CN103823367B - Longitudinal Flight model cluster Flutter Suppression combination frequency robust Controller Design method - Google Patents
Longitudinal Flight model cluster Flutter Suppression combination frequency robust Controller Design method Download PDFInfo
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Abstract
The invention provides a kind of Longitudinal Flight model cluster Flutter Suppression combination frequency robust Controller Design method, the method directly determines to obtain by frequency sweep flight test the model cluster that amplitude-frequency in whole envelope and phase-frequency characteristic form under given differing heights, Mach number condition; Directly determine that open-loop cut-off frequency is interval according to the amplitude versus frequency characte in flight envelope; Directly determine with the phase margin corresponding to cutoff frequency interval interval according to the phase-frequency characteristic in flight envelope; By add plural serial stage delayed-lead compensation Absent measures device the phase margin index in aircraft whole envelope and the identification Method determination compensation tache number in System Discrimination and parameter value; Magnitude margin index in the full flight envelope of aircraft
Description
Technical Field
The invention relates to a design method of an aircraft controller, in particular to a design method of a longitudinal flight model cluster flutter suppression composite frequency robust controller, and belongs to the fields of measurement and control technology, flight mechanics and the like.
Background
The control of the take-off and landing process of the aircraft plays an important role in flight safety; because the flying speed of the aircraft is greatly changed in the taking-off and landing processes, the aircraft can also face a strong nonlinear problem even according to a longitudinal model; on the other hand, the control rudder of the aircraft has the phenomena of saturation, dead zone and the like; from the consideration of flight safety, when the system flies at ultra-low altitude (such as take-off/landing of an airplane), the controller must ensure that the system has certain stability margin, no overshoot and stability, so that the design of the ultra-low altitude flight controller is very complex, and the design of controlling the airplane cannot be directly applied by the existing control theory.
In the design of modern practical flight controllers, a small part of the design is designed by adopting a state space method, and most of the design is still designed by adopting a modern frequency method represented by a classical frequency domain method represented by PID and an inverse Nyquist array method. The modern control theory is characterized by a state space method, takes analytic calculation as a main means, and takes performance index realization as an optimal modern control theory, and then develops a series of controller design methods such as an optimal control method, a model reference control method, an adaptive control method, a dynamic inverse control method, a feedback linearization method, a direct nonlinear optimization control method, a variable gain control method, a neural network control method, a fuzzy control method, a robust control method, and a multi-method combination control, and the published academic papers are in ten thousands, for example, 2011 GhasemiA designs a reentry aircraft controlled by an adaptive fuzzy sliding mode (GhasemiA, MoradiM, menhajmb.adaptivefuzzylindlecontrolconsignformindelformadelforlow-softvehicle, slip-form engineering, 25(2): 210), and int3 year baotidebeauie designs a nonlinear phase aircraft for a non-linear fuzzy driving system (journal aircraft), fuzzy autonomous vehicle model engineering, model system, fuzzy control system, and intelligent vehicle model simulation system for unmanned aerial vehicle control system, 2013,24(3):499- & 509), many studies only stay in the idealized simulation study stage; the design has three problems that (1) because the ultra-low altitude operation stability test of the aircraft can not be carried out, an accurate mathematical model of a controlled object is difficult to obtain; (2) for evaluating important performance indexes of a flight control system such as stability margin specified by military standards, a state space method can not be expressed in an obvious form like a classical frequency method; (3) the controller structure is too complex, no constraints of actual controllers and flight states are considered, and the designed controller is not physically realizable.
