CN103713517A - Flight control system self-adaption parameter adjustment method - Google Patents

Abstract

The invention discloses a flight control system self-adaption parameter adjustment method. In the design process, the structure of a flight control system is fixed; and under the condition that flight envelope changes greatly, and by establishing constraint relation between unknown parameters of the flight control system and poles of a closed loop system, robust self-adaptive parameter adjustment of the flight control system is achieved. The method is characterized by, during the design process, to begin with, performing corresponding performance constraint based on flight qualities, such as bandwidth frequency, time delay, magnitude margin and phase margin, of an aircraft model, and establishing an area meeting flight performance requirements; and then obtaining design parameters, meeting area stabilization requirements, of the flight control system by utilizing the protection mapping theory, meanwhile, automatically generating a controller set meeting the requirements, and thus self-adaption parameter adjustment of the control system is achieved. More importantly, during the parameter adjustment process, not only a single parameter can be adjusted, but also coordinated and integrated design of multiparameters can be achieved, thereby meeting the requirement for multiobjective design parameter adjustment of the flight control system.

Description

A kind of flight control system self-adaptation is adjusted ginseng method

Technical field

The present invention relates to a kind of aircraft control method, especially a kind of automatic tune ginseng method of using protection mapping theory to design flight control system, the self-adaptation that completes control system parameter is adjusted.

Background technology

Because the requirement of modern flight control system is more and more higher, classic method can not meet its complicated application requirements, and comprehensive multiple goal requires the self-adaptation adjusting that realizes flight control system parameter to seem very necessary.Tradition flight control system adjusts the most conventional method in ginseng to have two kinds, the first form is to utilize near inearized model given equilibrium point, designing corresponding one group of linear controller synthesizes, the preset variable of these controller interpolation, may be endogenous variable, may be also exogenous variable.The second form is based on linear variable element (LPV) technology, is about to control system and adjusts ginseng problem to convert the problem of calculating LMI optimum to, controls parameter and directly from the LPV equation of design, obtains.Yet when dynamic compensator or topworks are considered time, the interpolation of the first form becomes a challenging problem, its stability of what is more important cannot be proved.And the second form makes Control System Design too conservative, especially, when operating area becomes large, may cause inaccessible optimization problem, be difficult to realize the global stability of closed-loop system.

In order to improve the self-adaptation setting method of flight control system parameter, take into account interpolation and adjust ginseng and LPV to adjust the advantage of joining, avoid the shortcoming of the two, the flight control system self-adaptation that the present invention proposes based on protection mapping theory is adjusted ginseng algorithm.This algorithm can, according to given performance index, be realized the self-adaptation of flight control system parameter and adjust.Different from classical gain scheduling method, its design process need only not need a given initial controller based on multiple stable point, and then the new controller of Automatic-searching, until meet the requirement of other equilibrium points to stability, covers whole perform region.On the other hand, the place that this algorithm is better than LPV is that it can use given static controller, automatically generates one group of new controller, and performance is powerful and can cover whole working field.In addition, owing to thering is identical flight control system structure, realize at an easy rate interpolation and adjust ginseng, or directly make look-up table, very easily meet the practical application request of engineering.

Summary of the invention

Technical matters

The technical problem to be solved in the present invention is to provide a kind of flight control system self-adaptation based on protection mapping theory and adjusts ginseng method; for solving the parameter adaptive problem of tuning of modern flight control system; it utilizes protection mapping theory; set up the restriction relation between the unknown gain parameter of flight control system and closed-loop control system limit; realization regulates the parameter adaptive of flight control system, guarantees the global stability of flight course.

Technical scheme

In order to realize the self-adaptation of flight control system, adjust ginseng, the present invention is based on protection mapping theory and proposed a kind of new flight control system control self-adaptation tune parametric technique.In design process, flight control system structure is fixed, and at flight envelope, significantly under situation of change, by setting up the restriction relation between flight control system unknown parameter and closed-loop system limit, realizes the robust adaptive of flight control system and adjusts ginseng.In design process; first according to the bandwidth frequency of dummy vehicle; time delay; the flight quality such as magnitude margin and phase margin is carried out corresponding performance constraints; structure meets the region of flight performance requirement, and then utilizes protection mapping theory, obtains the design parameter of the flight control system that meets the requirement of Ω regional stability; automatically generate the controller set meeting the demands simultaneously, realize the self-adaptation of control system and adjust ginseng.What is more important, adjusts in ginseng process and both can regulate one-parameter, also can realize the coordination comprehensive Design of multiparameter, meets the multiobject design parameter of the flight control system demand of adjusting.Concrete steps are as follows:

