CN107844123A - A kind of Nonlinear Flight device flight tracking control method - Google Patents
A kind of Nonlinear Flight device flight tracking control method Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract
The invention provides a kind of Nonlinear Flight device flight tracking control method.Flight path instruction generator in the present invention sends flight path command signal to outer shroud flight tracking control device；Outer shroud flight tracking control device receives position of aircraft, speed, flight path angle, the flight path azimuthangle signal of flight path instruction and sensor measurement, calculates and sends engine throttle command signal respectively to aircraft platforms and angle of attack instruction, yaw angle instruction with swearing roll angle command signal to inner ring attitude controller around speed；Inner ring attitude controller receive angle of attack instruction, yaw angle instruction, the aircraft angle of attack around speed arrow roll angle command signal and sensor measurement, yaw angle, around speed arrow roll angle, angular velocity signal, calculate and send control surface deflection and instruct to aircraft platforms；Sensor measurement obtains aircraft parameters signal and feeds back to outer shroud flight tracking control device and inner ring attitude controller；Aircraft receives the corresponding rudder biased work of the inclined control instruction completion of rudder, reception throttle demand realizes respective thrust.
Description
Technical Field
The invention belongs to the technical field of flight control of aviation aircrafts, and particularly relates to a non-linear aircraft track control method.
Background
At present, the control of the aviation aircraft generally adopts a linear gain scheduling control law, the design of the traditional control law based on the small disturbance linearization in a trim state and the classical control theory is complex, the selection of a plurality of working state points and the design of the corresponding linear control law are involved, the setting work of control parameters is complicated, and meanwhile, due to the intrinsic nonlinearity of the aviation aircraft, the stability of the linear gain scheduling control law lacks sufficient theoretical guarantee.
The nonlinear dynamic inverse control method based on time scale separation is a nonlinear flight control method which is widely concerned in recent years, global linearization of an aircraft model is achieved based on a time scale separation principle, decoupling control can be performed on different channels, and gain adjustment is simple. However, in order to simplify the model inversion, a time scale separation assumption is introduced in the dynamic inverse control law design to divide the system into a fast loop and a slow loop, that is, the response speed of the fast loop is considered to be much faster than that of the slow loop, so that the dynamic characteristic of the fast variable is ignored when the slow loop control law is designed, and the slow variable is approximately considered to be a constant when the fast loop is synthesized. This process simplifies the problem, but also artificially splits the system, and the response of the slow loop state depends on the control implementation of the fast loop, which has the problem of control lag. In addition, in order to meet the time scale separation condition, the control gain setting of the fast and slow loops needs to meet certain constraints.
The aviation aircraft track control is generally realized by compound nesting of outer ring centroid motion control and inner ring attitude motion control, the two control loops are respectively called an outer ring track control loop and an inner ring attitude control loop, and the corresponding control laws are respectively called an outer ring track control law and an inner ring attitude control law. The dynamic inverse control method based on time scale separation is adopted to design the outer loop track control law and the inner loop attitude control law respectively, so that control lag is aggravated and flight quality is influenced, and the problem caused by time scale separation requirements can be solved by adopting a feedback linearization technology of gradually deriving the controlled state until a control item appears.
Considering an aircraft outer ring track control loop, an aircraft outer ring track control law design task is to give a track instruction to be tracked, and calculate an attack angle instruction, a sideslip angle instruction, a rolling angle instruction around a speed vector and an accelerator instruction for controlling the thrust of an engine, wherein the attack angle instruction, the sideslip angle instruction and the rolling angle instruction are realized by an inner ring attitude controller. According to a feedback linearization control law design flow, the derivation of an aircraft position differential equation once again can be associated with control variables such as an attack angle, an accelerator and the like, in the tracking control of a track instruction, the dynamic transition characteristic of an aircraft position variable is firstly specified, and then an algebraic equation is solved to calculate a corresponding control instruction. However, the aircraft centroid motion model is not in an affine form, so that the explicit solutions of an attack angle instruction, a winding speed vector and a roll angle instruction and an accelerator instruction cannot be directly obtained, and the application of the feedback linear control law design method is limited.
Disclosure of Invention
The invention aims to solve the problem that the use of an outer loop feedback linearization method in the design of an aircraft track controller is limited, and provides a nonlinear aircraft track control method adopting a feedback linearization technology.
