CN104155986A - Inertial coupling characteristic-based spacecraft attitude compensation control method - Google Patents

Abstract

The invention discloses an inertial coupling characteristic-based spacecraft attitude compensation control method. The method comprises steps: a rudder surface deflection angle deltax of a rolling rudder of a rolling channel is calculated according to the following formula; after the rudder surface deflection angle deltax of the rolling rudder is used for carrying out compensation on a rudder surface deflection instruction value of the rolling rudder, the rudder surface deflection instruction value of the rolling rudder after compensation is obtained; the rudder surface deflection instruction value of the rolling rudder after compensation is inputted to a servo mechanism of the rolling rudder, and the servo mechanism of the rolling rudder is used for correspondingly controlling the spacecraft attitude, wherein the formula is described in the specifications. In the technical scheme of the invention, as for one attitude motion path of the spacecraft, cross-linking effects of other paths on inertial coupling characteristics of the path are quantified to be the rudder surface deflection angle of the air rudder of the path, and thus control on the spacecraft is better prepared and more reliable after compensation control is carried out on the spacecraft according to the quantified rudder surface deflection angle.

Description

Attitude of flight vehicle compensating control method based on inertia coupled characteristic

Technical field

The present invention relates to space industry, relate in particular to a kind of attitude of flight vehicle compensating control method based on inertia coupled characteristic.

Background technology

Aircraft is in flight course, and its flight attitude can be divided into the motion of rolling, driftage and three attitude motion passages of pitching conventionally.For rotational symmetry aircraft, the coupling between its three passages is very weak, thus can using coupling for the impact of the flight attitude of rotational symmetry aircraft as random microvariations, build the microvariations Aerodynamic Model of rotational symmetry aircraft.At present, conventionally according to microvariations Aerodynamic Model, three independently attitude controllers are set in rotational symmetry aircraft, are respectively used to control the angular velocity of this aircraft pitch channel, jaw channel and roll channel.

But rotational symmetry aircraft is a special case of the symmetrical aircraft of face.The aircraft of flying speed higher (for example exceeding 5 Mach) adopts the aerodynamic arrangement of face symmetry conventionally, the symmetrical aircraft of the face that is, and in its flight course, the coupling between its rolling, driftage and three passages of pitching is stronger.Common interchannel coupled characteristic can comprise inertia coupled characteristic, sports coupling characteristic and pneumatic coupled characteristic; At present, often only carry out qualitative analysis for the inertia coupled characteristic between three passages of the symmetrical aircraft of face, lack the quantitative analysis comparatively accurately of the crosslinked impact on interchannel inertia coupled characteristic; Nature cannot compensate control to aircraft according to the crosslinked impact of the inertia coupled characteristic quantizing.And according to the crosslinked impact of the inertia coupled characteristic quantizing, aircraft is compensated to control, contribute to more accurate to the control of aircraft, reliable.

Therefore, be necessary to provide a kind of attitude of flight vehicle compensating control method based on inertia coupled characteristic, to control more accurately, reliably aircraft.

Summary of the invention

The defect existing for above-mentioned prior art, the embodiment of the present invention provides a kind of attitude of flight vehicle compensating control method based on inertia coupled characteristic, to control more accurately, reliably aircraft.

Technical scheme of the present invention, according to an aspect, provides a kind of attitude of flight vehicle compensating control method based on inertia coupled characteristic, comprising:

Calculate the control surface deflection angle δ of the rolling rudder of roll channel according to following formula 4 _x;

Use the control surface deflection angle δ of described rolling rudder _xafter the control surface deflection command value of described rolling rudder is compensated, the control surface deflection command value of the rolling rudder after being compensated;

The control surface deflection command value of rolling rudder after compensation is input to the servo control mechanism of described rolling rudder, by the attitude of the described aircraft of the corresponding control of servo control mechanism of described rolling rudder;

Wherein, formula 4 is:

${\mathrm{\δ}}_x=-[(I_Y-I_Z){\mathrm{\ω}}_y{\mathrm{\ω}}_z+I_{\mathrm{ZX}}({\stackrel{\·}{\mathrm{\ω}}}_z+{\mathrm{\ω}}_x{\mathrm{\ω}}_y)]/M_x^{{\mathrm{\δ}}_x}$ (formula 4)

Wherein, represent the angular velocity based on inertia coupled characteristic of described aircraft pitch channel, I _y, I _zrepresent respectively the inertia of described vehicle yaw, pitch channel, ω _x, ω _y, ω _zrepresent respectively the angular velocity of described Vehicle Roll, driftage, three passages of pitching, I _zXrepresent the product of inertia between described Vehicle Roll passage and pitch channel, represent the rolling moment coefficient of the rolling rudder of described Vehicle Roll passage.

