CN109752955B - Aircraft trajectory tracking and disturbance rejection control system and method based on two-dimensional position guidance - Google Patents
Aircraft trajectory tracking and disturbance rejection control system and method based on two-dimensional position guidance Download PDFInfo
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Abstract
The invention discloses an aircraft trajectory tracking and anti-interference control system based on two-dimensional position guidance, which comprises an inner control loop and an outer control loop which are connected in series, wherein: the inner control loop is a pitch angle control loop, the outer control loop is formed by connecting a height controller and a forward distance controller in parallel, the height controller is formed by connecting the height control loop and a height change rate control loop in series, and the forward distance controller is formed by connecting the forward distance control loop and a vertical speed control loop in series; high-precision track tracking is carried out through two-dimensional position guidance of a height control loop and a forward distance control loop; disturbance rejection is performed by a vertical rate control loop. The two-dimensional position guiding method can effectively optimize the precision of track tracking. Meanwhile, in the control scheme, the disturbance of the trajectory is inhibited by controlling the vertical speed of the controlled target close to the trajectory, and compared with the traditional control scheme, the disturbance inhibition capability of the aircraft can be more effectively enhanced.
Description
Technical Field
The invention relates to a trajectory tracking control system and method for an aircraft in a gliding or climbing stage, which adopt a two-dimensional position guiding and tracking technology based on a height error and a forward distance error and belong to the technical field of control.
Background
At present, most of longitudinal track tracking control systems of aircrafts adopt a classic control framework with inner and outer rings connected in series, wherein an inner ring control loop adopts attitude angle and angular rate signals to carry out stability augmentation control, and an outer ring control loop controls an attitude instruction of an inner ring of the aircraft by obtaining the height position information of an airborne sensor and forming a feedback difference with guidance information, so that a track inclination angle can be changed to realize closed-loop stability control of flight height. The traditional track tracking control system based on the height difference information is simple in structure, high in reliability, mature in application and easy to realize in engineering. However, a trajectory tracking control scheme based on altitude difference information is not easy to track with high precision, and particularly when the requirement on the trajectory tracking precision is high in a climbing or gliding stage, a classical control scheme based on altitude difference is difficult to meet the requirement of a control index; and the classical control scheme has limited wind disturbance resistance when the aircraft encounters a wind field, particularly a turbulent wind field, and wind disturbance usually causes the up-and-down fluctuation of a flight path and is not suitable for precise flight tasks.
Disclosure of Invention
In order to overcome the defects that the tracking precision of an aircraft is not high enough and the wind disturbance resistance capability is weak in the traditional track tracking control scheme, the invention aims to provide an aircraft track tracking and disturbance rejection control method based on two-dimensional position guidance.
In order to achieve the purpose, the invention adopts the technical scheme that:
an aircraft trajectory tracking and disturbance rejection control system based on two-dimensional position guidance comprises an inner control loop and an outer control loop which are connected in series, wherein:
the inner control loop is a pitch angle control loop,
the external control loop is formed by connecting a height controller and a forward distance controller in parallel, the height controller is formed by connecting a height control loop and a height change rate control loop in series, and the forward distance controller is formed by connecting a forward distance control loop and a vertical speed control loop in series;
high-precision track tracking is carried out through two-dimensional position guidance of a height control loop and a forward distance control loop; disturbance rejection is performed by a vertical rate control loop.
The pitch angle control loop comprises a stability augmentation part and a pitch angle control part, wherein the stability augmentation part feeds back a pitch angle rate signal
Increasing damping by feeding back full pitch angle signals
The static stability of the pitching channel is increased; the pitch angle control section controls the pitch angle by the pitch angle ratio
Performing fast tracking of pitch angle, where thetagIs a pitch angle command;
wherein,
controlling gain for a pitch angle rate damping stability augmentation term, wherein an upper mark Q represents the pitch angle rate, a lower mark E represents an elevator, and Q represents the pitch angle rate;
the control gain of a pitch angle stability augmentation term is represented, the upper scale theta D represents pitch angle stability augmentation, the lower scale E represents an elevator, and theta represents a pitch angle;
the proportional control gain of the pitch angle is represented, the upper scale theta represents the pitch angle, the lower scale E represents the elevator, and theta represents the pitch angle; thetagRepresents a pitch angle command given signal, and subscript g represents given;Eindicating elevator input and subscript E indicating elevator.