The control device used by the nonlinear aircraft track control method comprises the following steps: the system comprises a flight path instruction generator, an outer ring flight path controller, an inner ring attitude controller, a sensor and an aircraft platform; the track instruction generator sends a track instruction signal to the outer loop track controller; the outer ring track controller receives a track instruction and aircraft position, speed, track inclination angle and track azimuth angle signals measured by the sensor, calculates and respectively sends an engine throttle instruction signal to an aircraft platform and an attack angle instruction, a sideslip angle instruction and a rolling angle around velocity vector instruction signal to the inner ring attitude controller; the inner ring attitude controller receives an attack angle instruction, a sideslip angle instruction and a rolling angle around a velocity vector instruction signal and aircraft attack angle, sideslip angle, rolling angle around the velocity vector and angular velocity signals measured by the sensor, calculates and sends a control plane deflection instruction to the aircraft platform; the sensor measures and obtains signals of the speed, track inclination angle, track azimuth angle, attack angle, sideslip angle, rolling angle around velocity vector, angular speed and the like of the aircraft, and the signals are fed back to the outer loop track controller and the inner loop attitude controller; the aircraft receives the rudder deflection control instruction to complete corresponding rudder deflection action and receives the accelerator control instruction to realize corresponding thrust.
The invention discloses a nonlinear aircraft track control method, which comprises the following steps:
1 track instruction generator inputs track instruction signalTo the outer loop track controller, the command value being timeAs a function of (c). Wherein,andrespectively an abscissa instruction, an ordinate instruction and a height instruction under a ground coordinate system, and superscript ""represents a vector transposition.
2 the outer ring track controller obtains the current time through the sensorPosition of aircraftAmplitude of velocityAzimuth of flight pathTrack dip angleAccording to the set track commandCalculating the control command according to the following stepsWill commandSending to inner ring attitude controller, sending commandAnd sending to the aircraft. Wherein,in order to be the attack angle instruction,in order to command the side slip angle,for the roll angle command about the velocity vector,is an engine throttle command.
2a set sideslip angle command as。
2b derivation of differential equation of aircraft position
Wherein,in order to be the mass of the aircraft,the maximum thrust of the engine is obtained,in order to be a resistance force,in order to be the lifting force,in order to be at the density of the atmosphere,respectively a drag coefficient and a lift coefficient,is the acceleration of gravity. ComputingTo pairDerivative matrix ofAndto pairDerivative matrix ofWherein
2c calculating the desired closed loop dynamicsIs composed of
Wherein,in order to be a parameter of the frequency,is a damping parameter.
2d calculating derivatives based on State equationCalculating derivatives based on the desired dynamic response equationIs composed of
2e calculation to realize command trackThe dynamic feedback control law of the tracking is
Parameters in control lawThe method is determined by adopting a trial and error method or an optimization method based on numerical simulation calculation, wherein the trial and error method is used for setting parameter values through trial and error, and the optimization method is used for determining the parameter values through constructing a nonlinear programming problem.
The 3 inner ring attitude controller obtains the current moment through the sensorAngle of attack of aircraftSide slip angleWinding velocity vector roll angleAngular velocity of three axesSignals according to command signals given by the outer loop track controllerCalculating the rudder deflection command by using the inner ring attitude control lawAnd sends the rudder deflection command signal to the aircraft. The inner ring attitude control law adopts dynamic inverse technology design based on time scale separation to divide the aircraft attitude dynamics into airflow anglesSub-loop and angular velocityA sub-loop. In the airflow angle sub-loop, the angular velocity is used as a control quantity to control the airflow angle; in the angular velocity sub-loop, the control of the angular velocity is realized by generating torque through an aerodynamic control surface. And through the design of a hierarchical control law of the two sub-loops, a rudder deflection instruction for controlling an attack angle, a sideslip angle and a rolling angle of a winding speed vector is obtained.
4, receiving an accelerator instruction given by an outer loop track controller by the aircraftPosture of inner ringSteering deviation instruction given by state controllerParticularly, the control of the aircraft to track the command track is realized through an engine device and a steering engine device。
5 returning to the step 1, continuously generating new control instructions、Realizing track-to-track instructionThe tracking of (2).
The nonlinear aircraft track control method utilizes a feedback linearization theory and a power system stabilization theory. The invention has the following characteristics:
1) the invention obtains the analytical expression of the outer ring control law of the aircraft, has a simple form, is similar to the I control law in the PID control law, and is easy for engineering realization.
2) The outer ring control law of the invention can be proved to make a certain Lyapunov control function monotonously reduce, thereby theoretically ensuring the stability of the control law.