Further, the described attitude of flight vehicle compensating control method based on inertia coupled characteristic, also comprises:

Calculate the control surface deflection angle δ of the driftage rudder of jaw channel according to following formula 5 _y;

Use the control surface deflection angle δ of described driftage rudder _yafter the control surface deflection command value of described driftage rudder is compensated, the control surface deflection command value of the driftage rudder after being compensated;

The control surface deflection command value of driftage rudder after compensation is input to the servo control mechanism of described driftage rudder, by the attitude of the described aircraft of the corresponding control of servo control mechanism of described driftage rudder;

Wherein, formula 5 is:

${\mathrm{\δ}}_y=-[(I_Z-I_X){\mathrm{\ω}}_z{\mathrm{\ω}}_x+I_{\mathrm{ZX}}({\stackrel{\·}{\mathrm{\ω}}}_z^2-{\mathrm{\ω}}_x^2)]/M_y^{{\mathrm{\δ}}_y}$ (formula 5)

Wherein, I _xrepresent the inertia of described Vehicle Roll passage, represent the yawing moment coefficient of the driftage rudder of described vehicle yaw passage.

Further, the described attitude of flight vehicle compensating control method based on inertia coupled characteristic, also comprises:

Calculate the control surface deflection angle δ of the pitching rudder of pitch channel according to following formula 6 _z;

Use the control surface deflection angle δ of described pitching rudder _zafter the control surface deflection command value of described pitching rudder is compensated, the control surface deflection command value of the pitching rudder after being compensated;

The control surface deflection command value of pitching rudder after compensation is input to the servo control mechanism of described pitching rudder, by the attitude of the described aircraft of the corresponding control of servo control mechanism of described pitching rudder;

Wherein, formula 6 is:

${\mathrm{\δ}}_z=-[(I_X-I_Y){\mathrm{\ω}}_x{\mathrm{\ω}}_y+I_{\mathrm{ZX}}({\stackrel{\·}{\mathrm{\ω}}}_x+{\mathrm{\ω}}_y{\mathrm{\ω}}_z)]/M_z^{{\mathrm{\δ}}_z}$ (formula 6)

Wherein, represent the angular velocity based on inertia coupled characteristic of described Vehicle Roll passage, represent the pitching moment coefficient of the pitching rudder of described aircraft pitch channel.

Technical scheme of the present invention, according to another aspect, also provides a kind of attitude of flight vehicle compensating control method based on inertia coupled characteristic, comprising:

Calculate the control surface deflection angle δ of the driftage rudder of jaw channel according to following formula 5 _y;

Use the control surface deflection angle δ of described driftage rudder _yafter the control surface deflection command value of described driftage rudder is compensated, the control surface deflection command value of the driftage rudder after being compensated;

The control surface deflection command value of driftage rudder after compensation is input to the servo control mechanism of described driftage rudder, by the attitude of the described aircraft of the corresponding control of servo control mechanism of described driftage rudder;

Wherein, formula 5 is:

${\mathrm{\δ}}_y=-[(I_Z-I_X){\mathrm{\ω}}_z{\mathrm{\ω}}_x+I_{\mathrm{ZX}}({\stackrel{\·}{\mathrm{\ω}}}_z^2-{\mathrm{\ω}}_x^2)]/M_y^{{\mathrm{\δ}}_y}$ (formula 5)

Wherein, represent the angular velocity based on inertia coupled characteristic of described aircraft pitch channel, I _x, I _zrepresent respectively the inertia of described Vehicle Roll, pitch channel, ω _x, ω _zrepresent respectively the angular velocity of described Vehicle Roll, pitch channel, I _zXrepresent the product of inertia between described Vehicle Roll passage and pitch channel, represent the yawing moment coefficient of the driftage rudder of described vehicle yaw passage.

Further, the described attitude of flight vehicle compensating control method based on inertia coupled characteristic, also comprises:

Calculate the control surface deflection angle δ of the rolling rudder of roll channel according to following formula 4 _x;

Use the control surface deflection angle δ of described rolling rudder _xafter the control surface deflection command value of described rolling rudder is compensated, the control surface deflection command value of the rolling rudder after being compensated;

The control surface deflection command value of rolling rudder after compensation is input to the servo control mechanism of described rolling rudder, by the attitude of the described aircraft of the corresponding control of servo control mechanism of described rolling rudder;

Wherein, formula 4 is:

${\mathrm{\δ}}_x=-[(I_Y-I_Z){\mathrm{\ω}}_y{\mathrm{\ω}}_z+I_{\mathrm{ZX}}({\stackrel{\·}{\mathrm{\ω}}}_z+{\mathrm{\ω}}_x{\mathrm{\ω}}_y)]/M_x^{{\mathrm{\δ}}_x}$ (formula 4)

Wherein, I _yrepresent the inertia of described vehicle yaw passage, represent the rolling moment coefficient of the rolling rudder of described Vehicle Roll passage.

Further, the described attitude of flight vehicle compensating control method based on inertia coupled characteristic, also comprises:

Calculate the control surface deflection angle δ of the pitching rudder of pitch channel according to following formula 6 _z;

Use the control surface deflection angle δ of described pitching rudder _zafter the control surface deflection command value of described pitching rudder is compensated, the control surface deflection command value of the pitching rudder after being compensated;

The control surface deflection command value of pitching rudder after compensation is input to the servo control mechanism of described pitching rudder, by the attitude of the described aircraft of the corresponding control of servo control mechanism of described pitching rudder;

Wherein, formula 6 is:

${\mathrm{\δ}}_z=-[(I_X-I_Y){\mathrm{\ω}}_x{\mathrm{\ω}}_y+I_{\mathrm{ZX}}({\stackrel{\·}{\mathrm{\ω}}}_x+{\mathrm{\ω}}_y{\mathrm{\ω}}_z)]/M_z^{{\mathrm{\δ}}_z}$ (formula 6)

Wherein, represent the angular velocity based on inertia coupled characteristic of described Vehicle Roll passage, represent the pitching moment coefficient of the pitching rudder of described aircraft pitch channel.

