CN107678284A - The robust compensation control method and high-speed aircraft of high-speed aircraft - Google Patents

The robust compensation control method and high-speed aircraft of high-speed aircraft Download PDF

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CN107678284A
CN107678284A CN201711096512.2A CN201711096512A CN107678284A CN 107678284 A CN107678284 A CN 107678284A CN 201711096512 A CN201711096512 A CN 201711096512A CN 107678284 A CN107678284 A CN 107678284A
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刘昊
马腾
蔡国飙
刘德元
赵万兵
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Beihang University
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance

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Abstract

The invention provides the robust compensation control method and high-speed aircraft of a kind of high-speed aircraft, relates to high-speed aircraft control technology field, including：Obtain the flight parameter of the high-speed aircraft of detection；The flight parameter is inputted to robust controller, the robust controller includes：Optimal controller and the robust compensator that is influenceed for suppressing equivalent disturbance on closed-loop control system for the expectation tracking performance of nominal system；The optimal controller and the robust compensator are imported into the model of default high-speed aircraft longitudinal direction, obtain target control amount；High-speed aircraft is controlled according to the target control amount.The robust compensation control method and high-speed aircraft of a kind of high-speed aircraft provided by the invention, high-speed aircraft is controlled using the optimal controller and the robust compensator that is influenceed for suppressing equivalent disturbance on closed-loop control system for the expectation tracking performance for realizing nominal system, the tracking performance of high-speed aircraft can be improved.

Description

The robust compensation control method and high-speed aircraft of high-speed aircraft
Technical field
The present invention relates to high-speed aircraft control technology field, more particularly, to a kind of robust compensation control of high-speed aircraft Method processed and high-speed aircraft.
Background technology
High-speed aircraft is effectively close near space and the Key Platform for realizing instant Global Strike.Due to high-speed flight Device dynamics is related to the complexity of Controlling model, parameter uncertainty, strong coupling, modeling property, non-linear and and outside The multiple factors such as atmospheric perturbation, cause the design of high-speed aircraft controller to become extremely complex.
In recent years, domestic and foreign scholars have been many researchs, Parker etc. in terms of high-speed aircraft robust controller is designed Nonlinear geometry control technology of the people based on approximate feedback linearization, high-speed aircraft height and speed tracking control are realized, Stengel et al. devises the nonlinear inverse robust controller based on dynamic inverse, but Parker and Stengel et al. be not to flying Row device does further theoretical discussion to multiple probabilistic antijamming capability.Wilcox et al. realizes dummy vehicle and existed Index tracing control model under the parameter and input matrix of nondeterministic statement, but do not taken into full account in stability analysis non- Linearly, the influence of coupling, Unmarried pregnancy etc..Sigthorsson and Lind et al. devise the linear change ginseng of high-speed aircraft Exponential model, devise and constrain the Robust Feedback Controller that different aerodynamic parameters influence, analyze Parameters variation to aircraft power Influence, but under the multiple uncertainty such as Unmarried pregnancy and external disturbance, the expectation tracing property of closed-loop control system It is able to not can be fully guaranteed.
In summary, the high-speed aircraft controller of domestic and foreign scholars design at present is not considered multiple not true completely The qualitative influence to aircraft, causes the expectation tracking performance of existing closed-loop control system cannot fully ensure that.
The content of the invention
In view of this, fly it is an object of the invention to provide a kind of robust compensation control method of high-speed aircraft and at a high speed Row device, the multiple uncertain influence to aircraft is not considered to alleviate existing high-speed aircraft controller, causes to track The technical problem of poor-performing.
