one or more embodiments of the present specification, and it is obvious that the described embodiments are only some embodiments of the present specification, not all embodiments. All other embodiments, which can be made by one or more embodiments of the present disclosure without inventive faculty, are intended to be within the scope of the present disclosure.
The wide-speed-domain aircraft has the characteristics of wide flight range, large speed span, strong coupling, high nonlinearity, static instability, non-minimum phase, model uncertainty caused by parameter measurement/calculation deviation and the like in the flight process. This makes the existing L1 adaptive control have obvious disadvantages, while the low-pass filter can accelerate adaptive adjustment and facilitate the subsequent linear adaptive control law. Limiting high frequency signals does not adapt well to the strong coupling and highly non-linear characteristics of wide speed domain aircraft during flight. The characteristics of model uncertainty and the like caused by parameter measurement/calculation deviation enable high-gain feedback to accelerate convergence, but feedback gain and feedback transfer function are difficult to select. In addition, although the determination of the uncertainty upper bound simplifies the operation, the flight control law design is also caused to depend on the model information seriously, and once the model information has a problem, the uncertainty upper bound can further influence the calculation accuracy of the model.
In view of the above problems, an embodiment of the present application provides a longitudinal adaptive control method for a wide-speed-domain aircraft, as shown in fig. 1, including the following steps:
and step 1, acquiring flight state parameters.
In an embodiment of the present application, the flight status parameters include: angle of attack, pitch rate, elevator and pitch operating efficiency.
And 2, determining a longitudinal movement model of the target aircraft based on the short-period movement according to the flight state parameters.
In the embodiment of the application, short-period motion is focused on during longitudinal control design of the wide-speed-range aircraft, so that the aircraft can be adopted to simplify the short-period motion for control design, algorithm derivation and design are carried out for a self-adaptive control method which is convenient to improve, and a longitudinal second-order short-period model of the aircraft is converted into a longitudinal motion model:
in the above formula, alpha is attack angle, q is pitch angle speed, delta e F is an elevator α Force disturbance term for angle of attack channel, f q Moment disturbance term for pitch angle speed channel, b q For pitch steering efficiency. In order to ensure the whole-course flight safety of the wide-speed-range aircraft, the longitudinal attitude control is designed by taking the attack angle as a control quantity, and the tracked expected attack angle signal alpha is assumed d Is a constant value. Wherein f α And f q To get rid of f as interference term α And f q Other parameters are non-interfering items.
In the embodiment of the application, in order to reduce the degree of dependence on an accurate model of the aircraft, an interference estimation method is adopted to make an attack angle force interference term f α And pitch rate moment disturbance term f q Estimating and designing the simultaneous estimation f α And f q Is provided. The process of determining the interference term is as follows:
determining an interference estimation model based on short-period motion according to the flight state parameters; determining the error of the true value and the estimated value of the flight state parameter according to the interference estimation model; and determining an interference term according to the error.
Specifically, the following angle of attack and pitch angle rate estimation models are selected:
in the above, alpha m Representing an estimated value of the angle of attack, T being the sampling period, q m Representing an estimated value of pitch angle rate, k representing the current time step in the estimation algorithm.
According to the estimation model, the calculation method for designing the interference term is as follows:
in the above, deltaε AOA Representing the error of the actual value of the signal from the estimated value,is an interference estimator.1 and 2 are index values for elements in the vector.
Wherein,the calculation formula of (2) is as follows:
in the above-mentioned method, the step of,the k step length is represented by a time-varying diagonal dominant matrix for unknown parameter estimation, eta and mu are interference estimator parameters, delta Y is the deviation between an estimated value and a measured value of a state to be estimated, and delta U represents the error between the estimated value and the measured value of an input quantity.
And step 3, determining a linear state feedback control model corresponding to the non-interference item according to the flight state parameter.
In the embodiment of the present application, the linear state feedback control model is specifically:
wherein delta e1 Obtaining elevator deflection, k for linear state feedback calculation α For tracking error feedback coefficient of attack angle, k α >0，k q Is the pitch angle rate feedback coefficient, k q >0。
Specifically, the angle of attack force disturbance term f in the short period model is ignored α And pitch rate moment disturbance term f q Short period motion model simplificationIs a quasi-linear system as follows:
definition of tracking error e=α - α d The error equation of the quasi-linear system is:
define state variable x= [ e q ]] T The following matrix:
b＝[0 b q ] T ,b d ＝[1 0] T ,c＝[1 0]
the error equation can be rewritten as follows:
the linear state feedback controller is designed for the above type:
and 4, determining a compensation model corresponding to the interference item according to the flight state parameters.
In the present embodiment, the angle of attack force disturbance term f α Belongs to non-matching interference, can not be compensated by adopting an input feedback mode, and aims at f α And f q The compensation models were designed as follows:
wherein K is d Indicating an increase in interference compensationBenefit, K x For linear feedback gain, f α Force disturbance term for angle of attack channel, f q Moment disturbance term delta as pitch angle speed channel e2 Representing compensating interference term f α And f q The required elevator deflection;b＝[0 b q ] T ,b d ＝[1 0] T ,c＝[1 0]。
and 5, determining a nonlinear self-adaptive control law of the target aircraft according to the linear state feedback control model and the compensation model.