In the forward distance controller, a vertical speed control loop adopts PI control to realize command signal non-static tracking and outer ring vertical speed command
From a reference vertical velocity VA×sin(γ-γc) And forward distance error amount
Composition is carried out; if the aircraft deviates from the ideal lower guideway, (gamma-gamma)c) Forming a deviation amount to be fed back to the reference vertical speed so as to inhibit the track perturbation; the forward distance control loop adopts proportional control, and the speed of the aircraft deviating from an ideal gliding track can be prevented by controlling the reference forward speed;
wherein,
represents the pitch angle output setpoint of the forward distance controller, and subscript g represents the output setpoint;
indicating vertical velocity proportional control gain, superscript
Denotes vertical speed, subscript E denotes elevator;
indicating vertical velocity integral control gain, superscript
Denotes the vertical velocity integral, subscript E denotes the elevator;
representing an outer ring vertical velocity command; vAThe subscript A has no special meaning and is used for symbol differentiation only; gamma denotes the glide slope angle, gammacIndicates a glide slope angle command, and subscript c indicates a command;
represents the forward distance proportional control gain, the superscript X represents the aircraft forward position, and the subscript E represents the elevator; xRIndicating the forward reference position of the aircraft and the subscript R indicating the reference.
In the height controller, the height change rate control loop adopts a height change rate PI control structure, and canAchieving a high degree of change without dead-lag tracking, wherein
A high change rate command is represented,
representing a height rate of change command generated by the height error feedback,
a feedforward signal representing a reference sink rate; the height control loop adopts height proportion control to realize the track tracking in the height direction in the longitudinal section;
wherein,
represents the pitch angle output setpoint of the outer ring height controller, and subscript g represents the output setpoint;
indicating the proportional control gain of the rate of change of height, superscript
Indicates the rate of change of height, subscript E indicates the elevator;
indicating the integral control gain of the rate of change of height, superscript
Represents the height rate integral, subscript E the elevator;
represents altitude proportional control gain, superscript H represents altitude, and subscript E represents elevator; hRIndicating the aircraft reference altitude command and the subscript R indicating the reference.
An aircraft trajectory tracking and disturbance rejection control method based on two-dimensional position guidance comprises the following steps:
a two-dimensional position guiding method is adopted for high-precision track tracking; the two-dimensional position guiding quantity is a track height error and a track forward distance error respectively;
adopting vertical speed to carry out disturbance suppression; and carrying out disturbance suppression by controlling the vertical speed of the controlled target close to the track.
The step of performing high-precision track tracking by adopting a two-dimensional position guiding method comprises the following steps:
in the landing equiangular gliding stage, a two-dimensional position deviation value is formed according to the current altitude error and the forward distance error of the aircraft, a guidance instruction of a longitudinal section is generated, the aircraft eliminates a track tracking error in a mode of tracking altitude and forward distance, and fine adjustment of a landing track is carried out;
A1the point is the actual position of the aircraft, and the coordinate position on the longitudinal section is marked as (X, H) according to A1The X coordinate of the point B is obtained as A on the guidance track line0Point ordinate HRAccording to A1The H coordinate of the reference point is obtained as A on the guidance track line2Point abscissa XR(ii) a The altitude error in the two-dimensional position guidance quantity is defined as the difference between the current altitude of the aircraft and the direction of the guidance track line H, and is expressed as Δ H-HR(ii) a The forward distance error is defined as the difference between the current horizontal position of the aircraft and the X direction of the guide track line, and is expressed as DeltaX-XR；
A pitch angle command signal generated by the forward distance controller
And height controlSystem generated pitch angle command signal
Synthesizing inner ring pitch angle control command signals
The outer ring parallel connection control of the forward distance and the height is realized, and two-dimensional position guidance in the longitudinal section forward direction and the height direction is carried out.