In a first aspect, the embodiments of the invention provide a kind of robust compensation control method of high-speed aircraft, including：Obtain The flight parameter of the high-speed aircraft of detection；
The flight parameter is inputted to robust controller, the robust controller includes：Expectation for nominal system The optimal controller of tracking performance and the robust compensator influenceed for suppressing equivalent disturbance on closed-loop control system；
The optimal controller and the robust compensator are imported into the model of default high-speed aircraft longitudinal direction, obtained Target control amount；
The high-speed aircraft is controlled to be flown according to the target control amount.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the first of first aspect, wherein, institute Stating flight parameter includes：Current flight speed, current flight height, flight-path angle, the angle of attack, pitch rate, rotary inertia, aerodynamic force system Number, lift, thrust, resistance and pitching moment.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of second of first aspect, wherein, institute Stating target control amount includes：Flight-path angle, the angle of attack, pitch rate, rolling angle rate, and the tracking error of height and speed.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the third of first aspect, wherein, institute Stating high-speed aircraft longitudinal direction model is：
yi=Ciei, i=V, h
Wherein, V is speed, and h is highly rVAnd rhThe respectively reference signal of speed and height；
yV=V-rVAnd yh=h-rhFor tracking error；
eV=[eVi]3×1, eV1=yV, eV2=β,β is set for throttle；
eh=[ehi]4×1, eh1=yh；eh2=γ, γ are flight-path angle；eh3=α, α are the angle of attack；eh4=p, p are pitch rate；
uV=βc, βcFor engine throttle controlling value；uh=δe, δeFor angle of rudder reflection；
qV=[qVi]3×1And qh=[qhi]4×1For equivalent disturbance；
Wherein, subscript N is nominal parameters,CTβ0、CTβ2And CMeFor aerodynamic coefficient；ρ、S、Respectively density, area of reference and mean aerodynamic chord；ζn、ωnRespectively damping ratio and natural angular frequency；M is aircraft matter Amount；IyyFor rotary inertia；T is thrust；
ah1=V0, ah2=T0/mN/V0, V0For initial velocity, T0For initial thrust；
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the 4th of first aspect kind, wherein, institute The control law for stating robust controller is：
Wherein, ui OPFor the control input of optimal controller；ui RCFor the control input of robust compensator.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the 5th of first aspect kind, wherein, institute The control law for stating the optimal controller of the expectation tracking performance for nominal system is：
Wherein,PiFor equationPositive definite Solution, QiFor symmetric positive definite matrix.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the 6th of first aspect kind, wherein, institute The control law for stating the robust compensator influenceed for suppressing equivalent disturbance on closed-loop control system is：
Wherein, Fi(s) (i=V, h) is the function of robust filter；Gi(s) (i=V, h) is the transmission letter in two passages Number；
S is Laplace operator；
AiHMatrix, A are tieed up for HulliH=Ai+BiKi(i=V, h).
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the 7th of first aspect kind, wherein, institute The function expression for stating robust filter is：
Wherein, fi(i=V, h) is filtering parameter.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the 8th of first aspect kind, wherein, institute The expression formula for stating the transmission function in two passages is：
Gi(s)=Ci(sIi-AiH)-1Bi, i=V, h
Wherein, IiFor unit matrix.
Second aspect, the embodiment of the present invention also provide a kind of high-speed aircraft, including memory, processor, the storage The computer program that can be run on the processor is stored with device, is realized described in the computing device during computer program The step of method described in above-mentioned first aspect.
The embodiment of the present invention brings following beneficial effect：The embodiment of the present invention provides a kind of robust of high-speed aircraft and mended Control method and high-speed aircraft are repaid, using the optimal controller for the expectation tracking performance for realizing nominal system and for suppression etc. The robust compensator that effect disturbance influences on closed-loop control system is controlled to high-speed aircraft, can improve high-speed aircraft Tracking performance.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages are in specification, claims And specifically noted structure is realized and obtained in accompanying drawing.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate Appended accompanying drawing, is described in detail below.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, in describing below Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the flow chart of the robust compensation control method of high-speed aircraft provided in an embodiment of the present invention；
Fig. 2 is the universal high speed aircraft longitudinal direction model for U.S.'s NASA Langley Research Centers exploitation that the present invention uses；
Fig. 3 is the control system architecture figure of the high-speed aircraft of the embodiment of the present invention；
Fig. 4 is the speed and high response of 1 time optimal controller of situation of the embodiment of the present invention.
