Nothing Special   »   [go: up one dir, main page]

CN102929134A - Method for designing controller of multiple time lag aircraft model - Google Patents

Method for designing controller of multiple time lag aircraft model Download PDF

Info

Publication number
CN102929134A
CN102929134A CN 201210380907 CN201210380907A CN102929134A CN 102929134 A CN102929134 A CN 102929134A CN 201210380907 CN201210380907 CN 201210380907 CN 201210380907 A CN201210380907 A CN 201210380907A CN 102929134 A CN102929134 A CN 102929134A
Authority
CN
China
Prior art keywords
tau
sigma
matrix
design
centerdot
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.)
Pending
Application number
CN 201210380907
Other languages
Chinese (zh)
Inventor
史忠科
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Northwestern Polytechnical University
Original Assignee
Northwestern Polytechnical University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Northwestern Polytechnical University filed Critical Northwestern Polytechnical University
Priority to CN 201210380907 priority Critical patent/CN102929134A/en
Publication of CN102929134A publication Critical patent/CN102929134A/en
Pending legal-status Critical Current

Links

Landscapes

  • Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)

Abstract

The invention discloses a method for designing a controller of a multiple time lag aircraft model, which is used for solving the technical problem that the existing robust control theory lacks the design step, so the flight controller is hard to design directly. The technical scheme is as follows: the multiple lag system segmentation robust stability and solvability conditions are given, selection of desired closed-loop poles of linear system state feedback is directly utilized and a constraint condition inequality direct design feedback matrix is given according to the characteristic that all the real parts of all the desired closed-loop poles are negative, so that the engineering technicians in the research field directly design the flight controller for the aircraft model with multiple time lag uncertainty obtained through wind tunnel or flight tests, thus solving the technical problem that the current research results only give the robust stability inequality but can not directly design the flight controller.