Step 1: initialization flight control system, the expression formula of its control law is:

$\mathrm{\Δ}{\mathrm{\δ}}_e=K_z^{\mathrm{\θ}}\mathrm{\Δ\θ}+K_z^{\stackrel{\·}{\mathrm{\θ}}}\mathrm{\Δ}\stackrel{\·}{\mathrm{\θ}}+K_z^h(\mathrm{\Δh}-{\mathrm{\Δh}}_g)+K_z^{\stackrel{\·}{h}}\mathrm{\Δ}\stackrel{\·}{h}$

Wherein, Δ θ and

the pitch angle deviation and the rate of change thereof that represent respectively aircraft; Δ h and

the height tolerance and the rate of change thereof that represent aircraft; Δ δ _ethe control surface deflection angle that represents aircraft; Δ h _gfor aircraft height command signal;

the control parameter of adjusting for needs;

Step 2: the design object that the closed-loop control system of integrated flying control system and model aircraft is set is:

The real part α of limit maximum _t≤-1;

The damping ratio ξ of short period limit minimum _t>=0.6;

Maximum free-running frequency ω of short period _t≤ 10;

Ω _t=Ω (α _t, ξ _t, ω _t) as target area;

Step 3:

Select unknown gain parameter set K _j(j=1 ..., p) (K ∈ R ^p), arrange

as initial value, the design object region in integrating step two, obtains iteration region: ask for closed-loop control system state matrix A (f (K described in step 2 ⁰)) eigenwert Λ={ λ ₁, λ ₂..., λ _n, judge whether all in target area Ω _tin, if completely interior, meet and control target call, initial value is to meet to control the precise gain parameter value requiring, and stops search; If not exclusively at target area Ω _tin, judge A (f (K ⁰)) whether be systems stabilisation, judge whether the limit of RHP, if having, only by stability margin α and two restrictions on the parameters of free-running frequency ω, defined range Ω _Λfor comprising the Minimum Area of all eigenwerts of stable matrix A, i.e. Λ ∈ Γ _Λ, region Γ _Λ=Γ (α _Λ, ω _Λ) unique definition, wherein α _Λ=max{Re (λ _i) and ω _Λ=max{| λ _i|; Combining target region, can define iteration region Γ _u=Γ (α _u, ω _u), α wherein _u=α _Λ, ω _u=max{ ω _t, ω _Λ; Otherwise stabilized zone Ω is retrained by (α, ξ, ω), defined range Ω _Λthe Minimum Area of all eigenwerts of Cover matrix A, i.e. Λ ∈ Ω _Λ, and region Ω _Λ=Ω (α _Λ, ξ _Λ, ω _Λ) unique definition, wherein α _Λ=max{ α _t, α _Λ, ξ _Λ=min{ ξ (λ _i) ω _Λ=max{| λ _i|; Combining target region, can define iteration region Ω _u=Ω (α _u, ξ _u, ω _u), α wherein _u=max{ α _t, α _Λ, ξ _u=min{ ξ _t, ξ _Λω _u=max{ ω _t, ω _Λ;

According to definition iteration region, the stable set of definition closed-loop control system is:

$S\left({\mathrm{\Ω}}_U\right)=\{A\left(K^0\right)\∈R^{n\×n}:\mathrm{\σ}\left(A\left(K^0\right)\right)\⋐{\mathrm{\Ω}}_U\}$

σ (A) is the eigenwert of matrix A;

In described iteration region, the protection mapping relations of three parameters are:

$v_{\mathrm{\α}}\left(A\left(f\left(K^0\right)\right)\right)=\det (A{\left(f\left(K^0\right)\right)}^2/-{\mathrm{\α}}_U/\⊗/)\det (A\left(f\left(K^0\right)\right)-{\mathrm{\α}}_U/)$

$v_{\mathrm{\ξ}}\left(A\left(f\left(K^0\right)\right)\right)=\det \left(A\left(f\left(K^0\right)\right)\right)\·\det (A{\left(f\left(K^0\right)\right)}^2\⊗/+(1-{{2\mathrm{\ξ}}_U}^2)A\left(f\left(K^0\right)\right)\⊗A\left(f\left(K^0\right)\right))$

$\begin{array}{c}{v}_{\mathrm{\ω}}\left(A\left(f\left(K^0\right)\right)\right)=\det (A\left(f\left(K^0\right)\right)\⊗A\left(f\left(K^0\right)\right)-{{\mathrm{\ω}}_U}^2/\⊗/)\·\\ \det (A\left(f\left(K^0\right)\right)-{\mathrm{\ω}}_U/)\det (A\left(f\left(K^0\right)\right)+{\mathrm{\ω}}_U/)\end{array}$