Fig. 5 is the speed and high response of 1 time robust controller of situation of the embodiment of the present invention；
Fig. 6 is the sound at the flight track angle of 1 time high-speed aircraft of situation of the embodiment of the present invention, the angle of attack and rolling angle rate Should；
Fig. 7 is the input of 1 time robust controller of situation of the embodiment of the present invention；
Fig. 8 is 2 times robust controller speed of situation of the embodiment of the present invention and high response；
Fig. 9 is the flight track angle, the angle of attack and rolling angle rate response of 2 times high-speed aircrafts of situation of the embodiment of the present invention；
Figure 10 is the input of 2 times robust controllers of situation of the embodiment of the present invention.
Icon：
11- optimal controllers；12- robust compensators.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with accompanying drawing to the present invention Technical scheme be clearly and completely described, it is clear that described embodiment is part of the embodiment of the present invention, rather than Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise Lower obtained every other embodiment, belongs to the scope of protection of the invention.
At present, existing high-speed aircraft controller does not consider the multiple uncertain influence to aircraft, cause with Track poor-performing, based on this, the robust compensation control method and high speed of a kind of high-speed aircraft provided in an embodiment of the present invention fly Row device, the optimal controller for the expectation tracking performance for realizing nominal system can be utilized and for suppressing equivalent disturbance to closed loop control The robust compensator of systematic influence processed is controlled to high-speed aircraft, can improve the tracking performance of high-speed aircraft.
For ease of understanding the present embodiment, the Shandong first to a kind of high-speed aircraft disclosed in the embodiment of the present invention Rod compensating control method describes in detail.
In the flight course of high-speed aircraft, because flight environment of vehicle is complicated, it will usually by the shadow of various disturbing factors Ring.In order to realize the good tracking performance of high-speed aircraft, it is necessary to be controlled to high-speed aircraft.As shown in figure 1, in this hair In a bright example, there is provided a kind of robust compensation control method of high-speed aircraft, including following steps.
S101, obtain the flight parameter of the high-speed aircraft of detection.
Specifically, utilize the sensor system senses flight parameter in high-speed aircraft.The flight parameter includes：Currently Flying speed, current flight height, flight-path angle, the angle of attack, pitch rate, rotary inertia, aerodynamic coefficient, lift, thrust, resistance and The parameters such as pitching moment.
S102, the flight parameter is inputted to robust controller, the robust controller includes：For nominal system The robust compensator it is expected optimal controller of tracking performance and influenceed for suppressing equivalent disturbance on closed-loop control system.
S103, the optimal controller and the robust compensator are imported into default high-speed aircraft longitudinal direction model In, obtain target control amount.
Specifically, the control law of the optimal controller and the robust compensator is substituted into the high-speed aircraft longitudinal direction In the mathematical function expression formula of model, target control amount is calculated.Wherein, the target control amount includes：Flight-path angle, attack Angle, pitch rate, rolling angle rate, and the controlled quentity controlled variable such as tracking error of height and speed.
S104, the high-speed aircraft is controlled to be flown according to the target control amount.
The embodiment of the present invention provides a kind of robust compensation control method of high-speed aircraft, utilizes the phase for realizing nominal system Hope the optimal controller of tracking performance and for suppressing equivalent disturbance to the robust compensator that closed-loop control system influences at a high speed Aircraft is controlled, and can improve the tracking performance of high-speed aircraft.
Exemplary, the robust controller of the embodiment of the present invention can be realized by following steps：
That the 1st, chooses selection NASA Langley Research Center exploitations is longitudinally facing Controlling model, considers the logical of centripetal acceleration item With high-speed aircraft longitudinal direction model, as shown in Figure 2.Its high-speed aircraft Longitudinal Dynamic Model is：
Wherein, V is speed；H is height；γ is flight-path angle；α is the angle of attack；P is pitch rate；M is Aircraft Quality；μ is gravitation Constant；IyyFor rotary inertia；R=h+re, reFor earth radius；di(i=V, h, γ, α, p) disturbs for outside atmosphere；L is liter Power；T is thrust；D is resistance；MyyFor pitching moment.