Description

The controller design method of aircraft a plurality of time lag of model
Technical field
The present invention relates to a kind of controller design method, particularly relate to the controller design method of a kind of aircraft a plurality of time lag of model.
Background technology
The aircraft robust control is one of emphasis problem of present international airline circle research, when the high performance airplane controller designs, must consider robust stability and kinds of robust control problems; Practical flight device model is the non-linear differential equation of very complicated Unknown Model structure, and in order to describe the non-linear of this complexity, people adopt wind-tunnel and flight test to obtain the test model of describing by discrete data usually; In order to reduce risks and to reduce experimentation cost, usually carry out the flight maneuver test according to differing heights, Mach number, like this, the discrete data of describing the aircraft test model is not a lot, aircraft is very practical preferably to static stability for this model.Yet the modern and following fighter plane has all relaxed restriction to static stability in order to improve " agility ", and fighter plane requires to work near open loop neutrality point usually; So just require well transaction module uncertain problem of flight control system; Will consider following subject matter in the practical flight Control System Design: (1) obtains discrete data with test and describes with a certain approximate model, exists not modeling dynamic in the model; (2) wind tunnel test can not be carried out the full scale model free flight, have constraint, the flight test discrete point is selected, the input action selection of initially state of flight, maneuvering flight etc. can not with all non-linear abundant excitations, adopt System Discrimination gained model to have various errors; (3) flight environment of vehicle and experimental enviroment are had any different, flow field change and interference etc. so that actual aerodynamic force, moment model and test model have any different; (4) there are fabrication tolerance in execution unit and control element, also have the phenomenons such as aging, wearing and tearing in system's operational process, and be not identical with the result of flight test; (5) in the Practical Project problem, need controller fairly simple, reliable, usually need to simplify for ground the mathematics model person, remove some complicated factors; Therefore, when the control problem of research present generation aircraft, just must consider robustness problem; Particularly a plurality of time lags of various degrees are uncertain in the aircraft angle of attack, yaw angle measurement and a lot of physics, the chemical process, if analysis or design process in system are ignored these a plurality of time lags, the result of mistake just may occur or cause the unstable of system.
After 1980, carried out in the world the control theory research of multiple uncertain system, the H-infinit theory that is particularly proposed by Canadian scholar Zames, Zames thinks, why robustness is bad for the LQG method of state-based spatial model, mainly is because represent that with White Noise Model uncertain interference is unpractical; Therefore, in the situation that disturbing, supposition belongs to a certain known signal collection, Zames proposes norm with its corresponding sensitivity function as index, design object is that the error of system is issued in this norm meaning is minimum, thereby will disturb the inhibition problem to be converted into to find the solution makes closed-loop system stable; From then on, the lot of domestic and international scholar has launched the research of H-infinit control method; At aeronautical chart, the method is in the exploratory stage always, U.S. NASA, and the state such as German aerospace research institute, Holland all is studied robust control method, has obtained a lot of emulation and experimental result; Domestic aviation universities and colleges have also carried out a series of research to the aircraft robust control method, such as document (Shi Zhongke, Wu Fangxiang etc., " robust control theory ", National Defense Industry Press, in January, 2003; Su Hongye. " robust control basic theory ", Science Press, in October, 2010) introduce, but the distance of these results and practical application also differs very large, is difficult to directly the practical flight controller be designed and uses; Particularly a lot of researchs have only provided uncertain a plurality of time-delay system Robust Stability according to Lyapunov theorem, but the problems such as existence condition for these solution of inequality relate to less, can not obtain specific implementation robust Controller Design time lag step, not have to solve the directly technical matters of design Robust Flight Control device.
Summary of the invention
Lack the technical deficiency that design procedure is difficult to directly design flight controller in order to overcome existing robust control theory, the invention provides the controller design method of a kind of aircraft a plurality of time lag of model; The method provides a plurality of time lag of the design conditions of real system Robust Stability Controller, directly utilize the closed loop expectation the selection of poles of State Feedback for Linear Systems, and all be the characteristics of negative according to the real part of all closed loops expectation limits, provided the direct design of feedback matrix of qualifications inequality, can directly design flight controller to a plurality of time lags uncertain dummy vehicle of containing that wind-tunnel or flight test obtain, solve that current research only provides the robust stability inequality and the technical matters that can't directly design flight controller.
The technical solution adopted for the present invention to solve the technical problems is: the controller design method of a kind of aircraft a plurality of time lag of model is characterized in may further comprise the steps:
Step 1, under assigned altitute, Mach number condition, obtain containing a plurality of time lags probabilistic dummy vehicles by wind-tunnel or flight test and be:
x · ( t ) = Ax ( t ) + Σ i = 1 r A τi x ( t - τ i ) + Bu ( t ) - - - ( 1 )
In the formula, x ∈ R n, u ∈ R mBe respectively state and input vector, A, B are known matrix of coefficients, A τ iBe the matrix of coefficients of a plurality of time lag of link, τ iBe the time delay of the unknown, simple in order to write, x (t) is replaced x (t-τ with x i) do not write a Chinese character in simplified form;
The selection flight controller is: u=-Kx
In the formula, K is feedback matrix;
Bring in (1) formula, have: x · = ( A - BK ) x + Σ i = 1 r A τi x ( t - τ )
Step 2, choose the different and real part of the eigenwert of (A-B K) for negative, the design of feedback matrix K is so that satisfy condition:
Λ > M T ( Σ i = 1 r A τi T M - T M - 1 A τi ) M ;
This controller so that x · = ( A - BK ) x + Σ i = 1 r A τi x ( t - τ ) Robust stability;
In the formula, M is the matrix of a linear transformation,
M -1(A-B?K)M=diag[σ 1+jω 1,σ 2+jω 2,…,σ n+jω n],
σ i, ω i(i=1,2 ..., n) be real number, j ω i(i=1,2 ..., n) expression imaginary number, diag is the diagonal angle symbol,
Λ = diag [ σ 1 2 , σ 2 2 , · · · , σ n 2 ] ;
Δ A-Δ BK is assumed to be Δ A-Δ BK=HFW usually, and H, W all are assumed to be matrix, 0<F≤I, and I=diag[1,1 ..., 1] and be unit matrix.
The invention has the beneficial effects as follows: can separate condition by a plurality of delay system segmentation robust stabilities provided by the invention, directly utilize the closed loop expectation the selection of poles of State Feedback for Linear Systems, and all be the characteristics of negative according to the real part of all closed loops expectation limits, provided the direct design of feedback matrix of qualifications inequality, so that the engineering technical personnel of this research field directly design flight controller to a plurality of time lags uncertain dummy vehicle of containing that wind-tunnel or flight test obtain, solved that the current research result only provides the robust stability inequality and the technical matters that can't directly design flight controller.
Below in conjunction with embodiment the present invention is elaborated.
Embodiment
The controller design method concrete steps of aircraft of the present invention a plurality of time lag of model are as follows:
1, obtaining containing a plurality of time lags probabilistic dummy vehicles by wind-tunnel or flight test under assigned altitute, Mach number condition is: contain r time lag
x · ( t ) = Ax ( t ) + Σ i = 1 r A τi x ( t - τ i ) + Bu ( t ) - - - ( 1 )
In the formula, x ∈ R n, u ∈ R mBe respectively state and input vector, A, B are known matrix of coefficients, A τ iBe the matrix of coefficients of a plurality of time lag of link, τ iBe the time delay of the unknown, simple in order to write, x (t) is replaced x (t-τ with x i) do not write a Chinese character in simplified form;
The selection flight controller is: u=-Kx
In the formula, K is feedback matrix;
Bring in (1) formula, have: x · = ( A - BK ) x + Σ i = 1 r A τi x ( t - τ )
2, choose the different and real part of the eigenwert of (A-B K) for negative, the design of feedback matrix K is so that satisfy condition:
M T ( Σ i = 1 r A τι T M - T M - 1 A τι ) M ;
This controller so that x · = ( A - BK ) x + Σ i = 1 r A τi x ( t - τ ) Robust stability;
In the formula, M is the matrix of a linear transformation,
M -1(A-BK)M=diag[σ 1+jω 1,σ 2+jω 2,…,σ n+jω n],
σ i, ω i(i=1,2 ..., n) be real number, j ω i(i=1,2 ..., n) expression imaginary number, diag is the diagonal angle symbol,
Λ = diag [ σ 1 2 , σ 2 2 , · · · , σ n 2 ] ;
Δ A-Δ BK is assumed to be Δ A-Δ BK=HFW usually, and H, W all are assumed to be matrix, 0<F≤I, and I=diag[1,1 ..., 1] and be unit matrix;
Getting the Flight Altitude Moving state variable is x=[a α θ] T, input variable is u=δ e, wherein q is rate of pitch, and α is the air-flow angle of attack, and θ is the angle of pitch, δ eBe the elevating rudder drift angle; The State Equation Coefficients matrix is:
A = - 0.5000 - 8.6500 0 1.0000 - 0.3800 0 1.0000 0 0 , B = - 6.5000 - 0.1000 0 ,
2 time lag uncertain part be:
A τ 1 = 0.01000 - 0.06000 0 - 0.13000 0.14000 0 0 0 0 F , A τ 2 = 0.0000 - 0.02000 0 - 0.23000 0.074000 0 0 0 0 F
0<F≤I,
Selecting closed loop expectation limit is the eigenwert σ (A-BK)=diag[-0.5 of A-BK ,-1 ,-2], can get:
A - BK = - 3.2738 1.3482 - 4.0502 0.9573 - 0.2262 - 0.0623 1.0000 0 0 , M = - 0.8005 - 0.5173 0.2203 0.4461 0.6817 - 0.8703 0.4003 0.5173 - 0.4406
The controller of a plurality of time-delay systems is: K=[-0.3794 1.5382-0.6231].

