JPH09136698A - Servo control system for rudder of air plane - Google Patents
Servo control system for rudder of air planeInfo
- Publication number
- JPH09136698A JPH09136698A JP29845895A JP29845895A JPH09136698A JP H09136698 A JPH09136698 A JP H09136698A JP 29845895 A JP29845895 A JP 29845895A JP 29845895 A JP29845895 A JP 29845895A JP H09136698 A JPH09136698 A JP H09136698A
- Authority
- JP
- Japan
- Prior art keywords
- control
- natural frequency
- fluctuation
- controlled
- rudder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は航空機の舵面のサー
ボ制御システムの改良に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement of a servo control system for a control surface of an aircraft.
【０００２】[0002]
【従来の技術】従来の航空機の舵面操作の制御システム
として、例えば特開平３−１２７０７号公報によって、
図８に示すようなものが提案されている。2. Description of the Related Art A conventional control system for controlling the control surface of an aircraft is disclosed in, for example, Japanese Patent Laid-Open No. 3-12707.
The one shown in FIG. 8 has been proposed.
【０００３】これは、制御対象の固有振動数が変動して
も安定した制御特性が得られるように、適応機構（適応
制御）により制御対象の固有振動数を同定し、この固有
振動数と合致するように補償器の係数を変更し、常に制
御対象の固有振動数域でのゲイン余裕を確保するもの
で、固有振動数を同定するアルゴリズムにはＦＦＴ、Ｐ
ＳＤを利用している。This is because the natural frequency of the controlled object is identified by an adaptive mechanism (adaptive control) so that stable control characteristics can be obtained even if the natural frequency of the controlled object fluctuates, and it matches with the natural frequency. The coefficient of the compensator is changed so that the gain margin in the natural frequency range of the controlled object is always ensured. The algorithm for identifying the natural frequency is FFT, P
I am using SD.
【０００４】一般に制御におけるゲインを大きくすると
応答性が良好となる反面、ゲインが大きくなる周波数域
では共振が発生しやすいなど、制御システムは不安定に
なりやすい。制御対象の固有振動数域での共振を回避す
るため、例えばノッチフィルタにより特定の周波数域で
のゲインを低め、安定性を確保することが考えられる
が、航空機の舵面操作のように、制御対象の固有振動数
が変動する場合には、この変動に伴ってノッチフィルタ
よる補償が無効となり、固有振動数が変動しても常に制
御の安定性を維持できるというわけにはいかない。Generally, when the gain in the control is increased, the responsiveness is improved, but on the other hand, the control system is liable to become unstable such that resonance is likely to occur in the frequency range where the gain is increased. In order to avoid resonance in the natural frequency range of the controlled object, it is conceivable to lower the gain in a specific frequency range with a notch filter, for example, to ensure stability. When the target natural frequency fluctuates, the compensation by the notch filter becomes invalid along with this fluctuation, and even if the natural frequency fluctuates, the control stability cannot always be maintained.
【０００５】そこで、上記した制御システムでは、制御
対象の入出力データのパワースペクトル密度から、制御
対象の周波数応答を推定することにより、制御対象の固
有振動数を同定し、この固有振動数と合致するようにデ
ジタルフィルタの係数列を設定して、常に最適なフィル
タ効果を確保し、この結果、固有振動数が変動しても、
その固有振動数域においてのゲイン余裕を確保し、常に
安定した制御特性を維持することを可能にした。Therefore, in the control system described above, the natural frequency of the controlled object is identified by estimating the frequency response of the controlled object from the power spectral density of the input / output data of the controlled object, and the natural frequency of the controlled object is matched. The coefficient sequence of the digital filter is set so that the optimum filter effect is always secured, and as a result, even if the natural frequency fluctuates,
The gain margin in the natural frequency range is secured, and stable control characteristics can always be maintained.