The university scholark systematically and creatively researches how to popularize the frequency domain method into the design of a multivariable system, utilizes the concept of the advantage of the diagonal matrix to convert the multivariable problem into the design problem of a univariate system of a classical method which is well known by people, and then sequentially presents the methods of a Mayne sequence regression method, a MacFarlane characteristic trajectory method, an Owens parallel vector expansion method and the like. Especially when the computer aided design program with graphic display terminal is used, the experience and intelligence of the designer can be fully exerted to design the controller which not only meets the quality requirement, but also is physically realizable and has simple structure; the multivariate frequency method is improved and researched at home and abroad (a multivariate frequency domain design method of a high and high distance, Rocheng, Shenhui, Huidewen, flexible satellite attitude decoupling controller, aerospace science report, 2007, Vol.28(2), pp 442-447; Lithocarpus, Charpy, Tiaoling cloud, Tilt turning hypersonic cruise aircraft multivariate frequency domain method decoupling design, rocket and guidance science report, 2011, Vol.31(3), pp 25-28), however, the design method can consider that the conservatism is too large when the system is uncertain, and can not obtain reasonable design results under the condition of aircraft control rudder limitation; especially when the aircraft vibrates, the designed control system may have difficulty in ensuring the stability of the system.
In summary, the existing control method cannot design a stable low-altitude flight controller capable of suppressing flutter and having small overshoot according to stability margin indexes in a full-flight envelope when an aircraft model changes.
Disclosure of Invention
In order to overcome the technical defects that the prior method can not design a stable margin index which accords with the full flight envelope and can inhibit the flutter under the condition that the model of an aircraft in the full flight envelope is changed greatly, and the low-altitude flight controller is stable and has small overshoot, the invention provides a design method of a flutter inhibition composite frequency robust controller for a longitudinal flight model cluster, which directly determines and obtains a model cluster formed by amplitude-frequency and phase-frequency characteristics in the full envelope through a sweep frequency flight test under the conditions of different given heights and Mach numbers; directly determining an open-loop cut-off frequency interval according to the amplitude-frequency characteristic in the flight envelope; directly determining a phase margin interval corresponding to the cut-off frequency interval according to the phase frequency characteristic in the flight envelope; determining the number and parameter values of compensation links by adding a multi-stage series lag-lead compensation link controller, phase margin indexes in a full envelope of the aircraft and a model identification method in system identification; amplitude margin index in full flight envelope of aircraftCarrying out controller effect verification under the condition of given decibel number; a low-altitude flight robust controller which is in accordance with a full flight envelope and can restrain flutter, has small overshoot and is stable is designed from the concepts of phase margin and amplitude margin.
The technical scheme adopted by the invention for solving the technical problems is as follows: a design method of a longitudinal flight model cluster flutter suppression composite frequency robust controller is characterized by comprising the following steps:
1. under the conditions of different given altitudes and Mach numbers, through a sweep frequency flight test, directly forming an elevator and flight altitude model cluster in the full envelope of the aircraft by amplitude-frequency and phase-frequency characteristics in the full envelope of the aircraft, and crossing the flight envelope to obtain the flutter frequency of the aircraft to obtain an open-loop transfer function cluster model between the corresponding aircraft elevator and the flight altitude
And frequency of flutter；
Wherein
、
In order to be a polynomial expression,for the commonly used laplace-changed variable in the transfer function,respectively the altitude and the mach number,is the delay time of the pitch loop,to followThe gain of the variation is varied in such a way that,is a polynomialMiddle followThe cluster of coefficients that are varied is,is a polynomialMiddle followThe cluster of coefficients that are varied is,is an uncertainty in the model;
2. judging at the uncertain part of the known modelThe method for directly determining the open-loop cut-off frequency interval according to the amplitude-frequency characteristic in the flight envelope comprises the following steps:
fromNamely, it isIs approximately asObtaining the open-loop cut-off frequencyMaximum value of solutionAnd minimum valueOpen loop cut-off frequencyThe interval is;
In the formula,is a positive real number, and the number of the real numbers,as a variable in the frequency characteristic,for the purpose of the imaginary part representation,is the angular frequency;