The step of adopting the vertical speed to carry out disturbance suppression comprises the following steps:
in the gliding process of the aircraft, the vertical distance of the aircraft deviating from the ideal glide slope in the longitudinal section is d; the vertical speed of the controlled target deviating from the lower slideway is
Is marked as
Wherein VARepresenting the speed of the aircraft relative to an inertial frame, gamma representing the actual glide angle of the aircraft, gammacRepresenting a glide-angle command for the aircraft;
obtaining the vertical speed of the controlled target deviating from the glidepath after obtaining the speed, the glide-angle and the glide-angle commands of the aircraft
Selecting
As the disturbance suppression control amount, it is possible,
the inner loop control variable serving as the forward distance controller controls the phase to advance by 90 degrees, which is equivalent to the differential control of increasing d, and the differential control can increase the damping degree of a track control system, so that the aircraft can effectively restrain wind disturbance when passing through a wind field.
Has the advantages that: the invention adopts a two-dimensional position guiding method to carry out high-precision track tracking, the two-dimensional position guiding quantity is respectively track height error and track forward distance error, compared with the traditional track tracking control scheme, the invention increases the control variable of the forward distance, and further can form two-dimensional position guiding. The control precision of the forward direction is tens of times better than that of the high direction, so that the two-dimensional position guiding method can effectively optimize the precision of track tracking. Meanwhile, in the control scheme, the disturbance of the trajectory is inhibited by controlling the vertical speed of the controlled target close to the trajectory, and compared with the traditional control scheme, the disturbance inhibition capability of the aircraft can be more effectively enhanced.
Drawings
FIG. 1 is a schematic diagram of height error and forward distance error;
FIG. 2 is a schematic view of vertical velocity;
FIG. 3 is a schematic diagram of the structure of an inner ring pitch controller for an elevator;
FIG. 4 is a schematic structural diagram of a forward distance controller;
FIG. 5 is a schematic structural view of the height controller;
FIG. 6 is a schematic diagram of a control framework based on two-dimensional position guidance;
FIG. 7 is a graph of altitude trajectory tracking during a landing phase;
FIG. 8 is a height error graph;
FIG. 9 is a graph of forward range error;
FIG. 10 is a graph of sink rate;
FIG. 11 is a graph of glide angle;
FIG. 12 is a graph showing wind velocity components of the axes of the body;
FIG. 13 is a graph of height error comparison under turbulent conditions;
FIG. 14 is a graph of forward distance error comparison under turbulent conditions.
Detailed Description
The invention is further explained below with reference to the drawings.
The invention relates to an aircraft trajectory tracking and anti-interference control system based on two-dimensional position guidance, which comprises an inner control loop and an outer control loop which are connected in series, wherein:
the inner control loop is a pitch angle control loop,
the external control loop is formed by connecting a height controller and a forward distance controller in parallel, the height controller is formed by connecting a height control loop and a height change rate control loop in series, and the forward distance controller is formed by connecting a forward distance control loop and a vertical speed control loop in series;
high-precision track tracking is carried out through two-dimensional position guidance of a height control loop and a forward distance control loop; disturbance rejection is performed by a vertical rate control loop.
The invention discloses an aircraft trajectory tracking and disturbance rejection control method based on two-dimensional position guidance, which comprises the following steps:
a two-dimensional position guiding method is adopted for high-precision track tracking; the two-dimensional position guiding quantity is a track height error and a track forward distance error respectively;
adopting vertical speed to carry out disturbance suppression; and carrying out disturbance suppression by controlling the vertical speed of the controlled target close to the track.
The following describes in detail a specific embodiment of the present invention with reference to the actual design flow of the present invention and the accompanying drawings.
1. Two-dimensional position guidance law design
In the landing equiangular gliding stage, the two-dimensional position guiding method forms a two-dimensional position deviation amount according to the current altitude error and the forward distance error of the aircraft, and generates a guiding instruction of a longitudinal section. The aircraft eliminates track tracking errors in a mode of tracking the height and the forward distance, and fine adjustment of the landing track is carried out, so that the precision of track tracking can be improved.
As shown in FIG. 1, A1The point is the actual position of the aircraft, and the coordinate position on the longitudinal section is marked as (X, H) according to A1X coordinate of (A) can be obtained on the in-process track line0Point ordinate HRAccording to A1The H coordinate of (A) can be obtained on the trace line of the in-process guide rail2Point abscissa XR. The altitude error in the two-dimensional position guidance quantity is defined as the current altitude of the aircraft and the guidance track lineThe distance difference in the H direction is represented by Δ H ═ H-HR(ii) a The forward distance error is defined as the difference between the current horizontal position of the aircraft and the X direction of the guide track line, and is expressed as DeltaX-XR。
2. Disturbance rejection control amount design
The deviation of the position of the aircraft during the glide-slope is shown in fig. 2, where d denotes the vertical distance of the aircraft from the ideal glide-slope in a longitudinal section;
indicates the vertical velocity of the controlled object off the glidepath, and is recorded as
Wherein VARepresenting the speed of the aircraft relative to an inertial frame, gamma representing the actual glide angle of the aircraft, gammacRepresenting a glide-angle command for the aircraft.
