CN117850466A - Automatic control method and device for vertical speed mode of fixed wing aircraft - Google Patents
Automatic control method and device for vertical speed mode of fixed wing aircraft Download PDFInfo
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Abstract
The invention provides a vertical speed mode automatic control method and a device for a fixed wing aircraft, which belong to the technical field of automatic flight control, and the method is characterized in that firstly, a target value of a sliding mode control loop of an inclination angle of a flight path is determined based on a control law of a vertical speed control loop; then designing a control law of the flight path dip angle sliding mode control loop based on the target value of the flight path dip angle sliding mode control loop; the invention can accurately track the vertical speed target value when the aircraft automatically operates and is connected with the vertical speed mode, improve the stability of the control process, reduce overshoot, shorten the development period and reduce the cost.
Description
Technical Field
The invention belongs to the technical field of automatic flight control, and particularly relates to an automatic control method and device for a vertical speed mode of a fixed wing aircraft.
Background
The automatic flight control system is used as an indispensable system of a modern transportation airplane, and can effectively reduce the burden of pilots and improve the flight safety. At present, because of simple design and good robustness, the control laws of all functional modes of an automatic flight control system of most transport airplanes, including a control law of a vertical speed mode, adopt a traditional PID control law architecture. The vertical speed mode is a functional mode of the fixed wing aircraft automatic flight control system, which is the most important and basic working mode of the modern transport aircraft automatic flight control system, and control signals of other longitudinal modes can be converted into a vertical speed control loop, including a height maintenance mode, an approach and downslide mode, a vertical navigation mode and the like.
The current vertical velocity mode uses a conventional PID control method. The inner loop of the vertical speed mode control law adopts attitude control, which takes the pitch angle and the pitch angle speed of the engine body shaft as feedback signals of the inner loop, and the outer loop adopts PI or PID control of vertical speed deviation and converts the vertical speed deviation into a target pitch angle.
The disadvantages of the control method described above are: in actual engineering, when designing the control law of the vertical speed mode, proper control law parameters can be found through multiple parameter trial-and-error according to certain engineering experience, which clearly increases the development period and the cost, and meanwhile, the control precision and the stability are lower.
Disclosure of Invention
The invention provides a method and a device for automatically controlling a vertical speed mode of a fixed wing aircraft, which are used for solving the problems that the development period and the cost are increased and the control precision and the stability are lower when the control law of the vertical speed mode is designed in the prior art. The technical scheme is as follows:
in a first aspect, there is provided a method of automatically controlling a vertical speed mode of a fixed wing aircraft, the method comprising:
step one, determining the control loop of the inclination angle sliding mode of the flight path based on the control law of the vertical speed control loopRoad target value gamma d ；
Step two, sliding mode control loop target value gamma based on inclination angle of flight path d Designing a control law of a flight path dip angle sliding mode control loop;
further, the method further comprises:
and thirdly, automatically controlling the vertical speed mode of the aircraft by the flight control computer based on the control law of the flight path inclination angle sliding mode control loop.
Optionally, the flight path dip angle sliding mode control loop target value gamma d The calculation formula of (2) is as follows:
γ d ＝arcsin(u/V 0 )
wherein, gamma d For the target value of the sliding mode control loop of the inclination angle of the flight path, V 0 For the speed of the aircraft,selecting a value for vertical speed, < >>For real-time vertical speed of aircraft>Is vertical speed deviation +.>As differential signal of vertical velocity deviation, K 1 、K 2 、K 3 、K 4 Respectively a proportional coefficient, a differential coefficient, an integral coefficient and a deviation coefficient.
Optionally, when designing a control law of a sliding mode control loop of the inclination angle of the flight path in the second step, designing a Lyapunov function based on a sliding mode surface function and deriving the Lyapunov function; determining an expression of an exponential approach law of the vertical speed mode based on a derivative result of the Lyapunov function; and then deducing an expression of a control law of the flight path dip angle sliding mode control loop.