Claims (1)

1. the controller design method of aircraft a plurality of time lag of a model is characterized in that may further comprise the steps:
Step 1, under assigned altitute, Mach number condition, obtain containing a plurality of time lags probabilistic dummy vehicles by wind-tunnel or flight test and be:
x &CenterDot; ( t ) = Ax ( t ) + &Sigma; i = 1 r A &tau;i x ( t - &tau; i ) + Bu ( t ) - - - ( 1 )
In the formula, x ∈ R n, u ∈ R mBe respectively state and input vector, A, B are known matrix of coefficients, A τ iBe the matrix of coefficients of a plurality of time lag of link, τ iBe the time delay of the unknown, simple in order to write, x (t) is replaced x (t-τ with x i) do not write a Chinese character in simplified form;
The selection flight controller is: u=-Kx
In the formula, K is feedback matrix;
Bring in (1) formula, have: x &CenterDot; = ( A - BK ) x + &Sigma; i = 1 r A &tau;i x ( t - &tau; )
Step 2, choose the different and real part of the eigenwert of (A-B K) for negative, the design of feedback matrix K is so that satisfy condition:
&Lambda; > M T ( &Sigma; i = 1 r A &tau;i T M - T M - 1 A &tau;i ) M ;
This controller so that x &CenterDot; = ( A - BK ) x + &Sigma; i = 1 r A &tau;i x ( t - &tau; ) Robust stability;
In the formula, M is the matrix of a linear transformation,
M -1(A-B?K)M=diag[σ 1+jω 1,σ 2+jω 2,…,σ n+jω n],
σ i, ω i(i=1,2 ..., n) be real number, j ω i(i=1,2 ..., n) expression imaginary number, diag is the diagonal angle symbol,
&Lambda; = diag [ &sigma; 1 2 , &sigma; 2 2 , &CenterDot; &CenterDot; &CenterDot; , &sigma; n 2 ] ;
Δ A-Δ BK is assumed to be Δ A-Δ BK=HFW usually, and H, W all are assumed to be matrix, 0<F≤I, and I=diag[1,1 ..., 1] and be unit matrix.
CN 201210380907 2012-10-10 2012-10-10 Method for designing controller of multiple time lag aircraft model Pending CN102929134A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201210380907 CN102929134A (en) 2012-10-10 2012-10-10 Method for designing controller of multiple time lag aircraft model