Wherein, v _α, ν _ξ, ν _ωrepresent respectively the corresponding protection mapping relations in iteration region; A (f (K ⁰)) be the state space matrices of aircraft closed-loop control system; Det is matrix A (f (K ⁰)) determinant; I representation unit battle array;

the Bialternate of representing matrix is long-pending;

Step 4: ask for closed-loop control system state matrix A (f (K ⁰)) eigenwert, judge whether all in target area Ω _tin, if completely interior, meet and control target call, initial value is to meet to control the precise gain parameter value requiring, and stops search; If not exclusively at target area Ω _tin, carry out step 5;

Step 5: according to protection mapping theory, according to the actual demand of adjusting of the multiobject design parameter of flight control system, according to the single argument having in flight model or bivariate, apply respectively one-parameter or two-parameter algorithm, select tuning process, iteration goes out one group of new gain parameter value K';

Step 6: the new gain parameter value of the iteration obtaining according to step 5, and the parameter value before iteration, foundation || K ^m-K ^m+1||≤ε _k(1+||K ^m||) judgement carried out, wherein ε _kbe a suitable little positive, if this formula does not meet, continue to get back to step 5, K' is carried out to iteration as initial value, obtain new parameter value; If this formula meets, calculate the eigenwert of A (f (K ')), judge whether all in target area Ω _tin, if completely interior, meet and control target call, initial value is to meet to control the precise gain parameter value requiring, and stops search; If not exclusively at target area Ω _tin, return to step 3, redefine iteration region, complete parameter tuning process;

Step 7: obtain in closed-loop control system state matrix A (f (K)) by the new gain parameter value of step 6, whether the desired value of access control system meets the design object requirement of control, as meets the design object requirement of control, finishes.

Beneficial effect

The parameter adaptive that method of the present invention is conducive to solve in flight control system regulates problem; under the flight environment of vehicle of large envelope curve; flight quality and performance requirement according to design; by choosing initial control system structure; based on protection mapping theory, automatically produce one group of new control parameter; performance is powerful and cover whole flight range, guarantees the global stability of system.In addition, owing to thering is identical controller architecture, these controllers can generate the many set control system gains that meet performance requirement rapidly, be covered to adaptively the flight envelope setting, also can complete simply and effectively robust analysis and the research of control system, the technical support providing for the practical application of engineering.

Accompanying drawing explanation

Fig. 1 is typical flight control system structural drawing;

Fig. 2 is the control system one-parameter process flow diagram of adjusting;

Fig. 3 is the flight control system auto-adaptive parameter process flow diagram of adjusting.

Embodiment

Below in conjunction with accompanying drawing, technical scheme of the present invention is further described.

The flight control system of the present embodiment we selected typical, its structure as shown in Figure 1, can be write as by the expression formula of its control law:

$\mathrm{\Δ}{\mathrm{\δ}}_e=K_z^{\mathrm{\θ}}\mathrm{\Δ\θ}+K_z^{\stackrel{\·}{\mathrm{\θ}}}\mathrm{\Δ}\stackrel{\·}{\mathrm{\θ}}+K_z^h(\mathrm{\Δh}-{\mathrm{\Δh}}_g)+K_z^{\stackrel{\·}{h}}\mathrm{\Δ}\stackrel{\·}{h}---\left(1\right)$

The knowledge of Comprehensive Control theory, can obtain the state expression formula of whole flight control system.And further, the design object that control system is set is:

1) the real part α of limit maximum _t≤-1.

2) the damping ratio ξ of short period limit minimum _t>=0.6.

3) maximum free-running frequency ω of short period _t≤ 10.

Ω _t=Ω (α _t, ξ _t, ω _t) as target area.