3) Compared with a dynamic inverse technology based on time scale separation, the outer loop adopts a feedback linearization technology to solve the control lag brought by the time scale separation, and meanwhile, the control gain setting has larger degree of freedom.
4) The invention solves the problem that the design method of the feedback linear controller of the general multi-input multi-output nonlinear dynamical system is limited in use, and is the development of the design technology of the feedback linear controller.
Drawings
FIG. 1 is an aircraft trajectory control block diagram of the nonlinear aircraft trajectory control method of the present invention;
FIG. 2 is a three-dimensional trajectory of an aircraft flight;
FIG. 3 is an aircraft velocity amplitude curve;
FIG. 4 is a plot of aircraft track azimuth;
FIG. 5 is a plot of aircraft track inclination;
FIG. 6 is an aircraft angle of attack command curve;
FIG. 7 is a diagram of a commanded roll angle for an aircraft about a velocity vector;
FIG. 8 is an engine throttle command curve;
fig. 9 is a pneumatic control surface deflection command curve.
Detailed Description
The present invention will be further described in detail with reference to the following drawings and specific examples, which are illustrative only and not limiting, and the scope of the present invention is not limited thereby.
Example 1:
performing track control simulation on a certain airplane, wherein the initial position of the airplane isInitial time of dayThe initial velocity amplitude is 50m/s, the initial track azimuth angle is 0deg, the initial track inclination angle is 0deg, and the simulation time is 15sThe control method comprises the following implementation steps:
1 track instruction generator inputs track coordinate instructionTo an outer loop track controller, the track command representing an edge of the aircraftThe plane fly-away device is fixed straight and flat in the axial direction, and has the height of 1050m and the speed of 50 m/s.
2 the outer ring track controller obtains the current time through the sensorPosition of aircraftSpeed, velocityAzimuth of flight pathTrack dip angleAccording to the set track commandCalculating the control command according to the following stepsAnd will instructSending to inner ring attitude controller, sending commandAnd sending the data to the airplane.
2a set sideslip angle command as。
2b calculation of the matrix according to the formula given in the summary of the invention。
2c calculating the desired closed loop dynamicsIs composed of
2d calculating the derivativeIs composed ofCalculating the derivativeIs composed of
2e determining control law parameters using trial and errorAnddesign the outer loop control law as
The 3 inner ring attitude controller obtains the current moment through the sensorAngle of attack of aircraftSide slip angleWinding velocity vector roll angleAngular velocity of three axesSignals according to command signals given by an outer loop controllerAn inner ring attitude control law is designed by adopting a nonlinear dynamic inverse technology, and the aircraft attitude dynamics is divided into airflow anglesSub-loop and angular velocitySub-circuits in which the angular velocity is to be determinedControl as a controlled variable(ii) a In the angular velocity sub-loop, the pair is realized by generating torque through an aerodynamic control surfaceAnd (4) controlling. Through hierarchical control law setting of two sub-loopsThe inner ring attitude controller calculates to obtain an implementation instructionRudder deflection commandAnd the rudder deviation command signalAnd sending the data to the airplane.
4 receiving an accelerator instruction given by an outer loop track controller by the airplaneThe rudder deflection instruction given by the inner ring attitude controllerThe method is realized by an engine device and a steering engine device to control the airplane to track the command track.
5 returning to the step 1, continuously generating new control instructions、Realizing track-to-track instructionThe tracking of (2).
According to the initial conditions and the control method described in this embodiment, fig. 2 shows a flight curve of an aircraft track command and an aircraft track in a three-dimensional space, where a dotted line is a command position, a solid line is an actual coordinate position of the aircraft, and an origin represents an initial position of the aircraft, and a result shows that although the initial position of the aircraft is far from the command position, the aircraft quickly adjusts the flight track, and an error between an actual position coordinate and a command coordinate is small after about 10 seconds, so that the command track is well tracked. Drawing (A)The velocity profile of the aircraft is given in fig. 3, the track azimuth profile of the aircraft is given in fig. 4, the track inclination profile of the aircraft is given in fig. 5, and after 15s from the three figures, the aircraft substantially achieves the followingThe straight cruise flight with the axial direction and the speed of 50 m/s.
Fig. 6 shows the calculated angle of attack command in the track controller, which can be seen to increase rapidly in the initial phase, stabilizing after 12.5s at a flat flight angle of attack of about 6.5 deg. Fig. 7 shows the roll angle command around the velocity vector, and it can be seen that the command rapidly increases in the forward direction and then decreases in the reverse direction in the initial stage, and returns to about 0deg after 10s and enters the fine tuning stage. Fig. 8 shows an engine throttle command, where the engine thrust required during the initial phase of flight is greater, and then the required engine thrust is gradually reduced to that required for flat flight. FIG. 9 shows a plot of aerodynamic control surface deflection commands, including aileron commandsElevator commandWith rudder instructionBesides the violent initial stage change, the changes tend to the control plane deflection value corresponding to the straight flight after 10 s.