【０００６】[0006]
【発明が解決しようとする課題】ところが、この制御シ
ステムでは適応機構を利用して、制御対象の変動する固
有振動数を同定するため、コントローラへの実装が必ず
しも容易ではないという問題があった。However, in this control system, the adaptive mechanism is utilized to identify the fluctuating natural frequency of the controlled object, so that there is a problem that it is not always easy to implement the controller.
【０００７】つまり、コントローラには固有振動数同定
のための適応機構として非線形特性が要求され、また、
適応機構では制御対象のモデルを変動要素に応じて絶え
ず修正する必要があり、また変動があまり速いと追従で
きない。That is, the controller is required to have a non-linear characteristic as an adaptive mechanism for identifying the natural frequency.
In the adaptive mechanism, it is necessary to constantly modify the model of the controlled object according to the fluctuation element, and if the fluctuation is too fast, it cannot follow.
【０００８】そこで本発明は、制御対象の固有振動数が
ある範囲で変動しても常に安定した制御特性が得られる
と共に、実装が容易なコントローラを実現することの可
能な航空機舵面のサーボ制御システムを提供することを
目的とする。In view of the above, the present invention provides a servo control of an aircraft control surface that can always realize stable control characteristics even if the natural frequency of the controlled object fluctuates within a certain range and that can realize a controller that is easy to implement. The purpose is to provide a system.
【０００９】[0009]
【課題を解決するための手段】第１の発明は、アクチュ
エータにより操作される航空機の舵面操作を、目標値と
舵面の制御量とが一致するように操作量を出力する補償
器を備えたコントローラにより制御するサーボ制御シス
テムにおいて、アクチュエータ及び舵面を固有振動数の
変動を生じるモデルとして規定した制御対象と、制御対
象の固有振動数のある定めた範囲の変動を舵面等価質
量、舵面剛性のパラメータ変動として扱う手段と、制御
対象が前記範囲内で変動してもロバスト安定であるよう
にロバスト制御手法により設計された線形補償器とを備
える。A first aspect of the present invention includes a compensator for outputting the operation amount of an aircraft control surface operation operated by an actuator so that a target value and a control amount of the control surface match. In a servo control system controlled by a controller, the actuator and control surface are regulated as a model that causes fluctuations in natural frequency, and fluctuations within a certain range of the control target natural frequency A means for treating the surface rigidity as a parameter variation and a linear compensator designed by a robust control method so as to be robustly stable even if the controlled object varies within the above range.
【００１０】第２の発明は、第１の発明において、線形
補償器はＨ２制御、Ｈ∞制御、μ制御手法により設計さ
れる。In a second aspect based on the first aspect, the linear compensator is designed by H2 control, H∞ control and μ control method.
【００１１】[0011]
【作用】本発明においては、例えば制御対象であるノミ
ナルモデルが、ある範囲で変動してもロバスト安定であ
るように、固有振動数の変動を舵面等価質量、舵面剛性
のパラメータ変動として扱い、ロバスト制御手法により
設計された線形補償器を備えるため、実際の制御対象の
固有振動数が所定の範囲内で変動しても、常に安定した
制御特性が維持される。In the present invention, the fluctuation of the natural frequency is treated as the fluctuation of the rudder surface equivalent mass and the fluctuation of the rudder surface rigidity so that, for example, the nominal model to be controlled is robustly stable even if it fluctuates within a certain range. Since the linear compensator designed by the robust control method is provided, stable control characteristics are always maintained even if the natural frequency of the actual controlled object fluctuates within a predetermined range.
【００１２】[0012]
【発明の実施の形態】本発明の実施の態様を図面にした
がって説明する。BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described with reference to the drawings.