Select unknown gain parameter set K _j(j=1 ..., p) (K ∈ R ^p), arrange as initial value. calculate closed-loop control system state matrix A (f (K ⁰)) eigenwert Λ={ λ ₁, λ ₂..., λ _n, judge whether all in target area Ω _tin, if completely interior, meet and control target call, initial value is to meet to control the precise gain parameter value requiring, and stops search; If not exclusively at target area Ω _tin, judge A (f (K ⁰)) whether be systems stabilisation, if judge whether the limit of RHP. have, only by stability margin α and two restrictions on the parameters of free-running frequency ω, defined range Ω _Λfor comprising the Minimum Area of all eigenwerts of stable matrix A, i.e. Λ ∈ Γ _Λ, region Γ _Λ=Γ (α _Λ, ω _Λ) unique definition, wherein α _Λ=max{Re (λ _i) and ω _Λ=max{| λ _i|.Combining target region, can define iteration region Γ _u=Γ (α _u, ω _u), α wherein _u=α _Λ, ω _u=max{ ω _t, ω _Λ.Otherwise stabilized zone Ω is retrained by (α, ξ, ω), defined range Ω _Λthe Minimum Area of all eigenwerts of Cover matrix A, i.e. Λ ∈ Ω _Λ, and region Ω _Λ=Ω (α _Λ, ξ _Λ, ω _Λ) unique definition, wherein α _Λ=max{ α _t, α _Λ, ξ _Λ=min{ ξ (λ _i) ω _Λ=max{| λ _i|.Combining target region, can define iteration region Ω _u=Ω (α _u, ξ _u, ω _u), α wherein _u=max{ α _t, α _Λ, ξ _u=min{ ξ _t, ξ _Λω _u=max{ ω _t, ω _Λ.

According to iteration region, the stable set of definition closed-loop control system is:

$S\left({\mathrm{\Ω}}_U\right)=\{A\left(K^0\right)\∈R^{n\×n}:\mathrm{\σ}\left(A\left(K^0\right)\right)\⋐{\mathrm{\Ω}}_U\}---\left(2\right)$

σ (A) is the eigenwert of matrix A.

The protection mapping relations of three parameters are

$v_{\mathrm{\α}}\left(A\left(f\left(K^0\right)\right)\right)=\det (A{\left(f\left(K^0\right)\right)}^2/-{\mathrm{\α}}_U/\⊗/)\det (A\left(f\left(K^0\right)\right)-{\mathrm{\α}}_U/)---\left(3\right)$

$\begin{array}{c}{v}_{\mathrm{\ξ}}\left(A\left(f\left(K^0\right)\right)\right)=\det \left(A\left(f\left(K^0\right)\right)\right)\·\det (A{\left(f\left(K^0\right)\right)}^2\⊗/+\\ (1-{{2\mathrm{\ξ}}_U}^2)A\left(f\left(K^0\right)\right)\⊗A\left(f\left(K^0\right)\right))\end{array}---\left(4\right)$

$\begin{array}{c}{v}_{\mathrm{\ω}}\left(A\left(f\left(K^0\right)\right)\right)=\det (A\left(f\left(K^0\right)\right)\⊗A\left(f\left(K^0\right)\right)-{{\mathrm{\ω}}_U}^2/\⊗/)\·\\ \det (A\left(f\left(K^0\right)\right)-{\mathrm{\ω}}_U/)\det (A\left(f\left(K^0\right)\right)+{\mathrm{\ω}}_U/)\end{array}---\left(5\right)$

Wherein, v _α, ν _ξ, ν _ωrepresent respectively the corresponding protection mapping relations in iteration region; A (f (K ₀)) be the state space matrices of aircraft closed-loop control system; Det is matrix A (f (K ₀)) determinant; I representation unit battle array;

the Bialternate of representing matrix is long-pending.

According to protection mapping theory, carry out one-parameter and two-parameter tuning process, be specially

(1) one-parameter tuning process

If dummy vehicle is relevant to single model parameter a, the closed-loop control system of integrated flying control system and model aircraft can be written as (A (a), B (a), C (a), D (a)); For system state matrix A (a), if controller architecture and gain parameter value are fixed, can obtain the robust adaptive region of model variable element a maximum;

A ^-≈ sup{a<a ₀: v _Ω[A (a)]=0} (if do not exist, being worth for-∞)

A ⁺≈ inf{a>a ₀: v _Ω[A (a)]=0} (if do not exist, being worth for+∞)

And a ∈ (a ^-, a ⁺) be that nonsingular matrix A (a) is at a=a ₀the maximum robust adaptive region at place;

The initial environment condition of Linear parameter-varying modeling of turbo is set, i.e. a=a ₀=a _min, now control object is fixing motion model, obtains the gain vector initial value K that meets target area Ω ⁰.

As gain vector K=K ⁰, by K ⁰bring former control system state matrix A(a into; K) in; situation is now that controller architecture and gain parameter value are fixed, and the contained unknown parameter of protection mapping expression formula obtaining is model parameter a, finds model to meet and controls the maximum robust adaptive stabilized zone requiring

like this, for

the motion model at any a value place in scope, K ⁰all can Guarantee control system with respect to Ω regional stability; Initial gain vector K ⁰and the border of the definite stabilized zone of protection mapping, find new gain vector K ¹, make the strict branch of closed-loop system limit inner in Ω target area; The gain vector newly obtaining according to this, can obtain new maximum robust adaptive stabilized zone

wherein

then repeat said process, until to all a ∈ [a _min, a _max] all find corresponding stability controller K', i.e. new gain parameter value.