Optionally, when designing the sliding mode surface function, selecting the following form of the aircraft dynamics state space equation:
wherein alpha, q, gamma, delta ec Respectively the attack angle, pitch angle speed, flight path dip angle and elevator deflection angle of the aircraft,the derivative of the angle of attack of the aircraft, the derivative of the pitch angle rate, the derivative of the flight path pitch angle,/->For the elevator deflection angle matrix, +.>Is an aircraft dynamics state space matrix;
taking the n of the sliding mode surface function as 3, wherein the sliding mode surface function is as follows: s=c 1 x 1 +c 2 x 2 +x 3 Wherein x is 1 、x 2 、x 3 Respectively representing aircraft state variables alpha, q and gamma; s is a sliding mode surface function, c 1 、c 2 The method meets the following conditions: c 1 ＝λ 2 ,c 2 =2λ, λ takes negative value, x 3 ＝γ-γ d 。
Optionally, a positive Lyapunov function is defined as:
for Lyapunov function derivation, obtaining:
the expression for determining the exponential approach law is:k is a number greater than 0;
the expression of the control law of the flight path dip angle sliding mode control loop is obtained by deduction:
in the method, in the process of the invention,
optionally, the third step includes:
step 31, the flight control computer calculates the displacement of the actuator based on the control law of the flight path dip angle sliding mode control loop;
step 32, the flight control calculation sends the displacement of the actuator to an actuator control system;
step 33, the actuator control system determines the control surface deflection angle based on the displacement of the actuator;
step 34, the automatic throttle control system acquires target speed, aircraft flight speed and acceleration, and calculates and obtains a throttle lever angle;
and 35, the automatic throttle control system sends the throttle lever angle to the engine control system, so that the engine control system performs engine thrust control according to the throttle lever angle.
Alternatively, the k-value and the lambda-value are determined from overshoot and oscillation conditions of the actual vertical velocity of the aircraft.
Alternatively, K 1 、K 2 、K 3 、K 4 Is determined from the aircraft flight status.
In a second aspect, there is provided a fixed-wing aircraft vertical speed mode automatic control device for executing a fixed-wing aircraft vertical speed mode automatic control method according to any one of the first aspects, the device comprising:
the determining module is used for determining a target value gamma of the sliding mode control loop of the inclination angle of the flight path based on the control law of the vertical speed control loop d ；
The design module is used for controlling the target value gamma of the loop based on the sliding mode of the inclination angle of the flight path d And designing a control law of a flight path dip angle sliding mode control loop.
In a third aspect, there is provided an automatic control device for a fixed-wing aircraft vertical speed mode, comprising a processor and a memory, the processor being configured to execute instructions stored in the memory, the processor implementing any one of the automatic control methods for a fixed-wing aircraft vertical speed mode by executing the instructions.
In a fourth aspect, there is provided a computer readable storage medium having instructions stored therein which, when run on a processing component of a computer, cause the processing component to perform a fixed wing aircraft vertical speed mode automatic control method according to any one of the first aspects.
In a fifth aspect, there is provided a computer program product comprising instructions which, when run on a computer, cause the computer to perform a fixed wing aircraft vertical speed mode automatic control method according to any one of the first aspects.
The invention has the advantages that:
the method provided by the invention can more accurately control the aircraft to follow the vertical speed target value selected by the pilot when the aircraft executes the vertical speed mode, reduces the overshoot of the vertical speed, ensures that the aircraft flight control is more stable, improves the riding comfort of passengers, and is easy to realize. The invention can be used as an inner loop of automatic driving in a high-keeping, high-intercepting, vertical navigation and approach-sliding mode. The invention can be used for the control law design of the vertical speed mode of the fixed-wing unmanned aerial vehicle or the fixed-wing unmanned aerial vehicle.
Drawings
FIG. 1 is a block diagram of a vertical velocity mode control method provided by the present invention;
FIG. 2 is a vertical velocity control loop model provided by the present invention;
FIG. 3 is a model of a flight path dip angle slipform control loop provided by the present invention;
FIG. 4 is a graph of a given target vertical velocity value H_g of the present invention;
FIG. 5 is a simulation plot of aircraft vertical velocity control provided by the present invention.
Detailed Description
The invention is described in further detail below with reference to specific embodiments and figures.
The invention provides an automatic control method for a vertical speed mode of a fixed-wing aircraft, which mainly comprises the steps of determining a target value gamma of a sliding mode control loop of an inclination angle of a flight track d And designing a control law of a sliding mode control loop of the inclination angle of the flight path. Referring to fig. 1, the method includes the steps of:
step one, determining a target value gamma of a sliding mode control loop of an inclination angle of a flight path based on a control law of a vertical speed control loop d 。
Target value gamma of sliding mode control loop of inclination angle of flight path d The calculation formula of (2) is as follows:
γ d ＝arcsin(u/V 0 )
wherein, gamma d For the target value of the sliding mode control loop of the inclination angle of the flight path, V 0 For the speed of the aircraft,selecting a value for vertical speed, < >>For real-time vertical speed of aircraft>Is vertical speed deviation +.>As differential signal of vertical velocity deviation, K 1 、K 2 、K 3 、K 4 Respectively a proportional coefficient, a differential coefficient, an integral coefficient and a deviation coefficient. In practical application, K 1 、K 2 、K 3 、K 4 Should be determined based on the aircraft flight status.