【００１３】図１は制御系のブロック図、図２は制御対
象の構成図であり、まず、図２において、１は後述する
コントローラからの信号で作動するサーボ弁、２はサー
ボ弁１により制御される作動油に応じて作動する油圧ア
クチュエータである。油圧アクチュエータ２は機体８に
取付けられると共に、その伸縮作動により舵面５の舵角
を操作する。これら油圧アクチュエータ２及び舵面５
は、後述するように固有振動数の変動を生じるモデル化
された制御対象を構成する。３はアクチュエータ２の変
位量を検出する検出器３である。FIG. 1 is a block diagram of a control system, and FIG. 2 is a configuration diagram of an object to be controlled. First, in FIG. 2, 1 is a servo valve operated by a signal from a controller to be described later, and 2 is a servo valve 1. It is a hydraulic actuator that operates according to the hydraulic oil that is used. The hydraulic actuator 2 is attached to the machine body 8 and operates the rudder angle of the control surface 5 by its expansion and contraction operation. These hydraulic actuator 2 and control surface 5
Constitutes a modeled controlled object that causes a change in natural frequency as described later. Reference numeral 3 is a detector 3 that detects the amount of displacement of the actuator 2.
【００１４】なお、図中のＫ1は舵面５の概略の剛性、
Ｍは同じく舵面５の概略等価質量、Ｋ0はアクチュエー
タ２の概略の油圧等価剛性、Ｋcはアクチュエータ２の
機体８への取付剛性をそれぞれ表す。In the figure, K 1 is the rough rigidity of the control surface 5,
Similarly, M is a rough equivalent mass of the control surface 5, K 0 is a rough hydraulic equivalent rigidity of the actuator 2, and K c is a mounting rigidity of the actuator 2 to the body 8.
【００１５】本発明では、ロバスト制御の手法としてＨ
２制御を利用し、上記した舵面等価質量と舵面剛性の２
つのパラメータが制御対象の固有振動数の変動に大きく
関与することに着目し、実際の制御対象の固有振動数の
変動を、これら舵面等価質量と舵面剛性のパラメータ変
動として扱うことに特徴がある。In the present invention, H is used as a robust control method.
2 control is used, and the control surface equivalent mass and the control surface rigidity 2
Focusing on the fact that the three parameters greatly influence the fluctuation of the natural frequency of the controlled object, the feature is that the fluctuation of the natural frequency of the actual controlled object is treated as the parameter fluctuation of these rudder surface equivalent mass and rudder surface rigidity. is there.
【００１６】図１の制御系において、コントローラ１０
は、制御対象Ｐ’を制御するための目標値ｒが入力する
と共に制御対象Ｐ’の出力（制御量）ｙがフィードバッ
クされる加算器１３と、これらの偏差ｅを解消するよう
に操作量ｕを出力する補償器１４とから構成される。ま
た、Ｐは制御対象Ｐ’の数学モデルとしてのノミナルモ
デル、また、Δａは制御対象Ｐ’がノミナルモデルＰか
ら変動するとしたときの加法変動であり、このΔａに上
記した舵面等価質量と舵面剛性のパラメータ変動を含ま
せる。In the control system of FIG. 1, the controller 10
Is an adder 13 to which a target value r for controlling the controlled object P ′ is input and the output (control amount) y of the controlled object P ′ is fed back, and a manipulated variable u so as to eliminate the deviation e between them. And a compensator 14 that outputs Further, P is a nominal model as a mathematical model of the controlled object P ′, and Δa is an additive fluctuation when the controlled object P ′ fluctuates from the nominal model P. Includes surface stiffness parameter variations.
【００１７】図３は、図１をもとに、これを一般化プラ
ントとして表したもので、ここで、ＷｓとＷｔは設計重
みで、ｚ1とｚ2は、それぞれ偏差ｅと操作量ｕに設計重
みをつけた量を表す。FIG. 3 shows this as a generalized plant based on FIG. 1, where Ws and Wt are design weights, and z 1 and z 2 are deviation e and manipulated variable u, respectively. Represents the amount with the design weight.
【００１８】Ｗｔを大きくするとロバスト安定性が高く
なり、Ｗｓを大きくすると制御系の応答性が高くなる。
しかし、これらＷｔとＷｓはトレードオフの関係にあ
り、ロバスト安定性と応答性を同時に高くすることはで
きない。したがって、これらの設計重みを不必要に大き
くしないようにすることが重要となる。When Wt is increased, the robust stability is increased, and when Ws is increased, the response of the control system is increased.