Lift L, thrust T, resistance D, pitching moment MyyMeet below equation：
Wherein, ρ, S,Density, area of reference and mean aerodynamic chord are represented respectively；CL,CT,CD,CMα,CMδe,CMpRespectively Represent lift coefficient, thrust coefficient and resistance coefficient and angle of attack coefficient, yaw speed coefficient and pitch rate coefficient, these coefficients Meet below equation：
Wherein, β represents engine's throttling valve opening, δeIt is angle of rudder reflection；CLα,CTβ0,CTβ1,CTβ2,CDα2,CDα,CD0,CMα2, CMα,Cα0,CMe,CMp2,CMpAnd Cp0Represent aerodynamic coefficient, Δi=(L, T1, T2, D, M α, δ e, Mp) expressions do not model uncertain Property.
Assuming that the uncertain satisfaction not modeled is with lower inequality：
Wherein, ξΔLα,ξΔLc,ξΔTβ,ξΔTc,ξΔDα2,ξΔDα1,ξΔMα2,ξΔMα1,ξΔDc,ξΔδeα,ξΔδec,ξΔMp2,ξΔMp1With ξΔMpcIt is normal number.
The engine dynamics of high-speed aircraft can be modeled with following second-order system：
Wherein, βcIt is engine throttle controlling value, dβIt is external disturbance, ζn,ωnDamping ratio and nature angle are represented respectively Frequency.
Access speed V and height h uses r respectively as outputVAnd rhRepresent their reference signal.Defining tracking error is yV=V-rVAnd yh=h-rh.Make eV1=yV,eV2=β,eV=[eVi]3×1,uV=βc,eh1=yh,eh2=γ, eh3 =α, eh4=p, uh=δe,eh=[ehi]4×1
Wherein, subscript N is nominal parameters,
ah1=V0, ah2=T0/mN/V0, V0For initial velocity, T0For initial thrust；
Then high-speed aircraft longitudinal direction model can be rewritten as in speed and altitude channel：
Wherein, qV=[qVi]3×1And qh=[qhi]4×1For equivalent disturbance, specifically include：Parameter uncertainty, it is non-linear and Coupled Dynamics, the factors such as uncertain and outside atmosphere disturbance are not modeled.The longitudinal direction of universal high speed aircraft established above Model.
2nd, according to longitudinal modelling robust controller of universal high speed aircraft.As shown in figure 3, robust controller bag Include：Robust compensator 12 and optimal controller 11.
Control input is made up of following two parts：
Wherein, ui OPFor the control input of optimal controller 11；ui RCFor the control input of robust compensator 12.
First, following controller performance cost function is considered：
It can ignore q for the optimization design of nominal system controlleri(i=V, h), wherein QiIt is symmetric positive definite matrix.It is logical Cross and solve following Riccati equations：
Steady-state solution P can be obtainedi.The feedback of status gain of optimal controller 11 can be byProvide. It is then possible to the control law for obtaining the optimal controller 11 of nominal system is as follows：
Additionally, it is contemplated that the real system containing equivalent disturbance.Make AiH=Ai+BiKi(i=V, h) is that hereby matrix is tieed up in Hull. Substituting into correlation formula can obtain：
Make Gi(s) (i=V, h) represents the transmission function in two passages, and its function expression is
Gi(s)=Ci(sIi-AiH)-1Bi, i=V, h
Wherein, IiFor unit matrix.
Therefore, the y in formula (9)iIt can be written as：
The control law for constructing robust compensator 12 is as follows：
Wherein, Fi(s) (i=V, h) is robust filter, and its expression formula is as follows：
If robust filtering parameter fi(i=V, h) has sufficiently large value, and it is sufficiently wide can to observe that robust filter has Bandwidth.In this case, Fi(s) gain of (i=V, h) is approximately 1 respectively, so as toEquivalent interference can be suppressed Influence.In fact, fi(i=V, h) and need not be sufficiently large, fLIn the presence of a lower bound, for any fiMeet fi≥fL, it is equivalent The influence of interference can be limited.