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201210380907 CN102929134A (en) 2012-10-10 2012-10-10 Method for designing controller of multiple time lag aircraft model

Publications (1)

Publication Number Publication Date
CN102929134A true CN102929134A (en) 2013-02-13

Family

ID=47643963

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201210380907 Pending CN102929134A (en) 2012-10-10 2012-10-10 Method for designing controller of multiple time lag aircraft model

Country Status (1)

Country Link
CN (1) CN102929134A (en)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103792848A (en) * 2014-02-28 2014-05-14 西安费斯达自动化工程有限公司 Longitudinal flight model cluster man-machine closed-loop composite root locus multi-stage PID robust controller design method
CN103809449A (en) * 2014-02-28 2014-05-21 西安费斯达自动化工程有限公司 Method for designing flutter-suppression composite PID robust controller for multi-loop model cluster of aircraft
CN103809450A (en) * 2014-02-28 2014-05-21 西安费斯达自动化工程有限公司 Multi-loop aircraft model cluster flutter restraining composite root locus multistage PID (Proportion Integration Differentiation) robust controller design method
CN103809447A (en) * 2014-02-28 2014-05-21 西安费斯达自动化工程有限公司 Method for designing composite frequency controller for multi-loop model cluster of aircraft
CN103809452A (en) * 2014-02-28 2014-05-21 西安费斯达自动化工程有限公司 Design method of longitudinal flight model cluster flutter-suppression composite root-locus multi-level PID (proportion integration differentiation) robust controller
CN103809453A (en) * 2014-02-28 2014-05-21 西安费斯达自动化工程有限公司 Design method of longitudinal flight model cluster man-machine closed-loop composite root-locus compensation robust controller
CN103809451A (en) * 2014-02-28 2014-05-21 西安费斯达自动化工程有限公司 Method for designing composite root locus multi-stage PID controller for multi-loop model cluster of aircraft
CN103823378A (en) * 2014-02-28 2014-05-28 西安费斯达自动化工程有限公司 Design method for longitudinal flight model cluster flutter-restraining composite PID robust controller
CN103853048A (en) * 2014-02-28 2014-06-11 西安费斯达自动化工程有限公司 Design method for man-machine closed loop combined frequency robust controller of air vehicle multi-loop model cluster
CN103853049A (en) * 2014-02-28 2014-06-11 西安费斯达自动化工程有限公司 Designing method for longitudinal flight model cluster combination frequency robust controller
CN104765274A (en) * 2015-04-29 2015-07-08 西北工业大学 Emergency stabilization control method for aircraft sudden change process