(2) two-parameter tuning process

Make the closed-loop control system A (r of integrated flying control system and model aircraft ₁, r ₂, K) middle K=[K _i] be gain vector, Ω is target stabilized zone, object is for finding one and parameter r ₁and r ₂relevant controller K (r ₁, r ₂), all limits of Guarantee control system are all in Ω stabilized zone;

First fixedly r ₂=r _2,0=r _{2, min}, utilize one-parameter gain scheduling algorithm to obtain one at interval [r _{1, min}, r _{1, max}] interior stable controller K ⁰(r ₁), then find and comprise r _2,0maximum open interval

therefore, this controller K ⁰(r ₁)

in scope, make control system stable; Order

then at [r _{1, min}, r _{1, max}] in again search search out new controller K ¹(r ₁), guarantee that control system exists

repeatedly carry out said process, until cover whole operating area, last controlled parameter K ', i.e. new gain parameter value.

According to the new gain parameter value of the iteration obtaining, and the parameter value before iteration, foundation || K ^m-K ^m+1||≤ε _k(1+||K ^m||) judgement carried out, wherein ε _kbe a suitable little positive, if this formula does not meet, continue using K' as initial value, according to protection mapping theory, according to one-parameter and two-parameter tuning process, carry out iteration, obtain new parameter value; If this formula meets, calculate the eigenwert of A (f (K ')), judge whether all in target area Ω _tin, if completely interior, meet and control target call, meet and control the precise gain parameter value requiring, stop search; If not exclusively at target area Ω _tin, using the gain parameter obtaining as initial value, according to formula (5), redefine iteration region, complete parameter tuning process.

Generally speaking, according to above-mentioned one-parameter and the application of two-parameter polynomial matrix, can realize flight control system multiparameter and coordinate the comprehensive ginseng process of adjusting, its detailed process is:

Step 1: initialization flight control system, the expression formula of its control law is:

$\mathrm{\&Delta;}{\mathrm{\&delta;}}_e=K_z^{\mathrm{\&theta;}}\mathrm{\&Delta;\&theta;}+K_z^{\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}\mathrm{\&Delta;}\stackrel{\&CenterDot;}{\mathrm{\&theta;}}+K_z^h(\mathrm{\&Delta;h}-{\mathrm{\&Delta;h}}_g)+K_z^{\stackrel{\&CenterDot;}{h}}\mathrm{\&Delta;}\stackrel{\&CenterDot;}{h}$

Wherein, Δ θ and

the pitch angle deviation and the rate of change thereof that represent respectively aircraft; Δ h and

the height tolerance and the rate of change thereof that represent aircraft; Δ δ _ethe control surface deflection angle that represents aircraft; Δ h _gfor aircraft height command signal;

the control parameter of adjusting for needs.

Step 2: the design object that control system is set is:

The real part α of limit maximum _t≤-1;

The damping ratio ξ of short period limit minimum _t>=0.6;

Maximum free-running frequency ω of short period _t≤ 10;

Ω _t=Ω (α _t, ξ _t, ω _t) as target area;

Step 3:

Select unknown gain parameter set K _j(j=1 ..., p) (K ∈ R ^p), arrange

as initial value, in conjunction with design object region, obtain iteration region. be specially: calculate closed-loop control system state matrix A (f (K ⁰)) eigenwert Λ={ λ ₁, λ ₂..., λ _n, judge whether all in target area Ω _tin, if completely interior, meet and control target call, initial value is to meet to control the precise gain parameter value requiring, and stops search; If not exclusively at target area Ω _tin, judge A (f (K ⁰)) whether be systems stabilisation, if judge whether the limit of RHP. have, only by stability margin α and two restrictions on the parameters of free-running frequency ω, defined range Ω _Λfor comprising the Minimum Area of all eigenwerts of stable matrix A, i.e. Λ ∈ Γ _Λ, region Γ _Λ=Γ (α _Λ, ω _Λ) unique definition, wherein α _Λ=max{Re (λ _i) and ω _Λ=max{| λ _i|.Combining target region, can define iteration region Γ _u=Γ (α _u, ω _u), α wherein _u=α _Λ, ω _u=max{ ω _t, ω _Λ.Otherwise stabilized zone Ω is retrained by (α, ξ, ω), defined range Ω _Λthe Minimum Area of all eigenwerts of Cover matrix A, i.e. Λ ∈ Ω _Λ, and region Ω _Λ=Ω (α _Λ, ξ _Λ, ω _Λ) unique definition, wherein α _Λ=max{ α _t, α _Λ, ξ _Λ=min{ ξ (λ _i) ω _Λ=max{| λ _i|.Combining target region, can define iteration region Ω _u=Ω (α _u, ξ _u, ω _u), α wherein _u=max{ α _t, α _Λ, ξ _u=min{ ξ _t, ξ _Λω _u=max{ ω _t, ω _Λ.