Technical scheme of the present invention, according to another aspect, also provides a kind of attitude of flight vehicle compensating control method based on inertia coupled characteristic, comprising:

Calculate the control surface deflection angle δ of the pitching rudder of pitch channel according to following formula 6 _z;

Use the control surface deflection angle δ of described pitching rudder _zafter the control surface deflection command value of described pitching rudder is compensated, the control surface deflection command value of the pitching rudder after being compensated;

The control surface deflection command value of pitching rudder after compensation is input to the servo control mechanism of described pitching rudder, by the attitude of the described aircraft of the corresponding control of servo control mechanism of described pitching rudder;

Wherein, formula 6 is:

${\mathrm{\δ}}_z=-[(I_X-I_Y){\mathrm{\ω}}_x{\mathrm{\ω}}_y+I_{\mathrm{ZX}}({\stackrel{\·}{\mathrm{\ω}}}_x+{\mathrm{\ω}}_y{\mathrm{\ω}}_z)]/M_z^{{\mathrm{\δ}}_z}$ (formula 6)

Wherein, represent the angular velocity based on inertia coupled characteristic of described Vehicle Roll passage, I _x, I _yrepresent respectively the inertia of described Vehicle Roll, jaw channel, ω _x, ω _y, ω _zrepresent respectively the angular velocity of described Vehicle Roll, driftage, three passages of pitching, I _zXrepresent the product of inertia between described Vehicle Roll passage and pitch channel, represent the pitching moment coefficient of the pitching rudder of described aircraft pitch channel.

Further, the described attitude of flight vehicle compensating control method based on inertia coupled characteristic, also comprises:

Calculate the control surface deflection angle δ of the rolling rudder of roll channel according to following formula 4 _x;

Use the control surface deflection angle δ of described rolling rudder _xafter the control surface deflection command value of described rolling rudder is compensated, the control surface deflection command value of the rolling rudder after being compensated;

The control surface deflection command value of rolling rudder after compensation is input to the servo control mechanism of described rolling rudder, by the attitude of the described aircraft of the corresponding control of servo control mechanism of described rolling rudder;

Wherein, formula 4 is:

${\mathrm{\δ}}_x=-[(I_Y-I_Z){\mathrm{\ω}}_y{\mathrm{\ω}}_z+I_{\mathrm{ZX}}({\stackrel{\·}{\mathrm{\ω}}}_z+{\mathrm{\ω}}_x{\mathrm{\ω}}_y)]/M_x^{{\mathrm{\δ}}_x}$ (formula 4)

Wherein, represent the angular velocity based on inertia coupled characteristic of described aircraft pitch channel, I _zrepresent the inertia of described aircraft pitch channel, represent the rolling moment coefficient of the rolling rudder of described Vehicle Roll passage.

Further, the described attitude of flight vehicle compensating control method based on inertia coupled characteristic, also comprises:

Calculate the control surface deflection angle δ of the driftage rudder of jaw channel according to following formula 5 _y;

Use the control surface deflection angle δ of described driftage rudder _yafter the control surface deflection command value of described driftage rudder is compensated, the control surface deflection command value of the driftage rudder after being compensated;

The control surface deflection command value of driftage rudder after compensation is input to the servo control mechanism of described driftage rudder, by the attitude of the described aircraft of the corresponding control of servo control mechanism of described driftage rudder;

Wherein, formula 5 is:

${\mathrm{\δ}}_y=-[(I_Z-I_X){\mathrm{\ω}}_z{\mathrm{\ω}}_x+I_{\mathrm{ZX}}({\stackrel{\·}{\mathrm{\ω}}}_z^2-{\mathrm{\ω}}_x^2)]/M_y^{{\mathrm{\δ}}_y}$ (formula 5)

Wherein, represent the yawing moment coefficient of the driftage rudder of described vehicle yaw passage.

In technical scheme of the present invention, for an attitude motion passage of aircraft, the crosslinked impact of the inertia coupled characteristic by other passages on this passage, is quantified as the control surface deflection angle of the airvane of this passage; Thereby can compensate after control aircraft according to the control surface deflection angle that quantizes, make the control of aircraft more prepare, reliable.

Brief description of the drawings

Fig. 1 is the schematic flow sheet of the compensating control method of the roll channel based on inertia coupled characteristic of the embodiment of the present invention;

Fig. 2 is the schematic flow sheet of the compensating control method of the jaw channel based on inertia coupled characteristic of the embodiment of the present invention;

Fig. 3 is the schematic flow sheet of the compensating control method of the pitch channel based on inertia coupled characteristic of the embodiment of the present invention.

Embodiment

For making object of the present invention, technical scheme and advantage clearer, referring to accompanying drawing and enumerate preferred embodiment, the present invention is described in more detail.But, it should be noted that, many details of listing in instructions are only used to make reader to have a thorough understanding to one or more aspects of the present invention, even if do not have these specific details also can realize these aspects of the present invention.