However, Wt and Ws are in a trade-off relationship, and robust stability and responsiveness cannot be increased at the same time. Therefore, it is important not to make these design weights unnecessarily large.
【００１９】図４は舵面等価質量と舵面剛性のパラメー
タ変動をある一定の範囲に定めたときの加法変動Δａの
一例であるが、Ｗｔの具体的な設定方法として、Ｗｔが
Δａを覆い、かつモデル変動の影響の少ない部分ではな
るべく小さくなるように、図の点線で示すような特性に
設定する。FIG. 4 shows an example of the additive variation Δa when the parameter variations of the control surface equivalent mass and the control surface rigidity are set within a certain range. As a concrete setting method of Wt, Wt covers Δa. In addition, the characteristic is set as shown by the dotted line in the figure so that it becomes as small as possible in the portion where the influence of the model variation is small.
【００２０】そこで、公知のＨ２制御の設計手法に基づ
いて、次の評価関数Therefore, based on the known H2 control design method, the following evaluation function is used.
【００２１】[0021]
【数１】 (Equation 1)
【００２２】を最小とする補償器Ｋを求める。なお、こ
のＨ２制御に関しては、次の参考文献１，２に詳細に記
載されているので、ここでは説明しない。A compensator K that minimizes is obtained. The H2 control is described in detail in the following references 1 and 2 and will not be described here.
【００２３】＊参考文献１：美多勉「Ｈ∞制御」昭晃堂
6〜12頁、141〜147頁 ＊参考文献２：ＴｈｅＭａｔｈＷｏｒｋｓＩｎｃ「ロバ
ストコントロールツールボックスユーザーズガイド」サ
イバネットシステム株式会社 35〜37頁 以上の制御により、次のような作用を生じる。* Reference 1: Tsutomu Mita "H∞ control" Shokoido
Pages 6 to 12, 141 to 147 * Reference 2: The MathWorks Inc. “Robust Control Toolbox User's Guide” Cybernet System Co., Ltd. Pages 35 to 37 The following operations produce the following effects.
【００２４】図２において、制御対象の固有振動数ωn
とすると、In FIG. 2, the natural frequency ω n of the controlled object
Then
【００２５】[0025]
【数２】 (Equation 2)
【００２６】として表すことができる。このことから、
制御対象の固有振動数ωnの変動は、舵面等価質量Ｍ、
舵面剛性Ｋ1、油圧等価剛性Ｋ0、機体取付剛性Ｋcの４
つのパラメータ変動で表すことができる。Can be expressed as: From this,
The fluctuation of the natural frequency ω n of the controlled object is the control surface equivalent mass M,
Rudder surface rigidity K 1 , hydraulic equivalent rigidity K 0 , machine body mounting rigidity K c 4
It can be represented by one parameter variation.
【００２７】Ｋcは剛性が高く、ωnの変動への影響は少
なく、また、制御系はフィードバック制御をとることに
より、Ｋ0が変動する影響はある程度抑えることができ
るので、Ｋ0の変動はＭ，Ｋ1に比較すると、ωnの変動
に及ぼす影響が小さい。これらのことから、制御対象の
固有振動数ωnの変動を、舵面等価質量Ｍと舵面剛性Ｋ1
のパラメータ変動に限って扱っても、信頼性は確保でき
る。K c has a high rigidity and has little influence on the fluctuation of ω n. Further , the feedback control of the control system can suppress the influence of the fluctuation of K 0 to some extent, so that the fluctuation of K 0 can be suppressed. Has a smaller effect on the variation of ω n than M and K 1 . From these facts, the fluctuation of the natural frequency ω n of the controlled object is calculated by changing the control surface equivalent mass M and the control surface rigidity K 1
The reliability can be ensured even if it is handled only for the parameter fluctuation of.