However, because qi(s) can not obtain, the robust compensator input in formula (11)Being can not Realize.Then, formula (10) is replaced with formula (8), the control input of following robust compensator 12 can be obtained：
The controller that can be seen that to obtain from the design process of controller is LTI.Although in addition, formula (1) dummy vehicle in is non-linear and coupling, but the controller that design obtains is decoupling, i.e. speed and altitude channel With independent controller and the feedback of status of oneself.
3rd, robust controller robust performance is analyzed, it was demonstrated that the tracking error of control system will be in Finite-time convergence to original Point is nearby in any given neighborhood, and the robust optimal control rule of design is summarized as into theorem and proved.
Make xV=[xVi]3×1,xh=[xhi]4×1With
Wherein, xV1=eV1,
xh1=eh1,
Then formula (10) is replaced to obtain with formula (8)：
It is assumed that equivalent disturbance has following bounded norm：
The high-speed aircraft model designed by formula (2)-(5) has the closed-loop control system and public affairs of powerful tracking performance Formula (7), (8), (12) design robust optimal control rule can be summarized as following theorem.
Theorem：For a given original state x (0) and any given constant ε, normal number T be presentLAnd fL, for Any fi≥fL(i=V, h) make it is stateful be all bounded, and the tracking error of speed and height meets
4th, emulate universal high speed aircraft closed-loop control system tracking performance, Parameter uncertainties, it is non-linear and coupling, Do not model under the disturbance of uncertain and outside atmosphere, for the aerial mission under two kinds of situations of high-speed aircraft, to aircraft Nonlinear model is emulated, and verifies the superiority of robust control method.
Situation 1：Do not consider uncertainty, high-speed aircraft speed flies to 15160 English from the feet per second of datum speed 15060 Chi/second, and nominal value is decelerated to, then repeat the task.
The speed and high response of 1 time optimal controller of situation of the embodiment of the present invention are as shown in Figure 4.
The speed and high response of 1 time robust compensator of situation of the embodiment of the present invention 12 are as shown in figure 5, elevation references signal It is completely superposed with high response.
The response such as Fig. 6 at the flight track angle of 1 time high-speed aircraft of situation of the embodiment of the present invention, the angle of attack and rolling angle rate It is shown.
The throttle of 1 time robust compensator of situation of the embodiment of the present invention 12 and optimal controller 11 sets input, and robust The input of the angle of pitch of compensator 12 and optimal controller 11 is as shown in Figure 7.
Situation 2：Introduce parameter uncertainty and external disturbance, aircraft from nominal 110000 feet of flying height climb to Then 112000 feet fall back to 110000 feet of height again, meanwhile, aircraft speed also brings up to 15160 from 15060 feet per seconds Feet per second, then it is decelerated to datum speed.
2 times robust controller speed of situation of the embodiment of the present invention and high response are as shown in Figure 8.Wherein, speed and speed Reference signal be completely superposed.
The flight track angle, the angle of attack and rolling angle rate of 2 times high-speed aircrafts of situation of the embodiment of the present invention are responded such as Fig. 9 institutes Show.
The throttle of 2 times robust controllers of situation of the embodiment of the present invention sets input and angle of pitch input as shown in Figure 10.
A kind of robust compensation control method of high-speed aircraft provided in an embodiment of the present invention, there is advantages below：
(1) the complete parameter uncertainty considered involved by high-speed aircraft model, non-linear and Coupled Dynamics, Influence of the equivalent interference such as uncertain and outside atmosphere interference to control system is not modeled, and the robust controller of design makes robust Property and optimal tracking performance can be realized simultaneously under the influence of uncertain factor；
(2) theory analysis and emulation demonstrate the validity of the control method of design jointly.Meanwhile robust controller success Realize universal high speed aircraft good tracing property of speed channels and altitude channel under two kinds of typical complicated aerial missions Energy；
(3) present invention successfully solves Shandong of the current universal high speed aircraft longitudinal direction model under the influence of a variety of uncertainties Rod optimal control problem.
In another embodiment of the present invention, a kind of high-speed aircraft, including memory, processor are additionally provided, it is described The computer program that can be run on the processor is stored with memory, it is characterised in that described in the computing device The step of robust compensation control method of above-mentioned high-speed aircraft is realized during computer program.