Further, in order to improve the control accuracy, the vertical velocity deviationThe filtering process should be performed.
Step two, sliding mode control loop target value gamma based on inclination angle of flight path d And designing a control law of a flight path dip angle sliding mode control loop.
Specifically, the control law of the sliding mode control loop of the inclination angle of the flight path is designed according to the following steps:
1) Design of the sliding mode surface function
The following form of the aircraft dynamics state space equation is selected:
wherein alpha, q, gamma, delta ec Respectively the attack angle, pitch angle speed, flight path dip angle and elevator deflection angle of the aircraft,the derivative of the angle of attack of the aircraft, the derivative of the pitch angle rate and the derivative of the flight path dip angle, respectively. />Is an elevator deflection angle matrix, +.>Is an aircraft dynamics state space matrix.
The order of the aircraft dynamics state space equation is 3, so n of the sliding mode surface function is 3, and the sliding mode surface function is:
s＝c 1 x 1 +c 2 x 2 +x 3
wherein x is 1 、x 2 、x 3 Representing aircraft state variables α, q, γ, respectively. s is a sliding mode surface function, c 1 、c 2 The requirements are as follows: c 1 ＝λ 2 ,c 2 =2λ, where λ takes a negative value. In a specific design, the lambda value should be selected based on overshoot and oscillation of the actual vertical velocity of the aircraft.
To make the inclination angle of the flight path of the airplane always track the target instruction, let x 3 ＝γ-γ d Wherein, gamma is d And controlling a loop target value for the inclination angle sliding mode of the flight path.
2) And designing a Lyapunov function based on the sliding mode surface function, and deriving.
Defining a positive Lyapunov function as:
deriving the Lyapunov function to obtain:
3) Based on the derivative of the Lyapunov function, an expression of an exponential approach law of the vertical velocity mode is determined.
By forcing the time derivative of the Liapunov function to be negative, i.e.The expression for determining the exponential approach law is: />Where k is a number greater than 0. In a specific design, the k value should be selected based on overshoot and oscillation of the actual vertical velocity of the aircraft.
4) The expression for deducing the control law of the flight path dip angle sliding mode control loop is as follows:
in the method, in the process of the invention,
A 1 ＝-c 1 a 11 --c 2 a 12 ,
A 2 ＝-c 1 a 12 --c 2 a 22 ,
B＝c 1 b 1 --c 2 b 2
and thirdly, automatically controlling the vertical speed mode of the aircraft by the flight control computer based on the control law of the flight path inclination angle sliding mode control loop.
The third step specifically comprises:
step 31, the flight control computer calculates the displacement delta of the actuator based on the control law of the flight path dip angle sliding mode control loop ec ；
Step 32, flight control calculation is carried out to calculate the displacement delta of the actuator ec Sending to an actuator control system;
step 33, the actuator control system is based on the actuator displacement delta ec Determining the deflection angle delta of the control surface e The method comprises the steps of carrying out a first treatment on the surface of the Determining the deflection angle delta of the control surface e Reference may be made to the related art;
step 34, the automatic throttle control system acquires target speed Vg, aircraft flight speed and acceleration, and calculates and obtains a throttle lever angle;
and 35, the automatic throttle control system sends the throttle lever angle to the engine control system, so that the engine control system performs engine thrust control according to the throttle lever angle.
An exemplary embodiment of the present invention provides a method for automatically controlling a vertical speed mode of a fixed wing aircraft, which includes the following steps:
1) Adopting the first step to determine the target value gamma of the sliding mode control loop of the inclination angle of the flight path d 。
2) And (3) designing the control law of the flight path dip angle sliding mode control loop by adopting the design method of the control law of the flight path dip angle sliding mode control loop in the step two, and deducing an expression of the control law of the flight path dip angle sliding mode control loop.