According to iteration region, the stable set of definition closed-loop control system is:

$S\left({\mathrm{\&Omega;}}_U\right)=\{A\left(K^0\right)\&Element;R^{n\&times;n}:\mathrm{\&sigma;}\left(A\left(K^0\right)\right)\&Subset;{\mathrm{\&Omega;}}_U\}$

σ (A) is the eigenwert of matrix A.

The protection mapping relations of three parameters are

$v_{\mathrm{\&alpha;}}\left(A\left(f\left(K^0\right)\right)\right)=\det (A{\left(f\left(K^0\right)\right)}^2/-{\mathrm{\&alpha;}}_U/\&CircleTimes;/)\det (A\left(f\left(K^0\right)\right)-{\mathrm{\&alpha;}}_U/)$

$v_{\mathrm{\&xi;}}\left(A\left(f\left(K^0\right)\right)\right)=\det \left(A\left(f\left(K^0\right)\right)\right)\&CenterDot;\det (A{\left(f\left(K^0\right)\right)}^2\&CircleTimes;/+(1-{{2\mathrm{\&xi;}}_U}^2)A\left(f\left(K^0\right)\right)\&CircleTimes;A\left(f\left(K^0\right)\right))$

$\begin{array}{c}{v}_{\mathrm{\&omega;}}\left(A\left(f\left(K^0\right)\right)\right)=\det (A\left(f\left(K^0\right)\right)\&CircleTimes;A\left(f\left(K^0\right)\right)-{{\mathrm{\&omega;}}_U}^2/\&CircleTimes;/)\&CenterDot;\\ \det (A\left(f\left(K^0\right)\right)-{\mathrm{\&omega;}}_U/)\det (A\left(f\left(K^0\right)\right)+{\mathrm{\&omega;}}_U/)\end{array}$

Wherein, v _α, ν _ξ, ν _ωrepresent respectively the corresponding protection mapping relations in iteration region; A (f (K ₀)) be the state space matrices of aircraft closed-loop control system; Det is matrix A (f (K ₀)) determinant; I representation unit battle array;

the Bialternate of representing matrix is long-pending.

Step 4: calculate the eigenwert of closed-loop control system state matrix A (f (K)), judge whether all in target area Ω _tin, if completely interior, meet and control target call, initial value is to meet to control the precise gain parameter value requiring, and stops search; If not exclusively at target area Ω _tin, carry out step 5;

Step 5: according to protection mapping theory, according to one-parameter and two-parameter tuning process, iteration goes out one group of new gain parameter value K'.

Step 6: the new gain parameter value of the iteration obtaining according to step 5, and the parameter value before iteration, foundation || K ^m-K ^m+1||≤ε _k(1+||K ^m||) judgement carried out, wherein ε _kbe a suitable little positive, if this formula does not meet, continue to get back to step 5, K' is carried out to iteration as initial value, obtain new parameter value; If this formula meets, calculate the eigenwert of A (f (K ')), judge whether all in target area Ω _tin, if completely interior, meet and control target call, initial value is to meet to control the precise gain parameter value requiring, and stops search; If not exclusively at target area Ω _tin, return to step 3, redefine iteration region, complete parameter tuning process.

Step 7: the new gain parameter value of step 6 is taken back in system state matrix A (f (K)), and whether the desired value of access control system meets the design object requirement of control, as meets the design object requirement of control, finishes.