The computer of the robust compensation control method of the high-speed aircraft that the embodiment of the present invention is provided, device and system Program product, including the computer-readable recording medium of program code is stored, the instruction that described program code includes can be used for The method described in previous methods embodiment is performed, specific implementation can be found in embodiment of the method, will not be repeated here.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description With the specific work process of device, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
In addition, in the description of the embodiment of the present invention, unless otherwise clearly defined and limited, term " installation ", " phase Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, Ke Yishi The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this Concrete meaning in invention.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words The part to be contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter Calculation machine software product is stored in a storage medium, including some instructions are causing a computer equipment (can be People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention. And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ", The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to Be easy to the description present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation, With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ", " the 3rd " is only used for describing purpose, and it is not intended that instruction or hint relative importance.
Finally it should be noted that：Embodiment described above, it is only the embodiment of the present invention, to illustrate the present invention Technical scheme, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair It is bright to be described in detail, it will be understood by those within the art that：Any one skilled in the art The invention discloses technical scope in, it can still modify to the technical scheme described in previous embodiment or can be light Change is readily conceivable that, or equivalent substitution is carried out to which part technical characteristic；And these modifications, change or replacement, do not make The essence of appropriate technical solution departs from the spirit and scope of technical scheme of the embodiment of the present invention, should all cover the protection in the present invention Within the scope of.Therefore, protection scope of the present invention described should be defined by scope of the claims.

Claims (10)

  1. A kind of 1. robust compensation control method of high-speed aircraft, it is characterised in that including：
    Obtain the flight parameter of the high-speed aircraft of detection；
    The flight parameter is inputted to robust controller, the robust controller includes：Expectation for nominal system tracks The optimal controller of performance and the robust compensator influenceed for suppressing equivalent disturbance on closed-loop control system；
    The optimal controller and the robust compensator are imported into the model of default high-speed aircraft longitudinal direction, obtain target Controlled quentity controlled variable；
    The high-speed aircraft is controlled to be flown according to the target control amount.
  2. 2. according to the method for claim 1, it is characterised in that the flight parameter includes：Current flight speed, currently fly Row height, flight-path angle, the angle of attack, pitch rate, rotary inertia, aerodynamic coefficient, lift, thrust, resistance and pitching moment.
  3. 3. according to the method for claim 2, it is characterised in that the target control amount includes：Flight-path angle, the angle of attack, pitching Rate, rolling angle rate, and the tracking error of height and speed.
  4. 4. according to the method for claim 3, it is characterised in that high-speed aircraft longitudinal direction model is：
    <mrow> <msub> <mover> <mi>e</mi> <mo>&amp;CenterDot;</mo> </mover> <mi>i</mi> </msub> <mo>=</mo> <msub> <mi>A</mi> <mi>i</mi> </msub> <msub> <mi>e</mi> <mi>i</mi> </msub> <mo>+</mo> <msub> <mi>B</mi> <mi>i</mi> </msub> <msub> <mi>u</mi> <mi>i</mi> </msub> <mo>+</mo> <msub> <mi>q</mi> <mi>i</mi> </msub> <mo>,</mo> </mrow>