3. judging at the uncertain part of the known modelAccording to the phase frequency characteristic in the flight envelope, the maximum phase margin in the envelope is calculatedAnd minimum phase margin within envelope
Directly determining a phase margin interval corresponding to the cut-off frequency interval as follows:；
wherein,is a positive real number;
4. the transfer function of the candidate multistage series lag-lead compensation link is as follows:
in the formula,is a constant gain to be determined, N is an integer representing the number of stages of the lag-lead compensation element to be determined,、、、for the time constant to be determined,for the purpose of the parameters to be determined,a flutter suppression gain;
after adding a multi-stage series lag-lead compensation link,
fromNamely, it isIn order to obtain an open-loop cut-off frequencyMaximum value of solutionAnd minimum valueOpen loop cut-off frequencyThe interval is，
Phase margin indicator in aircraft full envelopeUnder given conditions, the phase margin of the system after adding the multi-stage series lag-lead compensation linkIt should satisfy:
namely, the following conditions are satisfied:
at the same time, at the flutter frequencyThe following should also be satisfied:
namely, the following conditions are satisfied:
；
under the joint constraint of the indexes and the maximum likelihood criterion, determining the series N and the constant gain of a lag-lead compensation link according to a maximum likelihood method in the structural identification of a system modelTime constant of、、、Parameter to be determinedSum flutter suppression gain；
5. Amplitude margin index within aircraft full envelopeIn the given case of decibels, the number of db,
fromNamely, it is
In obtaining the frequencyMaximum value of solutionAnd minimum value，The interval is，
And (3) judging:
namely, the following conditions are satisfied:
if the difference does not meet the requirement, the design of the flight controller is finished, and if the difference does not meet the requirement, the stage number of the compensation link is increased or the constant gain is reduced。
The invention has the beneficial effects that: based on the concepts of phase margin and amplitude margin, the parameters of the robust controller of the multi-stage series lag-lead compensation link are determined by adding the multi-stage series lag-lead compensation link controller according to the requirements of meeting the given phase margin and amplitude margin and a model identification method in a full flight envelope, and the robust controller of the low-altitude flight, which meets the full flight envelope, can suppress flutter, has small overshoot and is stable, is designed.
The present invention will be described in detail with reference to examples.
Detailed Description
1. Linear frequency sweep signal under given different height and Mach number（In order to be the starting frequency,in order to cut-off the frequency of the frequency,，as sweep time) or log swept signals
（In order to be the starting frequency,in order to cut-off the frequency of the frequency,t is sweep frequency time), the amplitude frequency and phase frequency characteristics in the full envelope of the aircraft allowed to fly can be directly obtained, a model cluster of the elevator and the flying height in the full envelope of the aircraft is formed, the flutter frequency of the aircraft can be obtained by crossing the flying envelope, and an open-loop transfer function cluster model between the corresponding elevator and the flying height of the aircraft is obtained
And flutterFrequency of；
Wherein
、
In order to be a polynomial expression,for the commonly used laplace-changed variable in the transfer function,respectively the altitude and the mach number,is the delay time of the pitch loop,to followThe gain of the variation is varied in such a way that,is a polynomialMiddle followThe cluster of coefficients that are varied is,is a polynomialMiddle followThe cluster of coefficients that are varied is,is an uncertainty in the model;
2. judging at the uncertain part of the known modelThe method for directly determining the open-loop cut-off frequency interval according to the amplitude-frequency characteristic in the flight envelope comprises the following steps:
fromNamely, it isIs approximately asObtaining the open-loop cut-off frequencyMaximum value of solutionAnd minimum valueOpen loop cut-off frequencyThe interval is;
In the formula,is a positive real number, and the number of the real numbers,as a variable in the frequency characteristic,for the purpose of the imaginary part representation,is the angular frequency;
3. judging at the uncertain part of the known modelAccording to the phase frequency characteristic in the flight envelope, the maximum phase margin in the envelope is calculatedAnd minimum phase margin within envelope
Directly determining a phase margin interval corresponding to the cut-off frequency interval as follows:；
wherein,is a positive real number;
4. the transfer function of the candidate multistage series lag-lead compensation link is as follows:
in the formula,is a constant gain to be determined, N is an integer representing the number of stages of the lag-lead compensation element to be determined,、、、for the time constant to be determined,for the purpose of the parameters to be determined,a flutter suppression gain;