3) And developing controller software of the vertical speed mode according to a control law architecture diagram of the vertical speed mode in a virtual frame shown in fig. 1, and loading the expressions of the calculation formulas and the control laws in the first step and the second step to the flight control computer. The vertical speed control loop of FIG. 1 has three input signals, one for eachAn output signal gamma d The flight path dip angle sliding mode control loop of FIG. 1 has four input signals, alpha, q, gamma respectively d An output signal delta ec 。
The verification of the vertical speed control method is completed by the following steps:
step 1) as shown in figure 1, a Matlab/Simulink is adopted to build a simulation model, the model consists of an aircraft longitudinal dynamics model, an actuator model, an automatic accelerator control system model, a flight path dip angle sliding mode control loop model and a vertical speed control loop model, and the simulation model is shown in figure 1Representing a given target vertical velocity, +.>Representing a real-time aircraft vertical speed feedback signal,differential signal representing vertical velocity, gamma representing flight path dip angle, alpha representing angle of attack, q representing pitch angle velocity, V g Indicating a given target airspeed, V indicating airspeed, < +.>Differential signal representing airspeed, delta e Indicating the deflection angle delta of the elevator t The throttle lever angle is represented, and V represents airspeed; and leading out a flight path inclination angle signal, an attack angle signal, a pitch angle speed signal, an airspeed signal and a vertical speed signal from the aircraft longitudinal dynamics model and sending the signals to the control law model.
And 2) constructing a vertical speed control loop model in the vertical speed mode control law framework frame shown in fig. 1 by adopting mathematical simulation software Matlab/Simulink, wherein the model is shown in fig. 2, and the values of the control law parameters selected according to the embodiment are shown in table 1.
TABLE 1 vertical speed control Loop control law parameters
| K1 | 0.2 |
| K2 | 1 |
| K3 | 0.1 |
| K4 | 1 |
And 3) constructing a flight path dip angle sliding mode control loop model in the vertical speed mode control law framework frame in fig. 1 by adopting mathematical simulation software Matlab/Simulink, wherein the model is shown in fig. 3. In this embodiment, c is selected from the sliding mode function 1 ＝4,c 2 K=3 is chosen from the exponential approach law.
Step 4) setting the running period of the whole model to be 0.02 seconds, and setting the simulation time to be 80 seconds;
step 5) the initial flight altitude of the aircraft is 4000 meters, and the airspeed is 130 meters per second;
step 6) a given target vertical velocity value H_g curve is shown in FIG. 4, and is expressed in meters per second;
in fig. 4, the target vertical velocity value given for 0 to 20 seconds is +10 meters per second, the target value for 20 to 40 seconds is 0 meters per second, the target value for 40 to 60 seconds is-10 meters per second, and the target value for 60 to 80 seconds is 0 meters per second.
From fig. 5, it can be seen that the aircraft can well follow a given vertical velocity target value, the overshoot is small, no oscillation phenomenon occurs, and the control effect is good. The effectiveness of the method of the invention was verified.
The automatic control method for the vertical speed mode provided by the embodiment of the invention can be used as an inner loop of automatic driving modes of high maintenance, high interception, vertical navigation and approaching and downslide.
The control method of the vertical speed mode provided by the embodiment of the invention can be used for the control law design of the vertical speed mode of the fixed-wing unmanned aerial vehicle or the fixed-wing unmanned aerial vehicle.
The method provided by the invention has the advantages of quick response, insensitivity to parameter change and disturbance and very good robustness to a system with uncertain parameters.
An embodiment of the present invention further provides an automatic control device for a vertical speed mode of a fixed wing aircraft, configured to execute the automatic control method for a vertical speed mode of a fixed wing aircraft provided by the embodiment of the present invention, where the device includes:
a determining module for determining the inclination angle of the flight path based on the control law of the vertical speed control loopSlip form control loop target value gamma d ；
The design module is used for controlling the target value gamma of the loop based on the sliding mode of the inclination angle of the flight path d And designing a control law of a flight path dip angle sliding mode control loop.
The specific execution process of each module in the present invention may refer to the specific process of the related steps of the above method, and will not be described herein.
An embodiment of the present invention further provides an automatic control device for a vertical speed mode of a fixed wing aircraft, including a processor and a memory, where the processor is configured to execute instructions stored in the memory, and the processor implements the automatic control method for a vertical speed mode of a fixed wing aircraft according to the present invention by executing the instructions.
Another embodiment of the present invention provides a computer readable storage medium having instructions stored therein that, when executed on a processing component of a computer, cause the processing component to perform a fixed wing aircraft vertical speed mode automatic control method of the present invention.