The vertical speed can be obtained after the speed, the glide angle and the glide angle instruction of the aircraft are obtained
Selecting
As the disturbance suppression control amount, it is possible,
the inner loop control variable serving as the forward distance controller controls the phase to lead 90 degrees, which is equivalent to the differential control of increasing d, and the differential control can increase the damping degree of a track control system, so that the aircraft can effectively restrain wind disturbance when passing through a wind field.
3. Track tracking and anti-interference control structure design based on two-dimensional position guidance
The aircraft tracks based on a two-dimensional position guiding method, wherein an inner ring of an elevator controls a pitch angle, an outer ring controls the height and the forward distance in parallel, and a track tracking controller is designed by sequentially carrying out the steps from the inner ring to the outer ring, wherein the design steps are as follows:
the method comprises the following steps: inner ring pitch angle control circuit:
the pitch control loop of the inner ring includes a stability augmentation portion and a pitch control portion as shown in fig. 3. Wherein the stability increasing part feeds back the pitch angle rate signal
Increasing damping by feeding back full pitch angle signals
The static stability of the pitching channel is increased; the pitch angle control section controls the pitch angle by the pitch angle ratio
Performing fast tracking of pitch angle, where thetagIs a pitch angle command;
wherein,
controlling gain for a pitch angle rate damping stability augmentation term, wherein an upper mark Q represents the pitch angle rate, a lower mark E represents an Elevator (Elevator), and Q represents the pitch angle rate;
the control gain of a pitch angle stability augmentation term is shown, the superscript theta D shows pitch angle stability augmentation, the subscript E shows an Elevator (Elevator), and theta shows a pitch angle;
represents the pitch angle proportional control gain, the superscript theta represents the pitch angle, the subscript E represents the Elevator (Elevator), theta represents the pitch angle; thetagRepresents a pitch angle command given signal, and subscript g represents given;Eindicates Elevator input, subscript E indicates Elevator (Elevator);
step two: outer loop forward distance controller:
the forward distance controller is composed of an inner ring vertical speed control loop and an outer ring forward distance control loop, as shown in fig. 4. Wherein the inner ring vertical speed control loop adopts PI control, which can realize non-static tracking of instruction signal and vertical speed instruction of outer ring
From a reference vertical velocity VA×sin(γ-γc) And forward distance error amount
And (4) forming. If the aircraft deviates from the ideal lower guideway, (gamma-gamma)c) The deviation value is fed back to the reference vertical speed to further suppress the track perturbation, particularly when the aircraft encounters a turbulent wind field with continuous random pulsation, the phenomena of up-and-down throwing and front-and-back impact usually occur, and the external disturbance can be effectively suppressed by controlling the reference vertical speed. The forward distance control loop adopts proportional control, the speed of the aircraft deviating from an ideal gliding track can be prevented by controlling the reference forward speed, but an actual flight test shows that the phenomenon that the actual gliding track of the aircraft is parallel to the ideal gliding track can possibly occur, the forward distance control can effectively eliminate the static difference, and further forward track tracking in a longitudinal section can be realized on the premise of ensuring the anti-interference capability.