    yi=Ciei, i=V, h
    Wherein, V is speed, and h is highly rVAnd rhThe respectively reference signal of speed and height；
    yV=V-rVAnd yh=h-rhFor tracking error；
    eV1=yV, eV2=β,β is set for throttle；
    eh1=yh；eh2=γ, γ are flight-path angle；eh3=α, α are the angle of attack；eh4=p, p are pitch rate；
    uV=βc, βcFor engine throttle controlling value；uh=δe, δeFor angle of rudder reflection；
    qV=[qVi]3×1And qh=[qhi]4×1For equivalent disturbance；
    <mrow> <msub> <mi>A</mi> <mi>V</mi> </msub> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <msub> <mi>a</mi> <mrow> <mi>V</mi> <mn>1</mn> </mrow> </msub> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <msub> <mi>a</mi> <mrow> <mi>V</mi> <mn>2</mn> </mrow> </msub> </mtd> <mtd> <msub> <mi>a</mi> <mrow> <mi>V</mi> <mn>3</mn> </mrow> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <msub> <mi>B</mi> <mi>V</mi> </msub> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <msub> <mi>b</mi> <mi>V</mi> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <msub> <mi>C</mi> <mi>V</mi> </msub> <mo>=</mo> <msup> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>1</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mi>T</mi> </msup> </mrow>
    <mrow> <msub> <mi>A</mi> <mi>h</mi> </msub> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <msub> <mi>a</mi> <mrow> <mi>h</mi> <mn>1</mn> </mrow> </msub> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <msub> <mi>a</mi> <mrow> <mi>h</mi> <mn>2</mn> </mrow> </msub> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <msub> <mi>B</mi> <mi>h</mi> </msub> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <msub> <mi>b</mi> <mi>h</mi> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <msub> <mi>C</mi> <mi>h</mi> </msub> <mo>=</mo> <msup> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>1</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mi>T</mi> </msup> </mrow>
    Wherein, subscript N is nominal parameters,CTβ0、CTβ2And CMeFor aerodynamic coefficient；ρ、S、Point Wei not density, area of reference and mean aerodynamic chord；ζn、ωnRespectively damping ratio and natural angular frequency；M is Aircraft Quality；Iyy For rotary inertia；T is thrust；
    <mrow> <msub> <mi>a</mi> <mrow> <mi>V</mi> <mn>1</mn> </mrow> </msub> <mo>=</mo> <mn>0.5</mn> <msup> <mi>&amp;rho;</mi> <mi>N</mi> </msup> <msubsup> <mi>V</mi> <mn>0</mn> <mn>2</mn> </msubsup> <msup> <mi>S</mi> <mi>N</mi> </msup> <msubsup> <mi>C</mi> <mrow> <mi>T</mi> <mi>&amp;beta;</mi> </mrow> <mi>N</mi> </msubsup> <mo>/</mo> <msup> <mi>m</mi> <mi>N</mi> </msup> <mo>,</mo> <msub> <mi>a</mi> <mrow> <mi>V</mi> <mn>2</mn> </mrow> </msub> <mo>=</mo> <mo>-</mo> <msup> <mrow> <mo>(</mo> <msubsup> <mi>&amp;omega;</mi> <mi>n</mi> <mi>N</mi> </msubsup> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>,</mo> <msub> <mi>a</mi> <mrow> <mi>V</mi> <mn>3</mn> </mrow> </msub> <mo>=</mo> <mo>-</mo> <mn>2</mn> <msubsup> <mi>&amp;zeta;</mi> <mi>n</mi> <mi>N</mi> </msubsup> <msubsup> <mi>&amp;omega;</mi> <mi>n</mi> <mi>N</mi> </msubsup> <mo>;</mo> </mrow>
    ah1=V0, ah2=T0/mN/V0, V0For initial velocity, T0For initial thrust；
    <mrow> <msub> <mi>b</mi> <mi>V</mi> </msub> <mo>=</mo> <msup> <mrow> <mo>(</mo> <msubsup> <mi>&amp;omega;</mi> <mi>n</mi> <mi>N</mi> </msubsup> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>,</mo> <msub> <mi>b</mi> <mi>h</mi> </msub> <mo>=</mo> <mn>0.5</mn> <msup> <mi>&amp;rho;</mi> <mi>N</mi> </msup> <msubsup> <mi>V</mi> <mn>0</mn> <mn>2</mn> </msubsup> <msup> <mi>S</mi> <mi>N</mi> </msup> <msup> <mover> <mi>c</mi> <mo>&amp;OverBar;</mo> </mover> <mi>N</mi> </msup> <msubsup> <mi>C</mi> <mrow> <mi>M</mi> <mi>e</mi> </mrow> <mi>N</mi> </msubsup> <mo>/</mo> <msubsup> <mi>I</mi> <mrow> <mi>y</mi> <mi>y</mi> </mrow> <mi>N</mi> </msubsup> <mo>.</mo> </mrow>
  5. 5. according to the method for claim 4, it is characterised in that the control law of the robust controller is：
    <mrow> <msub> <mi>u</mi> <mi>i</mi> </msub> <mo>=</mo> <msubsup> <mi>u</mi> <mi>i</mi> <mrow> <mi>O</mi> <mi>P</mi> </mrow> </msubsup> <mo>+</mo> <msubsup> <mi>u</mi> <mi>i</mi> <mrow> <mi>R</mi> <mi>C</mi> </mrow> </msubsup> <mo>,</mo> <mi>i</mi> <mo>=</mo> <mi>V</mi> <mo>,</mo> <mi>h</mi> </mrow>
    Wherein, ui OPFor the control input of optimal controller；ui RCFor the control input of robust compensator.