In the embodiment of the application, after the linear state feedback controller and the disturbance term compensation controller are integrated, a nonlinear adaptive control law of the following form is obtained:
and 6, controlling the target aircraft according to the nonlinear self-adaptive control law.
To illustrate the feasibility of the above embodiment, the following examples are given:
taking a typical flight state of a certain wide-speed-range aircraft as an example, the design process of the longitudinal adaptive controller is described. The longitudinal short-period motion model of the aircraft under the conditions that the flight height is 8 kilometers, the Mach number is 0.7 and the balancing flight attack angle alpha is about 2 degrees is as follows:
in the above formula, alpha is attack angle (unit rad), q is pitch angle rate (unit rad/s), and delta e Is an elevator (in rad).
Design of linear state feedback controller
After the matching interference and the non-matching interference in the short period motion model are ignored, the method is simplified into the following quasi-linear system:
definition of tracking error e=α - α d State variable x= [ e q ]] T Then, a linear state feedback controller is designed as follows:
taking k α ＝18、k q =6, then obtain the feedback control gain K x ＝[0.2511 0.0837]。
Design disturbance compensator
Compensators are respectively designed for the unmatched interference and the matched interference, and the unmatched interference f α The feedback gain of (2) is calculated as follows:
K d ＝-[c(A+bK x )b] -1 c(A+bK x ) -1 b d ＝0.0047
for the matching interference f q And mismatch interference f α The interference compensator of (1) is:
determining interference estimator parameters
Interference f of matching q And mismatch interference f α Compensation is required by using an interference estimator, and the parameter of the interference estimator is selected to be η=1.1, μ=0.6.
Construction of longitudinal nonlinear adaptive control law
After the linear state feedback controller and the interference compensator are integrated, the following longitudinal nonlinear self-adaptive control law is obtained:
simulation verification
The effectiveness of the longitudinal nonlinear self-adaptive control law on the longitudinal flight control of the wide-speed-domain aircraft is verified through a simulation mode, and simulation results are shown in fig. 2-7. As can be seen from fig. 2, the proposed longitudinal nonlinear adaptive controller can ensure that the wide-speed-range aircraft tracks the attack angle command very accurately, and as can be seen from fig. 3 and 4, the longitudinal attitude change amplitude of the wide-speed-range aircraft is small, the elevator deflection change in fig. 5 is stable, no severe amplitude change is generated, and the on-line estimation results of the longitudinal non-matching interference and the matching interference of the wide-speed-range aircraft in the flight process are given in fig. 6 and 7, and from the attack angle command tracking result, the estimation of the interference by the estimator is more accurate. In a word, the simulation result verifies the effectiveness of the proposed longitudinal nonlinear adaptive control method applied to longitudinal flight control of the wide-speed-domain aircraft.
The embodiment of the application provides a longitudinal self-adaptive control device of a wide-speed-domain aircraft, which comprises the following components: the device comprises an acquisition module, a data processing module and a control module;
the acquisition module is used for acquiring flight state parameters;
the data processing module is used for determining a longitudinal motion model of the target aircraft based on short-period motion according to the flight state parameters; the longitudinal motion model comprises interference terms and non-interference terms; according to the flight state parameters, determining a linear state feedback control model corresponding to the non-interference item; determining a compensation model corresponding to the interference item according to the flight state parameter; determining a nonlinear self-adaptive control law of the target aircraft according to the linear state feedback control model and the compensation model;
the control module is used for controlling the target aircraft according to the nonlinear self-adaptive control law.
In an embodiment of the present application, the apparatus further includes a preprocessing module; the data processing module is also used for determining an interference estimation model according to the flight state parameters, and the interference estimation model can calculate the attack angle force interference term and the pitch angle speed moment interference term simultaneously.
In the embodiment of the present application, the interference estimation model is specifically:
wherein,the k step length is represented by a time-varying diagonal dominant matrix for unknown parameter estimation, eta and mu are interference estimator parameters, delta Y is the deviation between an estimated value and a measured value of a state to be estimated, and delta U represents the error between the estimated value and the measured value of an input quantity.