Wherein,
represents the pitch angle output setpoint of the forward distance controller, and subscript g represents the output setpoint;
indicating vertical velocity proportional control gain, superscript
Denotes vertical velocity, subscript E denotes Elevator;
indicating vertical velocity integral control gain, superscript
Denotes the vertical velocity integral, subscript E denotes the Elevator (Elevator);
representing an outer ring vertical velocity command; vAThe subscript A has no special meaning and is used for symbol differentiation only; gamma denotes the glide slope angle, gammacDenotes a glide slope angle Command, and subscript c denotes a Command (Command);
represents the forward distance proportional control gain, the superscript X represents the aircraft forward position, and the subscript E represents the Elevator (Elevator); xRDenotes the forward Reference position of the aircraft, the subscript R denotes the Reference;
step three: outer loop height controller:
the altitude controller consists of an altitude rate control loop and an altitude control loop, as shown in FIG. 5. The high-degree change rate control loop adopts a high-degree change rate PI control structure, and can realize the non-static tracking of the high-degree change rate, wherein
A high change rate command is represented,
representing a height rate of change command generated by the height error feedback,
representing the reference sink rate feed forward signal. The height control loop adopts height proportion control to realize the track tracking in the height direction in the longitudinal section;
wherein,
represents the pitch angle output setpoint of the outer ring height controller, and subscript g represents the output setpoint;
indicating the proportional control gain of the rate of change of height, superscript
Indicates the rate of change in height, and subscript E indicates the Elevator (Elevator);
indicating the integral control gain of the rate of change of height, superscript
Represents the integral of the rate of change of height, subscript E the Elevator;
represents altitude proportional control gain, superscript H represents altitude, and subscript E represents Elevator (Elevator); hRRepresents an aircraft Reference altitude command, the subscript R representing a Reference;
step four: two-dimensional position-guided trajectory tracking controller:
after the controller design in the second step and the third step is finished, a pitch angle command signal generated by the forward distance controller is used
And a pitch angle command signal generated by the altitude controller
Synthesizing inner ring pitch angle control command signals
The outer ring parallel connection control of the forward distance and the height can be realized, two-dimensional position guidance in the longitudinal section forward direction and the height direction is carried out, and a track tracking control structure based on the two-dimensional position guidance is shown in fig. 6.
Examples
Based on a certain unmanned aerial vehicle, for the characteristics of comparative analysis based on two-dimensional position guidance and conventional height guidance controllers, the following simulation test of simulation conditions is carried out:
a: in a calm atmosphere environment, the altitude H is 300m, and the mass m is 2800 kg;
b: in an atmospheric turbulent environment, the altitude H is 300m, and the mass m is 2800 kg;
a is in a calm atmosphere, the altitude H is 300m, and the mass m is 2800kg
As shown in fig. 7 to 9, when the conventional altitude trajectory tracking scheme is adopted at the initial gliding stage of the drone, the altitude error is about 0.7m at the maximum, and when t is 125.1s, a trajectory tracking scheme based on two-dimensional position guidance is switched in, so that after the control scheme is switched, the altitude error and the forward distance error are gradually reduced, and finally the altitude error is kept within a range of about 0.1 m. Therefore, compared with the conventional track tracking scheme, the track tracking precision based on two-dimensional position guidance is greatly improved. From fig. 10 to fig. 11, it can be seen that the sag rate and the slip angle in the two-dimensional position guide area are both kept in a very stable mean range, the amplitude is basically free from fluctuation, and the slip angle and the sag rate both fluctuate to different degrees in the conventional trajectory tracking area, so that it can be seen that the control technology based on the vertical speed adopted by the invention has better disturbance suppression capability in a calm environment.
B atmosphere turbulence environment, altitude H300 m, mass m 2800kg
In order to further verify the control quality of the scheme adopted by the invention in a complex atmospheric environment, particularly the disturbance suppression capability of a controller in a turbulent flow environment, a turbulent flow wind field model is added in a nonlinear simulation environment, and the disturbance suppression capability of a conventional track tracking scheme and a track tracking and disturbance rejection control scheme based on two-dimensional position guidance is contrastively analyzed.
The turbulent wind field adopts a turbulent mathematical model conforming to MI L-8785C standard, the wind direction is directed to the north, the wind speed intensity is 5m/s at the height of 6m from the ground, and the components of the turbulent flow on all axes of the machine body are shown in FIG. 12.