after adding a multi-stage series lag-lead compensation link,
fromNamely, it isIn order to obtain an open-loop cut-off frequencyMaximum value of solutionAnd minimum valueOpen loop cut-off frequencyThe interval is，
Phase margin indicator in aircraft full envelopeUnder given conditions, the phase margin of the system after adding the multi-stage series lag-lead compensation linkIt should satisfy:
namely, the following conditions are satisfied:
at the same time, at the flutter frequencyThe following should also be satisfied:
namely, the following conditions are satisfied:
；
under the joint constraint of the indexes and the maximum likelihood criterion, determining the series N and the constant gain of a lag-lead compensation link according to a maximum likelihood method in the structural identification of a system modelTime constant of、、、Parameter to be determinedSum flutter suppression gain；
5. Amplitude margin index within aircraft full envelopeIn the given case of decibels, the number of db,
fromNamely, it is
In obtaining the frequencyMaximum value of solutionAnd minimum value，The interval is，
And (3) judging:
namely, the following conditions are satisfied:
if the difference does not meet the requirement, the design of the flight controller is finished, and if the difference does not meet the requirement, the stage number of the compensation link is increased or the constant gain is reduced。
Claims (1)
1. A design method of a longitudinal flight model cluster flutter suppression composite frequency robust controller is characterized by comprising the following steps:
(1) under the conditions of different given altitudes and Mach numbers, through a sweep frequency flight test, directly forming an elevator and flight altitude model cluster in the full envelope of the aircraft by amplitude-frequency and phase-frequency characteristics in the full envelope of the aircraft, and crossing the flight envelope to obtain the flutter frequency of the aircraft to obtain an open-loop transfer function cluster model between the corresponding aircraft elevator and the flight altitude
And frequency of flutter；
Wherein
、
In order to be a polynomial expression,for the commonly used laplace-changed variable in the transfer function,respectively the altitude and the mach number,is the delay time of the pitch loop,to followThe gain of the variation is varied in such a way that,is a polynomialMiddle followCoefficient of variationThe number of the clusters is such that,is a polynomialMiddle followThe cluster of coefficients that are varied is,is an uncertainty in the model;
(2) judging at the uncertain part of the known modelThe method for directly determining the open-loop cut-off frequency interval according to the amplitude-frequency characteristic in the flight envelope comprises the following steps:
fromNamely, it isIs approximately asObtaining the open-loop cut-off frequencyMaximum value of solutionAnd minimum valueOpen loop cut-off frequencyThe interval is;
In the formula,is a positive real number, and the number of the real numbers,as a variable in the frequency characteristic,for the purpose of the imaginary part representation,is the angular frequency;
(3) judging at the uncertain part of the known modelAccording to the phase frequency characteristic in the flight envelope, the maximum phase margin in the envelope is calculatedAnd minimum phase margin within envelope
Directly determining a phase margin interval corresponding to the cut-off frequency interval as follows:；
wherein,is a positive real number;
(4) the transfer function of the candidate multistage series lag-lead compensation link is as follows:
in the formula,is a constant gain to be determined, N is an integer representing the number of stages of the lag-lead compensation element to be determined,、、、for the time constant to be determined,for the purpose of the parameters to be determined,a flutter suppression gain;
after adding a multi-stage series lag-lead compensation link,
fromNamely, it isIn order to obtain an open-loop cut-off frequencyMaximum value of solutionAnd minimum valueOpen loop cut-off frequencyThe interval is，
Phase margin indicator in aircraft full envelopeUnder given conditions, the phase margin of the system after adding the multi-stage series lag-lead compensation linkIt should satisfy:
namely, the following conditions are satisfied:
at the same time, at the flutter frequencyThe following should also be satisfied:
namely, the following conditions are satisfied:
；
in the above index and poleUnder the common constraint of a large likelihood criterion, determining the series N and the constant gain of a lag-lead compensation link according to a maximum likelihood method in the structural identification of a system modelTime constant of、、、Parameter to be determinedSum flutter suppression gain；
(5) Amplitude margin index within aircraft full envelopeIn the given case of decibels, the number of db,
fromNamely, it is
In obtaining the frequencyMaximum value of solutionAnd minimum value，The interval is，
And (3) judging:
namely, the following conditions are satisfied:
if the difference does not meet the requirement, the design of the flight controller is finished, and if the difference does not meet the requirement, the stage number of the compensation link is increased or the constant gain is reduced。
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