  6. 6. according to the method for claim 5, it is characterised in that described it is expected the optimal of tracking performance for nominal system The control law of controller is：
    <mrow> <msubsup> <mi>u</mi> <mi>i</mi> <mrow> <mi>O</mi> <mi>P</mi> </mrow> </msubsup> <mo>=</mo> <msub> <mi>K</mi> <mi>i</mi> </msub> <msub> <mi>e</mi> <mi>i</mi> </msub> <mo>,</mo> <mi>i</mi> <mo>=</mo> <mi>V</mi> <mo>,</mo> <mi>h</mi> </mrow>
    Wherein,PiFor equationSteady-state solution, Qi For symmetric positive definite matrix.
  7. 7. according to the method for claim 6, it is characterised in that described to be used to suppress equivalent disturbance to closed-loop control system shadow The control law of loud robust compensator is：
    <mrow> <msubsup> <mi>u</mi> <mi>i</mi> <mrow> <mi>R</mi> <mi>C</mi> </mrow> </msubsup> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> <mo>=</mo> <mo>-</mo> <msup> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <msub> <mi>F</mi> <mi>i</mi> </msub> <mo>(</mo> <mi>s</mi> <mo>)</mo> <mo>)</mo> </mrow> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msup> <msub> <mi>F</mi> <mi>i</mi> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> <msubsup> <mi>G</mi> <mi>i</mi> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msubsup> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> <msub> <mi>y</mi> <mi>i</mi> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> <mo>,</mo> <mi>i</mi> <mo>=</mo> <mi>V</mi> <mo>,</mo> <mi>h</mi> </mrow>
    Wherein, Fi(s) (i=V, h) is the function of robust filter；Gi(s) (i=V, h) is the transmission function in two passages；
    S is Laplace operator；
    AiHMatrix, A are tieed up for HulliH=Ai+BiKi(i=V, h).
  8. 8. according to the method for claim 7, it is characterised in that the function expression of the robust filter is：
    <mrow> <msub> <mi>F</mi> <mi>V</mi> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <msubsup> <mi>f</mi> <mi>V</mi> <mn>3</mn> </msubsup> <msup> <mrow> <mo>(</mo> <mi>s</mi> <mo>+</mo> <msub> <mi>f</mi> <mi>V</mi> </msub> <mo>)</mo> </mrow> <mn>3</mn> </msup> </mfrac> <mo>,</mo> <msub> <mi>F</mi> <mi>h</mi> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <msubsup> <mi>f</mi> <mi>h</mi> <mn>4</mn> </msubsup> <msup> <mrow> <mo>(</mo> <mi>s</mi> <mo>+</mo> <msub> <mi>f</mi> <mi>h</mi> </msub> <mo>)</mo> </mrow> <mn>4</mn> </msup> </mfrac> </mrow>
    Wherein, fi(i=V, h) is filtering parameter.
  9. 9. according to the method for claim 8, it is characterised in that the expression formula of the transmission function in described two passages is：
    Gi(s)=Ci(sIi-AiH)-1Bi, i=V, h
    Wherein, IiFor unit matrix.
  10. 10. a kind of high-speed aircraft, including memory, processor, it is stored with and can transports on the processor in the memory Capable computer program, it is characterised in that realize the claims 1 to 9 during computer program described in the computing device The step of method described in any one.
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