As shown in fig. 13 to 14, it can be seen from the mean value and the peak value of the height error and the forward distance error that the control quality of the noise immunity controller based on two-dimensional position guidance is significantly better than that of the conventional trajectory tracking control, thereby further demonstrating that the noise immunity control technology adopted by the present invention has good disturbance suppression capability. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (3)
1. An aircraft trajectory tracking and disturbance rejection control system based on two-dimensional position guidance is characterized in that: including interior control circuit and the outer control circuit of mutual series connection, wherein:
the inner control loop is a pitch angle control loop;
the external control loop is formed by connecting a height controller and a forward distance controller in parallel, the height controller is formed by connecting a height control loop and a height change rate control loop in series, and the forward distance controller is formed by connecting a forward distance control loop and a vertical speed control loop in series;
in the forward distance controller, a vertical speed control loop adopts PI control to realize command signal non-static tracking and outer ring vertical speed command
From a reference vertical velocity VA×sin(γ-γc) And forward distance error amount
Composition is carried out; if the aircraft deviates from the ideal lower guideway, (gamma-gamma)c) Forming a deviation amount to be fed back to the reference vertical speed so as to inhibit the track perturbation; the forward distance control loop adopts proportional control, and the speed of the aircraft deviating from an ideal gliding track can be prevented by controlling the reference forward speed;
wherein,
indicates a given pitch angle output of the forward distance controller, and subscript g indicates the given;
indicating vertical velocity proportional control gain, superscript
Denotes vertical speed, subscript E denotes elevator;
indicating vertical velocity integral control gain, superscript
Denotes the vertical velocity integral, subscript E denotes the elevator;
representing an outer ring vertical velocity command; vAThe subscript A has no special meaning and is used for symbol differentiation only; gamma denotes the glide slope angle, gammacIndicates a glide slope angle command, and subscript c indicates a command;
represents the forward distance proportional control gain, the superscript X represents the aircraft forward position, and the subscript E represents the elevator; xRDenotes the forward reference position of the aircraft, the subscript R denotes the reference;
in the height controller, a height change rate control loop adopts a height change rate PI control structure, and static error-free tracking of the height change rate can be realized, wherein
A high change rate command is represented,
representing a height rate of change command generated by the height error feedback,
a feedforward signal representing a reference sink rate; the height control loop adopts height proportion control to realize the track tracking in the height direction in the longitudinal section;
wherein,
indicates a given pitch angle output of the outer ring height controller, and subscript g indicates the given;
indicating the proportional control gain of the rate of change of height, superscript
Indicates the rate of change of height, subscript E indicates the elevator;
indicating the integral control gain of the rate of change of height, superscript
Represents the height rate integral, subscript E the elevator;
represents altitude proportional control gain, superscript H represents altitude, and subscript E represents elevator; hRDenotes the aircraft reference altitude command, the subscript R denotes the reference;
high-precision track tracking is carried out through two-dimensional position guidance of a height control loop and a forward distance control loop; the method specifically comprises the following steps: in the landing equiangular gliding stage, a two-dimensional position deviation value is formed according to the current altitude error and the forward distance error of the aircraft, a guidance instruction of a longitudinal section is generated, the aircraft eliminates a track tracking error in a mode of tracking altitude and forward distance, and fine adjustment of a landing track is carried out;
A1the point is the actual position of the aircraft, and the coordinate position on the longitudinal section is marked as (X, H) according to A1X coordinate in-process track lineTo obtain A0Point ordinate HRAccording to A1The H coordinate of the reference point is obtained as A on the guidance track line2Point abscissa XR(ii) a The altitude error in the two-dimensional position guidance quantity is defined as the difference between the current altitude of the aircraft and the direction of the guidance track line H, and is expressed as Δ H-HR(ii) a The forward distance error is defined as the difference between the current horizontal position of the aircraft and the X direction of the guide track line, and is expressed as DeltaX-XR；
A pitch angle command signal generated by the forward distance controller
And a pitch angle command signal generated by the altitude controller
Synthesizing inner ring pitch angle control command signals
The outer ring is connected in parallel to control the forward distance and the height, and two-dimensional position guidance in the forward direction and the height direction of the longitudinal section is carried out;
disturbance suppression is performed through a vertical speed control loop, and the method specifically comprises the following steps: in the gliding process of the aircraft, the vertical distance of the aircraft deviating from the ideal glide slope in the longitudinal section is d; the vertical speed of the controlled target deviating from the lower slideway is
Is marked as
Wherein VARepresenting the speed of the aircraft relative to an inertial frame, gamma representing the actual glide angle of the aircraft, gammacRepresenting a glide-angle command for the aircraft;
obtaining the vertical speed of the controlled target deviating from the glidepath after obtaining the speed, the glide-angle and the glide-angle commands of the aircraft
Selecting
As the disturbance suppression control amount, it is possible,
the inner loop control variable serving as the forward distance controller controls the phase to advance by 90 degrees, which is equivalent to the differential control of increasing d, and the differential control can increase the damping degree of a track control system, so that the aircraft can effectively restrain wind disturbance when passing through a wind field.