The terms such as " module " used in this application, " system " are intended to comprise the entity relevant to computing machine, such as but not limited to hardware, firmware, combination thereof, software or executory software.For example, module can be, but be not limited in: thread, program and/or the computing machine of the process moved on processor, processor, object, executable program, execution.For instance, the application program of moving on computing equipment and this computing equipment can be modules.One or more modules can be positioned at an executory process and/or thread.

The present inventor considers, the quality of the symmetrical aircraft of face is conventionally only for example, about a plane (longitudinal profile of aircraft) symmetrical, and is all asymmetric for the distribution of other planes or axle; Aircraft is in flight course, and vehicle mass asymmetric causes the crosslinked impact of the comparatively significant inertia coupled characteristic of rolling, driftage, three attitude motion interchannels of pitching conventionally.The crosslinked impact that has disclosed interchannel inertia coupled characteristic in attitude of flight vehicle kinetics equation shown in following formula 1-3:

${\stackrel{\·}{\mathrm{\ω}}}_x=[M_x+(I_Y-I_Z){\mathrm{\ω}}_y{\mathrm{\ω}}_z+I_{\mathrm{ZX}}({\stackrel{\·}{\mathrm{\ω}}}_z+{\mathrm{\ω}}_x{\mathrm{\ω}}_y)]/I_X$ (formula 1)

${\stackrel{\·}{\mathrm{\ω}}}_y=[M_y+(I_Z-I_X){\mathrm{\ω}}_z{\mathrm{\ω}}_x+I_{\mathrm{ZX}}({\stackrel{\·}{\mathrm{\ω}}}_z^2-{\mathrm{\ω}}_x^2)]/I_Y$ ... (formula 2)

${\stackrel{\·}{\mathrm{\ω}}}_z=[M_z+(I_X-I_Y){\mathrm{\ω}}_x{\mathrm{\ω}}_y+I_{\mathrm{ZX}}({\stackrel{\·}{\mathrm{\ω}}}_x+{\mathrm{\ω}}_y{\mathrm{\ω}}_z)]/I_Z$ (formula 3)

In above-mentioned formula 1-3, represent respectively the angular velocity based on inertia coupled characteristic of Vehicle Roll, driftage, three passages of pitching; M _x, M _y, M _zrepresent respectively the moment of Vehicle Roll, driftage, three passages of pitching; I _x, I _y, I _zrepresent respectively the inertia of Vehicle Roll, driftage, three passages of pitching; ω _x, ω _y, ω _zrepresent respectively the angular velocity of Vehicle Roll, driftage, three passages of pitching; I _zXrepresent the product of inertia between Vehicle Roll passage and pitch channel.

Taking formula 1 as example, analyze the crosslinked impact of the inertia coupled characteristic between aircraft passageway below: rear two (I on equal sign the right in formula 1 _y-I _z) ω _yω _z, embody the crosslinked impact of the inertia coupled characteristic of the angular velocity of the angular velocity of driftage, pitch channel on roll channel; And this crosslinked impact is specifically by the poor I of inertia _y-I _z, product of inertia I _zXcause, work as I _y-I _zand I _zXall equal at 0 o'clock, the crosslinked impact of the inertia coupled characteristic of the angular velocity of the angular velocity of driftage, pitch channel on roll channel disappears.

The present inventor considers, for an attitude motion passage of aircraft, can be according to the angular velocity of other passages of aircraft, inertia, and the crosslinked impact of the inertia coupled characteristic of the angular velocity that quantizes comparatively exactly other passage on this passage; Thereby can compensate after control aircraft according to the crosslinked impact quantizing, make more accurate to the control of aircraft, reliable.

Describe technical scheme of the present invention in detail below in conjunction with accompanying drawing.

The attitude of flight vehicle compensating control method based on inertia coupled characteristic of the embodiment of the present invention comprises: the compensating control method of rolling based on inertia coupled characteristic, driftage, three attitude motion passages of pitching.

Wherein, the compensating control method of the roll channel based on inertia coupled characteristic, its schematic flow sheet as shown in Figure 1, comprises the steps:

S101: the control surface deflection angle δ that calculates the rolling rudder of roll channel _x.

Particularly, the airborne computer of aircraft, according to the measurement data of the inertial platform of aircraft, is determined the angular velocity omega of rolling, driftage, three passages of pitching _x, ω _y, ω _z, determine rolling, the driftage of aircraft, the inertia I of three passages of pitching _x, I _y, I _z, determine the product of inertia I between roll channel and pitch channel _zX, and determine the moment M of rolling, driftage, three passages of pitching _x, M _y, M _z; And calculate the angular velocity based on inertia coupled characteristic of pitch channel according to above-mentioned formula 1-3 simultaneous

And airborne computer, according to the measurement data of the inertial platform of aircraft, is determined the rolling moment coefficient of the rolling rudder of roll channel the change amount of the moment of the roll channel that the unit control surface deflection angle of the rolling rudder of expression roll channel produces.