Claims (3)

1. flight control system self-adaptation is adjusted a ginseng method, it is characterized in that, comprises the following steps:

Step 1: initialization flight control system, the expression formula of its control law is:

$\mathrm{\&Delta;}{\mathrm{\&delta;}}_e=K_z^{\mathrm{\&theta;}}\mathrm{\&Delta;\&theta;}+K_z^{\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}\mathrm{\&Delta;}\stackrel{\&CenterDot;}{\mathrm{\&theta;}}+K_z^h(\mathrm{\&Delta;h}-{\mathrm{\&Delta;h}}_g)+K_z^{\stackrel{\&CenterDot;}{h}}\mathrm{\&Delta;}\stackrel{\&CenterDot;}{h}$

Wherein, Δ θ and the pitch angle deviation and the rate of change thereof that represent respectively aircraft; Δ h and

the height tolerance and the rate of change thereof that represent aircraft; Δ δ _ethe control surface deflection angle that represents aircraft; Δ h _gfor aircraft height command signal;

the control parameter of adjusting for needs;

Step 2: the design object that the closed-loop control system of integrated flying control system and model aircraft is set is:

The real part α of limit maximum _t≤-1;

The damping ratio ξ of short period limit minimum _t>=0.6;

Maximum free-running frequency ω of short period _t≤ 10;

Ω _t=Ω (α _t, ξ _t, ω _t) as target area;

Step 3:

Select unknown gain parameter set K _j(j=1 ..., p) (K ∈ R ^p), arrange

as initial value, the design object region in integrating step two, obtains iteration region: ask for closed-loop control system state matrix A (f (K described in step 2 ⁰)) eigenwert Λ={ λ ₁, λ ₂..., λ _n, judge whether all in target area Ω _tin, if completely interior, meet and control target call, initial value is to meet to control the precise gain parameter value requiring, and stops search; If not exclusively at target area Ω _tin, judge A (f (K ⁰)) whether be systems stabilisation, judge whether the limit of RHP, if having, only by stability margin α and two restrictions on the parameters of free-running frequency ω, defined range Ω _Λfor comprising the Minimum Area of all eigenwerts of stable matrix A, i.e. Λ ∈ Γ _Λ, region Γ _Λ=Γ (α _Λ, ω _Λ) unique definition, wherein α _Λ=max{Re (λ _i) and ω _Λ=max{| λ _i|; Combining target region, can define iteration region Γ _u=Γ (α _u, ω _u), α wherein _u=α _Λ, ω _u=max{ ω _t, ω _Λ; Otherwise stabilized zone Ω is retrained by (α, ξ, ω), defined range Ω _Λthe Minimum Area of all eigenwerts of Cover matrix A, i.e. Λ ∈ Ω _Λ, and region Ω _Λ=Ω (α _Λ, ξ _Λ, ω _Λ) unique definition, wherein α _Λ=max{ α _t, α _Λ, ξ _Λ=min{ ξ (λ _i) ω _Λ=max{| λ _i|; Combining target region, can define iteration region Ω _u=Ω (α _u, ξ _u, ω _u), α wherein _u=max{ α _t, α _Λ, ξ _u=min{ ξ _t, ξ _Λω _u=max{ ω _t, ω _Λ;

According to definition iteration region, the stable set of setting closed-loop control system is:

$S\left({\mathrm{\&Omega;}}_U\right)=\{A\left(K^0\right)\&Element;R^{n\&times;n}:\mathrm{\&sigma;}\left(A\left(K^0\right)\right)\&Subset;{\mathrm{\&Omega;}}_U\}$

σ (A) is the eigenwert of matrix A;

In described iteration region, the protection mapping relations of three parameters are:

$v_{\mathrm{\&alpha;}}\left(A\left(f\left(K^0\right)\right)\right)=\det (A{\left(f\left(K^0\right)\right)}^2/-{\mathrm{\&alpha;}}_U/\&CircleTimes;/)\det (A\left(f\left(K^0\right)\right)-{\mathrm{\&alpha;}}_U/)$

$v_{\mathrm{\&xi;}}\left(A\left(f\left(K^0\right)\right)\right)=\det \left(A\left(f\left(K^0\right)\right)\right)\&CenterDot;\det (A{\left(f\left(K^0\right)\right)}^2\&CircleTimes;/+(1-{{2\mathrm{\&xi;}}_U}^2)A\left(f\left(K^0\right)\right)\&CircleTimes;A\left(f\left(K^0\right)\right))$

$\begin{array}{c}{v}_{\mathrm{\&omega;}}\left(A\left(f\left(K^0\right)\right)\right)=\det (A\left(f\left(K^0\right)\right)\&CircleTimes;A\left(f\left(K^0\right)\right)-{{\mathrm{\&omega;}}_U}^2/\&CircleTimes;/)\&CenterDot;\\ \det (A\left(f\left(K^0\right)\right)-{\mathrm{\&omega;}}_U/)\det (A\left(f\left(K^0\right)\right)+{\mathrm{\&omega;}}_U/)\end{array}$