2. The two-dimensional position guidance-based aircraft trajectory tracking and disturbance rejection control system of claim 1, wherein: the pitch angle control loop comprises a stability augmentation part and a pitch angle control part, wherein the stability augmentation part feeds back a pitch angle rate signal
Increasing damping by feeding back full pitch angle signals
The static stability of the pitching channel is increased; the pitch angle control section controls the pitch angle by the pitch angle ratio
Carrying out pitch angle rapid tracking;
wherein,
controlling gain for a pitch angle rate damping stability augmentation term, wherein an upper mark Q represents a pitch angle rate, and a lower mark E represents an elevator;
the control gain of a pitch angle stability augmentation term is represented, the upper scale theta D represents pitch angle stability augmentation, the lower scale E represents an elevator, and theta represents a pitch angle;
the proportional control gain of the pitch angle is represented, the upper scale theta represents the pitch angle, the lower scale E represents the elevator, and theta represents the pitch angle; thetagRepresents a pitch angle command given signal, and subscript g represents given;Eindicating elevator input and subscript E indicating elevator.
3. An aircraft trajectory tracking and disturbance rejection control method based on two-dimensional position guidance is characterized by comprising the following steps: the method comprises the following steps:
a two-dimensional position guiding method is adopted for high-precision track tracking; the two-dimensional position guiding quantity is a track height error and a track forward distance error respectively; the method specifically comprises the following steps: in the landing equiangular gliding stage, a two-dimensional position deviation value is formed according to the current altitude error and the forward distance error of the aircraft, a guidance instruction of a longitudinal section is generated, the aircraft eliminates a track tracking error in a mode of tracking altitude and forward distance, and fine adjustment of a landing track is carried out;
A1the point is the actual position of the aircraft, and the coordinate position on the longitudinal section is marked as (X, H) according to A1The X coordinate of the point B is obtained as A on the guidance track line0Point ordinate HRAccording to A1The H coordinate of the reference point is obtained as A on the guidance track line2Point abscissa XR(ii) a The altitude error in the two-dimensional position guidance quantity is defined as the difference between the current altitude of the aircraft and the direction of the guidance track line H, and is expressed as Δ H-HR(ii) a The forward distance error is defined as the difference between the current horizontal position of the aircraft and the X direction of the guide track line, and is expressed as DeltaX-XR；
A pitch angle command signal generated by the forward distance controller
And a pitch angle command signal generated by the altitude controller
Synthesizing inner ring pitch angle control command signals
The outer ring is connected in parallel to control the forward distance and the height, and two-dimensional position guidance in the forward direction and the height direction of the longitudinal section is carried out;
adopting vertical speed to carry out disturbance suppression; disturbance suppression is carried out by controlling the vertical speed of the controlled target close to the track; the method specifically comprises the following steps: in the gliding process of the aircraft, the vertical distance of the aircraft deviating from the ideal glide slope in the longitudinal section is d; the vertical speed of the controlled target deviating from the lower slideway is
Is marked as
Wherein VARepresenting the speed of the aircraft relative to an inertial frame, gamma representing the actual glide angle of the aircraft, gammacRepresenting a glide-angle command for the aircraft;
obtaining the vertical speed of the controlled target deviating from the glidepath after obtaining the speed, the glide-angle and the glide-angle commands of the aircraft
Selecting
As the disturbance suppression control amount, it is possible,
the inner loop control variable as a forward distance controller controls the phase lead by 90 degrees, which is equivalent to the differential control of increasing d, and the differential control can increase the damping degree of a track control system, so that the aircraft passes throughThe wind disturbance can be effectively inhibited in the wind field.
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| CN111077903B (en) * | 2019-12-12 | 2021-11-16 | 南京航空航天大学 | High-fault-tolerance skyhook recovery method based on window decision |
| CN113184166A (en) * | 2021-03-31 | 2021-07-30 | 成都飞机工业（集团）有限责任公司 | Stability augmentation control method for flying wing layout unmanned aerial vehicle |
| CN113176788B (en) * | 2021-04-27 | 2022-08-16 | 北京理工大学 | Aircraft path tracking method based on variable forward distance LOS guidance law |
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