Afterwards, airborne computer basis is determined and I _y, I _z, I _zX, ω _x, ω _y, ω _z, and following formula 4, calculates the control surface deflection angle δ of the rolling rudder of roll channel _x:

${\mathrm{\δ}}_x=-[(I_Y-I_Z){\mathrm{\ω}}_y{\mathrm{\ω}}_z+I_{\mathrm{ZX}}({\stackrel{\·}{\mathrm{\ω}}}_z+{\mathrm{\ω}}_x{\mathrm{\ω}}_y)]/M_x^{{\mathrm{\δ}}_x}$ (formula 4)

The control surface deflection angle δ of the rolling rudder of formula 4 _xembodied, the crosslinked impact of the inertia coupled characteristic at the control surface deflection angle of the rolling rudder of the angular velocity of driftage, pitch channel on roll channel is specifically by the poor I of inertia _y-I _zwith product of inertia I _zXjointly cause.If the poor I of inertia _y-I _zwith product of inertia I _zXall equal 0, δ _xbe 0.

S102: the control surface deflection angle δ that uses rolling rudder _xafter the control surface deflection command value of rolling rudder is compensated, the control surface deflection command value of the rolling rudder after being compensated.

Particularly, airborne computer uses the control surface deflection angle δ of the rolling rudder calculating in step S101 _x, the control surface deflection command value of rolling rudder is compensated to for example disturbance compensation, the control surface deflection command value of the rolling rudder after being compensated.

S103: the control surface deflection command value of rolling rudder after compensation is input to the servo control mechanism of rolling rudder, by the attitude of the corresponding control aircraft of servo control mechanism of rolling rudder.

Particularly, airborne computer is input to the control surface deflection command value of the rolling rudder after compensation the servo control mechanism of rolling rudder; By the servo control mechanism of rolling rudder, control this rolling rudder and carry out deflection according to the control surface deflection command value receiving; Thereby reach the object of the attitude of controlling aircraft.The concrete structure of the servo control mechanism of rolling rudder, with and according to the concrete grammar of control surface deflection command value control rolling rudder kick, for the conventional techniques means of art technology, repeat no more herein.

In fact, the control surface deflection angle δ of the rolling rudder of formula 4 _xthe factor of the crosslinked impact that has comprised driftage, the pneumatic coupled characteristic of pitch channel on roll channel; Therefore, according to δ _xafter the control surface deflection command value of roll channel is compensated, according to the control surface deflection command value control rolling rudder after compensation, decoupling zero is carried out at the control surface deflection angle that is equivalent to the rolling rudder to roll channel; Thereby the rudder that makes to roll obtains stronger passage decoupling zero effect, can more stably control aircraft and fly.

In the embodiment of the present invention, the compensating control method of the roll channel based on inertia coupled characteristic, its schematic flow sheet as shown in Figure 2, comprises the steps:

S201: the control surface deflection angle δ that calculates the driftage rudder of jaw channel _y.

Particularly, the airborne computer of aircraft, according to the measurement data of the inertial platform of aircraft, is determined the angular velocity omega of rolling, driftage, three passages of pitching _x, ω _y, ω _z, determine rolling, the driftage of aircraft, the inertia I of three passages of pitching _x, I _y, I _z, determine the product of inertia I between roll channel and pitch channel _zX, and determine the moment M of rolling, driftage, three passages of pitching _x, M _y, M _z; And calculate the angular velocity based on inertia coupled characteristic of pitch channel according to above-mentioned formula 1-3 simultaneous

And airborne computer, according to the measurement data of the inertial platform of aircraft, is determined the yawing moment coefficient of the driftage rudder of jaw channel the change amount of the moment of the jaw channel that the unit control surface deflection angle of the driftage rudder of expression jaw channel produces.

Afterwards, airborne computer basis is determined and I _x, I _z, I _zX, ω _x, ω _z, and following formula 5, calculates the control surface deflection angle δ of the driftage rudder of jaw channel _y:

${\mathrm{\δ}}_y=-[(I_Z-I_X){\mathrm{\ω}}_z{\mathrm{\ω}}_x+I_{\mathrm{ZX}}({\stackrel{\·}{\mathrm{\ω}}}_z^2-{\mathrm{\ω}}_x^2)]/M_y^{{\mathrm{\δ}}_y}$ (formula 5)

The control surface deflection angle δ of the driftage rudder of formula 5 _yembodied, the crosslinked impact of the inertia coupled characteristic at the control surface deflection angle of the driftage rudder of the angular velocity of rolling, pitch channel on jaw channel is specifically by the poor I of inertia _z-I _xwith product of inertia I _zXjointly cause.If the poor I of inertia _z-I _xwith product of inertia I _zXall equal 0, δ _ybe 0.

S202: the control surface deflection angle δ that uses driftage rudder _yafter the control surface deflection command value of driftage rudder is compensated, the control surface deflection command value of the driftage rudder after being compensated.

Particularly, airborne computer uses the control surface deflection angle δ of the driftage rudder calculating in step S201 _y, the control surface deflection command value of driftage rudder is compensated to for example disturbance compensation, the control surface deflection command value of the driftage rudder after being compensated.

S203: the control surface deflection command value of driftage rudder after compensation is input to the servo control mechanism of driftage rudder, by the attitude of the corresponding control aircraft of servo control mechanism of driftage rudder.