【００２８】そこで、ＭとＫ1のパラメータ変動を表す
加法変動Δａによって固有振動数の変動を表すことがで
きる。Therefore, the fluctuation of the natural frequency can be expressed by the additive fluctuation Δa representing the parameter fluctuations of M and K 1 .
【００２９】図５はロバスト安定性についての説明のた
めに、図１を変形したもので、この図５において、ａか
らｂの伝達関数が、次式、つまりFIG. 5 is a modification of FIG. 1 for explaining the robust stability. In FIG. 5, the transfer function from a to b is expressed by the following equation:
【００３０】[0030]
【数３】 (Equation 3)
【００３１】を満たすとき、スモールゲイン定理により
ロバスト安定である。また、図４において、When satisfying the condition, it is robustly stable according to the small gain theorem. Also, in FIG.
【００３２】[0032]
【数４】 (Equation 4)
【００３３】となる関数Ｗｔを用いた次式、すなわちThe following equation using the function Wt
【００３４】[0034]
【数５】 (Equation 5)
【００３５】を満たすことができれば、第３式が成立す
るので、ロバスト安定の条件となる。したがって、この
第５式を満足させる補償器Ｋは、Δａの変動に対してロ
バスト安定である。If the condition can be satisfied, the third expression is satisfied, and the condition for robust stability is satisfied. Therefore, the compensator K satisfying the fifth formula is robustly stable against the variation of Δa.
【００３６】以上のことから、ノミナルモデルＰがΔａ
の範囲で変動してもロバスト安定であるように設計重み
Ｗｔを設定し、Ｈ２制御の設計手法により線形の補償器
Ｋとして、実際の制御対象の固有振動数がΔａで制約さ
れる範囲内で変動しても安定した制御特性が得られる。From the above, the nominal model P is Δa
The design weight Wt is set so as to be robustly stable even if it fluctuates in the range of, and as a linear compensator K by the design method of H2 control, within the range where the natural frequency of the actual controlled object is restricted by Δa. Even if it fluctuates, stable control characteristics can be obtained.
【００３７】さらに、設計重みＷｓを調整することでロ
バスト安定性を保ちながら、制御系を高応答化すること
ができる。なお、ロバスト安定性については、前記した
参考文献１に詳細に記載されているので、説明は省略す
る。Furthermore, by adjusting the design weight Ws, the control system can be made highly responsive while maintaining robust stability. Note that the robust stability is described in detail in Reference 1 described above, and thus description thereof will be omitted.
【００３８】次に図６の実施の態様を説明すると、これ
はモデルの変動の表現方法として、加法変動Δａの代わ
りに、乗法変動Δｍを採用したものであり、この場合に
も加法変動Δａのときと同じような作用、効果を生じ
る。Next, the embodiment of FIG. 6 will be described. In this case, as the method of expressing the variation of the model, the multiplicative variation Δm is adopted instead of the additive variation Δa. In this case as well, the additive variation Δa It produces the same action and effect as when.
【００３９】同じく図７は、フィードバック型変動Δｆ
を用いた実施の態様であり、この場合も同様である。Similarly, FIG. 7 shows the feedback type fluctuation Δf.
Is an embodiment using, and the same applies in this case.
【００４０】なお、補償器Ｋの設計手法としては、Ｈ２
制御の他にＨ∞制御、μ制御などのロバスト制御の手法
が利用できる。The design method of the compensator K is H2
In addition to control, robust control methods such as H∞ control and μ control can be used.
【００４１】[0041]
【発明の効果】以上のように本発明によれば、制御対象
の固有振動数の変動要素として、舵面等価質量と舵面剛
性を用い、固有振動数のある定めた範囲の変動に対して
常に安定となるロバスト制御設計された線形補償器を備
えるので、非線形な適応機構（適応制御）が必要なく、
コントローラへの実装が容易となる一方、線形補償器は
逐次演算で実現できるので、コントローラのリアルタイ
ム処理が容易となるという効果もある。As described above, according to the present invention, the control surface equivalent mass and the control surface rigidity are used as the fluctuation elements of the natural frequency of the controlled object, and the fluctuation of the natural frequency within a predetermined range is performed. Since it has a linear compensator designed for robust control that is always stable, there is no need for a non-linear adaptive mechanism (adaptive control),
The linear compensator can be easily implemented on the controller, while the linear compensator can be realized by the sequential calculation, so that the controller can easily perform the real-time processing.