An embodiment of the present application provides a storage medium, including:
for storing computer-executable instructions that when executed implement the following flow:
the foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
In the 30 s of the 20 th century, improvements to one technology could clearly be distinguished as improvements in hardware (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) or software (improvements to the process flow). However, with the development of technology, many improvements of the current method flows can be regarded as direct improvements of hardware circuit structures. Designers almost always obtain corresponding hardware circuit structures by programming improved method flows into hardware circuits. Therefore, an improvement of a method flow cannot be said to be realized by a hardware entity module. For example, a programmable logic device (Programmable Logic Device, PLD) (e.g., field programmable gate array (Field Programmable Gate Array, FPGA)) is an integrated circuit whose logic function is determined by the programming of the device by a user. A designer programs to "integrate" a digital system onto a PLD without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Moreover, nowadays, instead of manually manufacturing integrated circuit chips, such programming is mostly implemented by using "logic compiler" software, which is similar to the software compiler used in program development and writing, and the original code before the compiling is also written in a specific programming language, which is called hardware description language (Hardware Description Language, HDL), but not just one of the hdds, but a plurality of kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), lava, lola, myHDL, PALASM, RHDL (Ruby Hardware Description Language), etc., VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog are currently most commonly used. It will also be apparent to those skilled in the art that a hardware circuit implementing the logic method flow can be readily obtained by merely slightly programming the method flow into an integrated circuit using several of the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer readable medium storing computer readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable logic controllers, and embedded microcontrollers, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, atmel AT91SAM, microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic of the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller may thus be regarded as a kind of hardware component, and means for performing various functions included therein may also be regarded as structures within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.
The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. One typical implementation is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functions of each unit may be implemented in the same piece or pieces of software and/or hardware when implementing the embodiments of the present specification.
One skilled in the relevant art will recognize that one or more embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, one or more embodiments of the present description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present description can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
The present description is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the specification. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
One or more embodiments of the present specification may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. One or more embodiments of the specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The foregoing description is by way of example only and is not intended to limit the present disclosure. Various modifications and changes may occur to those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. that fall within the spirit and principles of the present document are intended to be included within the scope of the claims of the present document.
Claims (10)
1. A method for longitudinal adaptive control of a wide-speed-domain aircraft, comprising:
acquiring flight state parameters;
determining a longitudinal motion model of the target aircraft based on short-period motion according to the flight state parameters; the longitudinal motion model comprises interference terms and non-interference terms;
according to the flight state parameters, determining a linear state feedback control model corresponding to the non-interference item;
determining a compensation model corresponding to the interference item according to the flight state parameter;
determining a nonlinear self-adaptive control law of the target aircraft according to the linear state feedback control model and the compensation model;
and controlling the target aircraft according to the nonlinear adaptive control law.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises,
said determining said disturbance term based on short periodic movements according to said flight status parameter comprises:
determining an interference estimation model based on short-period motion according to the flight state parameters;
determining the error of the true value and the estimated value of the flight state parameter according to the interference estimation model;
and determining the interference item according to the error.
3. The method of claim 2, wherein the step of determining the position of the substrate comprises,
the interference estimation model is specifically:
wherein,the k step length is represented by a time-varying diagonal dominant matrix for unknown parameter estimation, eta and mu are interference estimator parameters, delta Y is the deviation between an estimated value and a measured value of a state to be estimated, and delta U represents the error between the estimated value and the measured value of an input quantity.
4. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the longitudinal movement model specifically comprises the following steps:
in the above formula, alpha is attack angle, q is pitch angle speed, delta e F is an elevator α Force disturbance term for angle of attack channel, f q Moment disturbance term for pitch angle speed channel, b q For pitch steering efficiency.
5. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the linear state feedback control model specifically comprises the following steps:
wherein delta e1 Obtaining elevator deflection, k for linear state feedback calculation α For tracking error feedback coefficient of attack angle, k α >0，k q Is the pitch angle rate feedback coefficient, k q >0, x state variable, e is tracking error, q is pitch angle speed, K x Is a linear feedback gain.
6. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the compensation model is as follows:
wherein K is d Representing interference compensation gain, K x For linear feedback gain, f α Force disturbance term for angle of attack channel, f q Moment disturbance term delta as pitch angle speed channel e2 Representing compensating interference term f α And f q The required elevator deflection;b＝[0b q ] T ,b d ＝[1 0] T ,c＝[1 0]。
7. a wide-speed-domain aircraft longitudinal adaptive control device, comprising: the device comprises an acquisition module, a data processing module and a control module;
the acquisition module is used for acquiring flight state parameters;
the data processing module is used for determining a longitudinal motion model of the target aircraft based on short-period motion according to the flight state parameters; the longitudinal motion model comprises interference terms and non-interference terms; according to the flight state parameters, determining a linear state feedback control model corresponding to the non-interference item; determining a compensation model corresponding to the interference item according to the flight state parameter; determining a nonlinear self-adaptive control law of the target aircraft according to the linear state feedback control model and the compensation model;
the control module is used for controlling the target aircraft according to the nonlinear self-adaptive control law.
8. The apparatus of claim 7, further comprising a preprocessing module;
the data processing module is also used for determining an interference estimation model according to the flight state parameters, and the interference estimation model can calculate the attack angle force interference term and the pitch angle speed moment interference term simultaneously.
9. The apparatus of claim 8, wherein the device comprises a plurality of sensors,
the interference estimation model is specifically:
wherein,the k step length is represented by a time-varying diagonal dominant matrix for unknown parameter estimation, eta and mu are interference estimator parameters, delta Y is the deviation between an estimated value and a measured value of a state to be estimated, and delta U represents the error between the estimated value and the measured value of an input quantity.
10. A storage medium, comprising:
for storing computer-executable instructions which, when executed, implement the method of any one of claims 1 to 6.
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