Particularly, airborne computer is input to the control surface deflection command value of the driftage rudder after compensation the servo control mechanism of driftage rudder; By the servo control mechanism of driftage rudder, control this driftage rudder and carry out deflection according to the control surface deflection command value receiving; Thereby reach the object of the attitude of controlling aircraft.The concrete structure of servo control mechanism of driftage rudder, with and according to the concrete grammar of control surface deflection command value control driftage rudder kick, for the conventional techniques means of art technology, repeat no more herein.

In _ embodiments of the invention, the compensating control method of the pitch channel based on inertia coupled characteristic, its schematic flow sheet as shown in Figure 3, comprises the steps:

S301: the control surface deflection angle δ that calculates the pitching rudder of pitch channel _z.

Particularly, the airborne computer of aircraft, according to the measurement data of the inertial platform of aircraft, is determined the angular velocity omega of rolling, driftage, three passages of pitching _x, ω _y, ω _z, determine rolling, the driftage of aircraft, the inertia I of three passages of pitching _x, I _y, I _z, determine the product of inertia I between roll channel and pitch channel _zX, and determine the moment M of rolling, driftage, three passages of pitching _x, M _y, M _z; And calculate the angular velocity based on inertia coupled characteristic of roll channel according to above-mentioned formula 1-3 simultaneous

And airborne computer, according to the measurement data of the inertial platform of aircraft, is determined the pitching moment coefficient of the pitching rudder of pitch channel the change amount of the moment of the pitch channel that the unit control surface deflection angle of the pitching rudder of expression pitch channel produces.

Afterwards, airborne computer basis is determined and I _x, I _y, I _zX, ω _x, ω _y, ω _z, and following formula 6, calculates the control surface deflection angle δ of the pitching rudder of pitch channel _z:

${\mathrm{\δ}}_z=-[(I_X-I_Y){\mathrm{\ω}}_x{\mathrm{\ω}}_y+I_{\mathrm{ZX}}({\stackrel{\·}{\mathrm{\ω}}}_x+{\mathrm{\ω}}_y{\mathrm{\ω}}_z)]/M_z^{{\mathrm{\δ}}_z}$ (formula 6)

The control surface deflection angle δ of the pitching rudder of formula 6 _zembodied, the crosslinked impact of the inertia coupled characteristic at the control surface deflection angle of the pitching rudder of the angular velocity of rolling, jaw channel on pitch channel is specifically by the poor I of inertia _x-I _ywith product of inertia I _zXjointly cause.If the poor I of inertia _x-I _ywith product of inertia I _zXall equal 0, δ _zbe 0.

S302: the control surface deflection angle δ that uses pitching rudder _zafter the control surface deflection command value of pitching rudder is compensated, the control surface deflection command value of the pitching rudder after being compensated.

Particularly, airborne computer uses the control surface deflection angle δ of the pitching rudder calculating in step S301 _z, the control surface deflection command value of pitching rudder is compensated to for example disturbance compensation, the control surface deflection command value of the pitching rudder after being compensated.

S303: the control surface deflection command value of pitching rudder after compensation is input to the servo control mechanism of pitching rudder, by the attitude of the corresponding control aircraft of servo control mechanism of pitching rudder.

Particularly, airborne computer is input to the control surface deflection command value of the pitching rudder after compensation the servo control mechanism of pitching rudder; By the servo control mechanism of pitching rudder, control this pitching rudder and carry out deflection according to the control surface deflection command value receiving; Thereby reach the object of the attitude of controlling aircraft.The concrete structure of the servo control mechanism of pitching rudder, with and according to the concrete grammar of control surface deflection command value control pitching rudder kick, for the conventional techniques means of art technology, repeat no more herein.

In practical operation, for the compensating control method of the compensating control method of the above-mentioned roll channel based on inertia coupled characteristic, jaw channel based on inertia coupled characteristic, and the compensating control method of pitch channel based on inertia coupled characteristic; Can from these three kinds of methods, select a kind of, two kinds or three kinds of methods to control same aircraft; And use order, priority etc. between these three kinds of methods are all unrestricted, can arrange according to actual conditions.

In technical scheme of the present invention, for an attitude motion passage of aircraft, the crosslinked impact of the inertia coupled characteristic by other passages on this passage, is quantified as the control surface deflection angle of the airvane of this passage; Thereby can compensate after control aircraft according to the control surface deflection angle that quantizes, make the control of aircraft more prepare, reliable.

One of ordinary skill in the art will appreciate that all or part of step realizing in above-described embodiment method is can carry out the hardware that instruction is relevant by program to complete, this program can be stored in computer read/write memory medium, as: ROM/RAM, magnetic disc, CD etc.