【図１】本発明の実施の態様を示す制御系のブロック図
である。FIG. 1 is a block diagram of a control system showing an embodiment of the present invention.
【図２】制御対象の構成図である。FIG. 2 is a configuration diagram of a control target.
【図３】図１の内容を一般化プラントにより表したブロ
ック図である。FIG. 3 is a block diagram showing the contents of FIG. 1 by a generalized plant.
【図４】加法変動Δａと設計重みＷｔとの関係を示す説
明図である。FIG. 4 is an explanatory diagram showing a relationship between an additive variation Δa and a design weight Wt.
【図５】加法変動Δａのロバスト安定性を示すために図
１の内容を変形して表したブロック図である。5 is a block diagram showing a modification of the contents of FIG. 1 to show the robust stability of the additive fluctuation Δa.
【図６】他の実施の態様の要部を示すブロック図であ
る。FIG. 6 is a block diagram showing a main part of another embodiment.
【図７】さらに他の実施の態様の要部を示すブロック図
である。FIG. 7 is a block diagram showing a main part of still another embodiment.
【図８】従来の制御系を示すブロック図である。FIG. 8 is a block diagram showing a conventional control system.
２ サーボ弁 ３ 油圧アクチュエータ ４ 舵面 １０ コントローラ １３ 加算器 １４ 補償器 Δａ 加法変動 Ｐ ノミナルモデル 2 Servo valve 3 Hydraulic actuator 4 Control surface 10 Controller 13 Adder 14 Compensator Δa Additive fluctuation P Nominal model
Claims (2)
舵面操作を、目標値と舵面の制御量とが一致するように
操作量を出力する補償器を備えたコントローラにより制
御するサーボ制御システムにおいて、 アクチュエータ及び舵面を固有振動数の変動を生じるモ
デルとして規定した制御対象と、 制御対象の固有振動数のある定めた範囲の変動を舵面等
価質量、舵面剛性のパラメータ変動として扱う手段と、 制御対象が前記範囲内で変動してもロバスト安定である
ようにロバスト制御手法により設計された線形補償器と
を備えることを特徴とする航空機舵面のサーボ制御シス
テム。1. A servo control system in which a control surface operation of an aircraft operated by an actuator is controlled by a controller having a compensator for outputting a control value such that a target value and a control value of the control surface match. A control object that defines the actuator and the control surface as a model that causes fluctuations in the natural frequency, and a means that handles fluctuations within a predetermined range of the natural frequency of the control object as parameter fluctuations of the control surface equivalent mass and the control surface stiffness. A servo control system for an aircraft control surface, comprising a linear compensator designed by a robust control method so as to be robustly stable even if a control target fluctuates within the range.
制御手法により設計される請求項１に記載の航空機舵面
のサーボ制御システム。2. The linear compensator is H2 control, H∞ control, μ
The aircraft control surface servo control system according to claim 1, which is designed by a control method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP29845895A JP3620907B2 (en) | 1995-11-16 | 1995-11-16 | Servo control system for aircraft control surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP29845895A JP3620907B2 (en) | 1995-11-16 | 1995-11-16 | Servo control system for aircraft control surface |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH09136698A true JPH09136698A (en) | 1997-05-27 |
| JP3620907B2 JP3620907B2 (en) | 2005-02-16 |
Family
ID=17859972
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP29845895A Expired - Fee Related JP3620907B2 (en) | 1995-11-16 | 1995-11-16 | Servo control system for aircraft control surface |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3620907B2 (en) |
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