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103853048A (en) * 2014-02-28 2014-06-11 西安费斯达自动化工程有限公司 Design method for man-machine closed loop combined frequency robust controller of air vehicle multi-loop model cluster
CN103809451B (en) * 2014-02-28 2016-03-23 西安费斯达自动化工程有限公司 The multistage PID controller design method of aircraft multiloop model bunch compound root locus
CN103792848A (en) * 2014-02-28 2014-05-14 西安费斯达自动化工程有限公司 Longitudinal flight model cluster man-machine closed-loop composite root locus multi-stage PID robust controller design method
CN103809447A (en) * 2014-02-28 2014-05-21 西安费斯达自动化工程有限公司 Method for designing composite frequency controller for multi-loop model cluster of aircraft
CN103809452A (en) * 2014-02-28 2014-05-21 西安费斯达自动化工程有限公司 Design method of longitudinal flight model cluster flutter-suppression composite root-locus multi-level PID (proportion integration differentiation) robust controller
CN103809453A (en) * 2014-02-28 2014-05-21 西安费斯达自动化工程有限公司 Design method of longitudinal flight model cluster man-machine closed-loop composite root-locus compensation robust controller
CN103809451A (en) * 2014-02-28 2014-05-21 西安费斯达自动化工程有限公司 Method for designing composite root locus multi-stage PID controller for multi-loop model cluster of aircraft
CN103823378A (en) * 2014-02-28 2014-05-28 西安费斯达自动化工程有限公司 Design method for longitudinal flight model cluster flutter-restraining composite PID robust controller
CN103809450A (en) * 2014-02-28 2014-05-21 西安费斯达自动化工程有限公司 Multi-loop aircraft model cluster flutter restraining composite root locus multistage PID (Proportion Integration Differentiation) robust controller design method
CN103853049A (en) * 2014-02-28 2014-06-11 西安费斯达自动化工程有限公司 Designing method for longitudinal flight model cluster combination frequency robust controller
CN103809449B (en) * 2014-02-28 2016-03-23 西安费斯达自动化工程有限公司 Aircraft multiloop model bunch Flutter Suppression Composite PID robust Controller Design method
CN103853049B (en) * 2014-02-28 2016-05-11 西安费斯达自动化工程有限公司 Longitudinal Flight model cluster combination frequency robust Controller Design method
CN103809452B (en) * 2014-02-28 2016-03-23 西安费斯达自动化工程有限公司 Longitudinal Flight model cluster Flutter Suppression compound root locus multistage PID robust Controller Design method
CN103809449A (en) * 2014-02-28 2014-05-21 西安费斯达自动化工程有限公司 Method for designing flutter-suppression composite PID robust controller for multi-loop model cluster of aircraft
CN103792848B (en) * 2014-02-28 2016-03-30 西安费斯达自动化工程有限公司 Longitudinal Flight model cluster man-machine loop compound root locus multistage PID robust Controller Design method
CN103809450B (en) * 2014-02-28 2016-04-27 西安费斯达自动化工程有限公司 Multiloop dummy vehicle bunch Flutter Suppression compound root locus multistage PID robust Controller Design method
CN103853048B (en) * 2014-02-28 2016-05-04 西安费斯达自动化工程有限公司 Aircraft multiloop model bunch man-machine loop's combination frequency robust Controller Design method
CN104765274A (en) * 2015-04-29 2015-07-08 西北工业大学 Emergency stabilization control method for aircraft sudden change process
CN104765274B (en) * 2015-04-29 2017-03-08 西北工业大学 A kind of emergent stable control method of aircraft mutation process

Similar Documents

Publication Publication Date Title
CN102929134A (en) Method for designing controller of multiple time lag aircraft model
CN102929142B (en) Method for designing controller of time-varying aircraft model with uncertainty
CN102929141B (en) Aircraft time lag varying model approximation and controller designing method
CN102929138B (en) Method for designing aircraft controller with nonlinearity
CN102929139B (en) Method for designing controller of multi-interval aircraft model
CN102929140B (en) Method for designing approximation and controller of time lag aircraft model
CN102929130B (en) Robust flight controller design method
CN104022742A (en) Aircraft posture robust inversion fault tolerant control method based on neural network observer
CN103838145A (en) Vertical take-off and landing airplane robust fault-tolerant control system and method based on cascaded observers
CN102929128B (en) Method for designing controller of aircraft model with uncertainty
CN102929144B (en) The controller design method of aircraft interval model
Tousi et al. Robust observer-based fault diagnosis for an unmanned aerial vehicle
Frink et al. Computational aerodynamic modeling tools for aircraft loss of control
CN105676852A (en) Small unmanned helicopter adaptive attitude control method of dynamic-model-free structure
CN102929143B (en) Control design method for aircraft time lag model
Rauf et al. Aerodynamic modeling and State-Space model extraction of a UAV using DATCOM and Simulink
Sato Robust gain-scheduled flight controller using inexact scheduling parameters
CN102929129B (en) Aircraft controller designing method containing multiple time lag varying models
Alam et al. On the internal stability of non‐linear dynamic inversion: application to flight control
CN102929135B (en) Method for designing controller for aircraft time lagging and varying model
CN102929136B (en) Aircraft multi-time delay model approach and controller design method
CN102929145B (en) Design method of aerocraft multi-time delay time-varying model approximation and controller
Wang et al. Robust H∞ directional control for a sampled-data autonomous airship
Qian et al. Design of flight control system for a hypersonic gliding vehicle based on nonlinear disturbance observer
CN102929137B (en) Aircraft controller designing method containing distribution parameter items

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C12 Rejection of a patent application after its publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20130213