The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims (9)

1. the attitude of flight vehicle compensating control method based on inertia coupled characteristic, is characterized in that, comprising:

Calculate the control surface deflection angle δ of the rolling rudder of roll channel according to following formula 4 _x;

Use the control surface deflection angle δ of described rolling rudder _xafter the control surface deflection command value of described rolling rudder is compensated, the control surface deflection command value of the rolling rudder after being compensated;

The control surface deflection command value of rolling rudder after compensation is input to the servo control mechanism of described rolling rudder, by the attitude of the described aircraft of the corresponding control of servo control mechanism of described rolling rudder;

Wherein, formula 4 is:

${\mathrm{\δ}}_x=-[(I_Y-I_Z){\mathrm{\ω}}_y{\mathrm{\ω}}_z+I_{\mathrm{ZX}}({\stackrel{\·}{\mathrm{\ω}}}_z+{\mathrm{\ω}}_x{\mathrm{\ω}}_y)]/M_x^{{\mathrm{\δ}}_x}$ (formula 4)

Wherein, represent the angular velocity based on inertia coupled characteristic of described aircraft pitch channel, I _y, I _zrepresent respectively the inertia of described vehicle yaw, pitch channel, ω _x, ω _y, ω _zrepresent respectively the angular velocity of described Vehicle Roll, driftage, three passages of pitching, I _zXrepresent the product of inertia between described Vehicle Roll passage and pitch channel, represent the rolling moment coefficient of the rolling rudder of described Vehicle Roll passage.

2. the method for claim 1, is characterized in that, also comprises:

Calculate the control surface deflection angle δ of the driftage rudder of jaw channel according to following formula 5 _y;

Use the control surface deflection angle δ of described driftage rudder _yafter the control surface deflection command value of described driftage rudder is compensated, the control surface deflection command value of the driftage rudder after being compensated;

The control surface deflection command value of driftage rudder after compensation is input to the servo control mechanism of described driftage rudder, by the attitude of the described aircraft of the corresponding control of servo control mechanism of described driftage rudder;

Wherein, formula 5 is:

${\mathrm{\δ}}_y=-[(I_Z-I_X){\mathrm{\ω}}_z{\mathrm{\ω}}_x+I_{\mathrm{ZX}}({\stackrel{\·}{\mathrm{\ω}}}_z^2-{\mathrm{\ω}}_x^2)]/M_y^{{\mathrm{\δ}}_y}$ (formula 5)

Wherein, I _xrepresent the inertia of described Vehicle Roll passage, represent the yawing moment coefficient of the driftage rudder of described vehicle yaw passage.

3. method as claimed in claim 1 or 2, is characterized in that, also comprises:

Calculate the control surface deflection angle δ of the pitching rudder of pitch channel according to following formula 6 _z;

Use the control surface deflection angle δ of described pitching rudder _zafter the control surface deflection command value of described pitching rudder is compensated, the control surface deflection command value of the pitching rudder after being compensated;

The control surface deflection command value of pitching rudder after compensation is input to the servo control mechanism of described pitching rudder, by the attitude of the described aircraft of the corresponding control of servo control mechanism of described pitching rudder;

Wherein, formula 6 is:

${\mathrm{\δ}}_z=-[(I_X-I_Y){\mathrm{\ω}}_x{\mathrm{\ω}}_y+I_{\mathrm{ZX}}({\stackrel{\·}{\mathrm{\ω}}}_x+{\mathrm{\ω}}_y{\mathrm{\ω}}_z)]/M_z^{{\mathrm{\δ}}_z}$ (formula 6)

Wherein, represent the angular velocity based on inertia coupled characteristic of described Vehicle Roll passage, represent the pitching moment coefficient of the pitching rudder of described aircraft pitch channel.

4. the attitude of flight vehicle compensating control method based on inertia coupled characteristic, is characterized in that, comprising:

Calculate the control surface deflection angle δ of the driftage rudder of jaw channel according to following formula 5 _y;

Use the control surface deflection angle δ of described driftage rudder _yafter the control surface deflection command value of described driftage rudder is compensated, the control surface deflection command value of the driftage rudder after being compensated;

The control surface deflection command value of driftage rudder after compensation is input to the servo control mechanism of described driftage rudder, by the attitude of the described aircraft of the corresponding control of servo control mechanism of described driftage rudder;

Wherein, formula 5 is:

${\mathrm{\δ}}_y=-[(I_Z-I_X){\mathrm{\ω}}_z{\mathrm{\ω}}_x+I_{\mathrm{ZX}}({\stackrel{\·}{\mathrm{\ω}}}_z^2-{\mathrm{\ω}}_x^2)]/M_y^{{\mathrm{\δ}}_y}$ (formula 5)

Wherein, represent the angular velocity based on inertia coupled characteristic of described aircraft pitch channel, I _x, I _zrepresent respectively the inertia of described Vehicle Roll, pitch channel, ω _x, ω _zrepresent respectively the angular velocity of described Vehicle Roll, pitch channel, I _zXrepresent the product of inertia between described Vehicle Roll passage and pitch channel, represent the yawing moment coefficient of the driftage rudder of described vehicle yaw passage.

5. method as claimed in claim 4, is characterized in that, also comprises:

Calculate the control surface deflection angle δ of the rolling rudder of roll channel according to following formula 4 _x;

Use the control surface deflection angle δ of described rolling rudder _xafter the control surface deflection command value of described rolling rudder is compensated, the control surface deflection command value of the rolling rudder after being compensated;

The control surface deflection command value of rolling rudder after compensation is input to the servo control mechanism of described rolling rudder, by the attitude of the described aircraft of the corresponding control of servo control mechanism of described rolling rudder;

Wherein, formula 4 is:

${\mathrm{\δ}}_x=-[(I_Y-I_Z){\mathrm{\ω}}_y{\mathrm{\ω}}_z+I_{\mathrm{ZX}}({\stackrel{\·}{\mathrm{\ω}}}_z+{\mathrm{\ω}}_x{\mathrm{\ω}}_y)]/M_x^{{\mathrm{\δ}}_x}$ (formula 4)

Wherein, I _yrepresent the inertia of described vehicle yaw passage, represent the rolling moment coefficient of the rolling rudder of described Vehicle Roll passage.