Wherein, v _α, ν _ξ, ν _ωrepresent respectively the corresponding protection mapping relations in iteration region; A (f (K ⁰)) be the state space matrices of aircraft closed-loop control system; Det is matrix A (f (K ⁰)) determinant; I representation unit battle array;

the Bialternate of representing matrix is long-pending;

Step 4: ask for closed-loop control system state matrix A (f (K ⁰)) eigenwert, judge whether all in target area Ω _tin, if completely interior, meet and control target call, initial value is to meet to control the precise gain parameter value requiring, and stops search; If not exclusively at target area Ω _tin, carry out step 5;

Step 5: according to protection mapping theory, according to the actual demand of adjusting of the multiobject design parameter of flight control system, according to the single argument having in flight model or bivariate, apply respectively one-parameter or two-parameter algorithm, select tuning process, iteration goes out one group of new gain parameter value K';

Step 6: the new gain parameter value of the iteration obtaining according to step 5, and the parameter value before iteration, foundation || K ^m-K ^m+1||≤ε _k(1+||K ^m||) judgement carried out, wherein ε _kbe a suitable little positive, if this formula does not meet, continue to get back to step 5, K' is carried out to iteration as initial value, obtain new parameter value; If this formula meets, calculate the eigenwert of A (f (K ')), judge whether all in target area Ω _tin, if completely interior, meet and control target call, initial value is to meet to control the precise gain parameter value requiring, and stops search; If not exclusively at target area Ω _tin, return to step 3, redefine iteration region, complete parameter tuning process;

Step 7: obtain in closed-loop control system state matrix A (f (K)) by the new gain parameter value of step 6, whether the desired value of access control system meets the design object requirement of control, as meets the design object requirement of control, finishes.

2. flight control system self-adaptation as claimed in claim 1 is adjusted ginseng method, it is characterized in that, in described step 5, one-parameter tuning process is:

If dummy vehicle is relevant to single model parameter a, the closed-loop control system of integrated flying control system and model aircraft can be written as (A (a), B (a), C (a), D (a)); For system state matrix A (a), if controller architecture and gain parameter value are fixed, can obtain the robust adaptive region of model variable element a maximum;

A ^-≈ sup{a<a ₀: v _Ω[A (a)]=0} (if do not exist, being worth for-∞)

A ⁺≈ inf{a>a ₀: v _Ω[A (a)]=0} (if do not exist, being worth for+∞)

And a ∈ (a ^-, a ⁺) be that nonsingular matrix A (a) is at a=a ₀the maximum robust adaptive region at place;

The initial environment condition of Linear parameter-varying modeling of turbo is set, i.e. a=a ₀=a _min, now control object is fixing motion model, obtains the gain vector initial value K that meets target area Ω ⁰;

As gain vector K=K ⁰, by K ⁰bring former control system state matrix A(a into; K) in; situation is now that controller architecture and gain parameter value are fixed, and the contained unknown parameter of protection mapping expression formula obtaining is model parameter a, finds model to meet and controls the maximum robust adaptive stabilized zone requiring

like this, for

the motion model at any a value place in scope, K ⁰all can Guarantee control system with respect to Ω regional stability; Initial gain vector K ⁰and the border of the definite stabilized zone of protection mapping, find new gain vector K ¹, make the strict branch of closed-loop system limit inner in Ω target area; The gain vector newly obtaining according to this, can obtain new maximum robust adaptive stabilized zone

wherein

then repeat said process, until to all a ∈ [a _min, a _max] all find corresponding stability controller K', i.e. new gain parameter value.

3. flight control system self-adaptation as claimed in claim 1 is adjusted ginseng method, it is characterized in that, in described step 5, two-parameter tuning process is:

Make the closed-loop control system A (r of integrated flying control system and model aircraft ₁, r ₂, K) middle K=[K _i] be gain vector, Ω is target stabilized zone, object is for finding one and parameter r ₁and r ₂relevant controller K (r ₁, r ₂), all limits of Guarantee control system are all in Ω stabilized zone;

First fixedly r ₂=r _2,0=r _{2, min}, utilize one-parameter gain scheduling algorithm to obtain one at interval [r _{1, min}, r _{1, max}] interior stable controller K ⁰(r ₁), then find and comprise r _2,0maximum open interval

therefore, this controller K ⁰(r ₁) in scope, make control system stable; Order

then at [r _{1, min}, r _{1, max}] in again search search out new controller K ¹(r ₁), guarantee that control system exists

repeatedly carry out said process, until cover whole operating area, last controlled parameter K ', i.e. new gain parameter value.

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