Claims (3)
1. A nonlinear aircraft track control method is characterized in that: the method relates to a device comprising: the system comprises a flight path instruction generator, an outer ring flight path controller, an inner ring attitude controller, a sensor and an aircraft platform; the track instruction generator sends a track instruction signal to the outer loop track controller; the outer ring track controller receives a track instruction and aircraft position, speed, track inclination angle and track azimuth angle signals measured by the sensor, calculates and respectively sends an engine throttle instruction signal to an aircraft platform and an attack angle instruction, a sideslip angle instruction and a rolling angle around velocity vector instruction signal to the inner ring attitude controller; the inner ring attitude controller receives an attack angle instruction, a sideslip angle instruction and a rolling angle around a velocity vector instruction signal and aircraft attack angle, sideslip angle, rolling angle around the velocity vector and angular velocity signals measured by the sensor, calculates and sends a control plane deflection instruction to the aircraft platform; the sensor measures and obtains the speed, track inclination angle, track azimuth angle, attack angle, sideslip angle, rolling angle around the velocity vector and angular speed signals of the aircraft and feeds the signals back to the outer loop track controller and the inner loop attitude controller; the aircraft receives the rudder deflection control instruction to complete corresponding rudder deflection action and receives the accelerator control instruction to realize corresponding thrust;
the control method comprises the following steps:
a. inputting track command signal by track command generatorTo the outer loop track controller, the command value being timeA function of (a);
wherein,andrespectively an abscissa instruction, an ordinate instruction and a height instruction under a ground coordinate system, and superscript ""represents a vector transpose;
b. the outer loop track controller obtains the current moment through the sensorPosition of aircraftAmplitude of velocityAzimuth of flight pathTrack dip angleAccording to the set track commandCalculating the control command according to the following stepsWill commandSending to inner ring attitude controller, sending commandSending the data to an aircraft;
wherein,in order to be the attack angle instruction,in order to command the side slip angle,for the roll angle command about the velocity vector,an engine throttle command;
b1. set the sideslip angle command as；
b2. Derivation of differential equation of aircraft position
Wherein,in order to be the mass of the aircraft,the maximum thrust of the engine is obtained,in order to be a resistance force,in order to be the lifting force,in order to be at the density of the atmosphere,respectively a drag coefficient and a lift coefficient,is the acceleration of gravity;
computingTo pairDerivative matrix ofAndto pairDerivative matrix ofWherein
b3. calculating desired closed loop dynamicsIs composed of
Wherein,in order to be a parameter of the frequency,is a damping parameter;
b4. calculating derivatives based on state equationsCalculating derivatives based on the desired dynamic response equationIs composed of
b5. Calculating to realize command trackThe dynamic feedback control law of the tracking is
WhereinIs a control law parameter;
c. the inner ring attitude controller obtains the current moment through the sensorAngle of attack of aircraftSide slip angleWinding velocity vector roll angleAngular velocity of three axesSignals according to commands given by the outer loop track controllerSignalCalculating the rudder deflection command by using the inner ring attitude control lawAnd transmitting the rudder deflection command signal to the aircraft;
d. the aircraft receives and realizes an accelerator instruction given by the outer loop track controllerThe rudder deflection instruction given by the inner ring attitude controller；
e. Returning to the step a, continuously generating new control instructions、Realizing track-to-track instructionThe tracking of (2).
2. The control method according to claim 1, characterized in that: parameters described in step b5、The method is determined by adopting a trial and error method or an optimization method based on numerical simulation calculation, wherein the trial and error method is used for setting parameter values through trial and error, and the optimization method is used for determining the parameter values through constructing a nonlinear programming problem.
3. The control method according to claim 1, characterized in that: in the step c, the inner ring attitude control law divides the aircraft attitude dynamics into an airflow angle sub-loop and an angular velocity sub-loop; in the airflow angle sub-loop, the angular velocity is used as a control quantity to control the airflow angle; in the angular velocity sub-loop, the control of angular velocity is realized by generating moment through a pneumatic control surface; and a rudder deflection instruction for controlling the airflow angle is obtained through the hierarchical control law design of the two sub-loops.
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