A further embodiment of the invention provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform a fixed wing aircraft vertical speed mode automatic control method according to the invention.
The foregoing has outlined rather broadly the more detailed description of the invention in order that the detailed description thereof that follows may be better understood, and in order that the present invention may be better understood. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. In addition, the invention is not fully described in the conventional technology.
Claims (10)
1. A method for automatically controlling a vertical speed mode of a fixed wing aircraft, the method comprising:
step one, determining the sliding mode control of the inclination angle of a flight path based on a control law of a vertical speed control loopControl loop target value gamma d ；
Step two, sliding mode control loop target value gamma based on inclination angle of flight path d And designing a control law of a flight path dip angle sliding mode control loop.
2. The method according to claim 1, wherein the method further comprises:
and thirdly, automatically controlling the vertical speed mode of the aircraft by the flight control computer based on the control law of the flight path inclination angle sliding mode control loop.
3. The method of claim 1, wherein the flight path dip angle slip-form control loop target value γ d The calculation formula of (2) is as follows:
γ d ＝arcsin(u/V 0 )
wherein, gamma d For the target value of the sliding mode control loop of the inclination angle of the flight path, V 0 For the speed of the aircraft,a value is selected for the vertical velocity and,for real-time vertical speed of aircraft>Is vertical speed deviation +.>As differential signal of vertical velocity deviation, K 1 、K 2 、K 3 、K 4 Respectively a proportional coefficient, a differential coefficient, an integral coefficient and a deviation coefficient.
4. The method of claim 3, wherein in the step two, when designing a control law of a sliding mode control loop of the inclination angle of the flight path, a Lyapunov function is designed based on a sliding mode surface function and is derived; determining an expression of an exponential approach law of the vertical speed mode based on a derivative result of the Lyapunov function; and then deducing an expression of a control law of the flight path dip angle sliding mode control loop.
5. The method of claim 4, wherein in the designing of the designed sliding surface function in step two, the following form of the aircraft dynamics state space equation is selected:
wherein alpha, q, gamma, delta ec Respectively the attack angle, pitch angle speed, flight path dip angle and elevator deflection angle of the aircraft,the derivative of the angle of attack of the aircraft, the derivative of the pitch angle rate, the derivative of the flight path pitch angle,/->For the elevator deflection angle matrix, +.>Is an aircraft dynamics state space matrix;
taking the n of the sliding mode surface function as 3, wherein the sliding mode surface function is as follows: s=c 1 x 1 +c 2 x 2 +x 3 Wherein x is 1 、x 2 、x 3 Respectively representing aircraft state variables alpha, q and gamma; s is a sliding mode surface function, c 1 、c 2 The method meets the following conditions: c 1 ＝λ 2 ,c 2 =2λ, λ takes negative value, x 3 ＝γ-γ d 。
6. The method of claim 5, wherein the step two defines a positive Lyapunov function as:
deriving the Lyapunov function to obtain:
the expression for determining the exponential approach law is:k is a number greater than 0;
the expression of the control law of the flight path dip angle sliding mode control loop is obtained by deduction:
in the method, in the process of the invention,
7. the method of claim 2, wherein step three comprises:
step 31, the flight control computer calculates the displacement of the actuator based on the control law of the flight path dip angle sliding mode control loop;
step 32, the flight control calculation sends the displacement of the actuator to an actuator control system;
step 33, the actuator control system determines the control surface deflection angle based on the displacement of the actuator;
step 34, the automatic throttle control system acquires target speed, aircraft flight speed and acceleration, and calculates and obtains a throttle lever angle;
and 35, the automatic throttle control system sends the throttle lever angle to the engine control system, so that the engine control system performs engine thrust control according to the throttle lever angle.
8. The method of claim 5, wherein the k-value and the λ -value are determined based on overshoot and oscillation of the actual vertical velocity of the aircraft.
9. The method according to claim 2, wherein K 1 、K 2 、K 3 、K 4 Is determined from the aircraft flight status.
10. A fixed-wing aircraft vertical speed mode automatic control apparatus for performing a fixed-wing aircraft vertical speed mode automatic control method according to any one of claims 1 to 9, the apparatus comprising:
the determining module is used for determining a target value gamma of the sliding mode control loop of the inclination angle of the flight path based on the control law of the vertical speed control loop d ；
The design module is used for controlling the target value gamma of the loop based on the sliding mode of the inclination angle of the flight path d And designing a control law of a flight path dip angle sliding mode control loop.
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