6. the method as described in claim 4 or 5, is characterized in that, also comprises:

Calculate the control surface deflection angle δ of the pitching rudder of pitch channel according to following formula 6 _z;

Use the control surface deflection angle δ of described pitching rudder _zafter the control surface deflection command value of described pitching rudder is compensated, the control surface deflection command value of the pitching rudder after being compensated;

The control surface deflection command value of pitching rudder after compensation is input to the servo control mechanism of described pitching rudder, by the attitude of the described aircraft of the corresponding control of servo control mechanism of described pitching rudder;

Wherein, formula 6 is:

${\mathrm{\δ}}_z=-[(I_X-I_Y){\mathrm{\ω}}_x{\mathrm{\ω}}_y+I_{\mathrm{ZX}}({\stackrel{\·}{\mathrm{\ω}}}_x+{\mathrm{\ω}}_y{\mathrm{\ω}}_z)]/M_z^{{\mathrm{\δ}}_z}$ (formula 6)

Wherein, represent the angular velocity based on inertia coupled characteristic of described Vehicle Roll passage, represent the pitching moment coefficient of the pitching rudder of described aircraft pitch channel.

7. the attitude of flight vehicle compensating control method based on inertia coupled characteristic, is characterized in that, comprising:

Calculate the control surface deflection angle δ of the pitching rudder of pitch channel according to following formula 6 _z;

Use the control surface deflection angle δ of described pitching rudder ₂after the control surface deflection command value of described pitching rudder is compensated, the control surface deflection command value of the pitching rudder after being compensated;

The control surface deflection command value of pitching rudder after compensation is input to the servo control mechanism of described pitching rudder, by the attitude of the described aircraft of the corresponding control of servo control mechanism of described pitching rudder;

Wherein, formula 6 is:

${\mathrm{\δ}}_z=-[(I_X-I_Y){\mathrm{\ω}}_x{\mathrm{\ω}}_y+I_{\mathrm{ZX}}({\stackrel{\·}{\mathrm{\ω}}}_x+{\mathrm{\ω}}_y{\mathrm{\ω}}_z)]/M_z^{{\mathrm{\δ}}_z}$ (formula 6)

Wherein, represent the angular velocity based on inertia coupled characteristic of described Vehicle Roll passage, I _x, I _yrepresent respectively the inertia of described Vehicle Roll, jaw channel, ω _x, ω _y, ω _zrepresent respectively the angular velocity of described Vehicle Roll, driftage, three passages of pitching, I _zXrepresent the product of inertia between described Vehicle Roll passage and pitch channel, represent the pitching moment coefficient of the pitching rudder of described aircraft pitch channel.

8. method as claimed in claim 7, is characterized in that, also comprises:

Calculate the control surface deflection angle δ of the rolling rudder of roll channel according to following formula 4 _x;

Use the control surface deflection angle δ of described rolling rudder _xafter the control surface deflection command value of described rolling rudder is compensated, the control surface deflection command value of the rolling rudder after being compensated;

The control surface deflection command value of rolling rudder after compensation is input to the servo control mechanism of described rolling rudder, by the attitude of the described aircraft of the corresponding control of servo control mechanism of described rolling rudder;

Wherein, formula 4 is:

${\mathrm{\δ}}_x=-[(I_Y-I_Z){\mathrm{\ω}}_y{\mathrm{\ω}}_z+I_{\mathrm{ZX}}({\stackrel{\·}{\mathrm{\ω}}}_z+{\mathrm{\ω}}_x{\mathrm{\ω}}_y)]/M_x^{{\mathrm{\δ}}_x}$ (formula 4)

Wherein, represent the angular velocity based on inertia coupled characteristic of described aircraft pitch channel, I _zrepresent the inertia of described aircraft pitch channel, represent the rolling moment coefficient of the rolling rudder of described Vehicle Roll passage.

9. method as claimed in claim 7 or 8, is characterized in that, also comprises:

Calculate the control surface deflection angle δ of the driftage rudder of jaw channel according to following formula 5 _y;

Use the control surface deflection angle δ of described driftage rudder _yafter the control surface deflection command value of described driftage rudder is compensated, the control surface deflection command value of the driftage rudder after being compensated;

The control surface deflection command value of driftage rudder after compensation is input to the servo control mechanism of described driftage rudder, by the attitude of the described aircraft of the corresponding control of servo control mechanism of described driftage rudder;

Wherein, formula 5 is:

${\mathrm{\δ}}_y=-[(I_Z-I_X){\mathrm{\ω}}_z{\mathrm{\ω}}_x+I_{\mathrm{ZX}}({\stackrel{\·}{\mathrm{\ω}}}_z^2-{\mathrm{\ω}}_x^2)]/M_y^{{\mathrm{\δ}}_y}$ (formula 5)

Wherein, represent the yawing moment coefficient of the driftage rudder of described vehicle yaw passage.