CN110793405B - Self-adaptive control method for preventing instantaneous impact of unfolding of folding rudder of electric steering engine - Google Patents

Self-adaptive control method for preventing instantaneous impact of unfolding of folding rudder of electric steering engine Download PDF

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CN110793405B
CN110793405B CN201910870547.XA CN201910870547A CN110793405B CN 110793405 B CN110793405 B CN 110793405B CN 201910870547 A CN201910870547 A CN 201910870547A CN 110793405 B CN110793405 B CN 110793405B
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rudder
impact
steering engine
electric steering
unfolding
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唐德佳
穆成龙
王厚浩
何洋
黄民昌
蒋政
张南
褚衍超
蒋凯
刘露
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Shanghai Aerospace Control Technology Institute
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B10/00—Means for influencing, e.g. improving, the aerodynamic properties of projectiles or missiles; Arrangements on projectiles or missiles for stabilising, steering, range-reducing, range-increasing or fall-retarding
    • F42B10/02—Stabilising arrangements
    • F42B10/14—Stabilising arrangements using fins spread or deployed after launch, e.g. after leaving the barrel
    • F42B10/20—Stabilising arrangements using fins spread or deployed after launch, e.g. after leaving the barrel deployed by combustion gas pressure, or by pneumatic or hydraulic forces

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Abstract

Hair brushThe self-adaptive control method for resisting instantaneous impact of unfolding of the folding rudder of the electric steering engine comprises the following steps of: 1) the missile computer sends the working state characters of the folded rudders to the electric steering engine by using digital communication according to the missile flight time sequence information; 2) judging the working state of the folded rudder according to the unfolded state characters, controlling a rigid-flexible coupling model before and after the folded rudder is unfolded, establishing an instantaneous impact state space equation according to an unfolded instantaneous impact dynamics theoretical model and an expected attitude, predicting rudder shaft torque applied by gas drive at the next moment, and representing bounded interference and uncertain factors of a system; 3) designing a self-adaptive sliding mode control strategy according to a state space equation, controlling an instantaneous swing angle and a feedback current, weakening positive and negative feedback vibration of a position feedback signal and torque impact action of a rudder shaft by adopting feedforward anti-swing vibration control, and converting the output of a controller into a system duty ratio deltapwmAnd finally, the closed-loop control of the motor is realized.

Description

Self-adaptive control method for preventing instantaneous impact of unfolding of folding rudder of electric steering engine
Technical Field
The invention relates to the control technology of an electric steering engine system of an aircraft, in particular to a self-adaptive control method aiming at instantaneous impact when a folding rudder of an electric steering engine is unfolded.
Background
In order to meet the requirements of modern military operations on stealth performance, maneuverability and adaptability of a launching platform, tactical weapon missiles are generally launched in a box type or an embedded type. The electric steering engine part is required to adopt the folding control surface technology as much as possible, namely the control surface is in a folding state in the launching box; when the missile flies away from the launching box, the control surface automatically expands to a normal position for normal launching. By using the folding rudder technology, the occupied space of the missile is greatly reduced, the launching maneuverability and the concealment of the missile are improved, and the adaptability of a launching platform is optimized, so that the folding rudder electric steering engine gradually becomes a new design trend.
However, the unfolding of the folding rudder is a complex pneumatic process, and particularly when the missile leaves the missile box and the folding rudder is unfolded instantaneously, impact load can be generated on a control surface due to the action of pneumatics, structural gaps and the like, so that huge instantaneous impact force is generated, the high-frequency jitter of the control surface of the steering engine is caused, the strength of the control surface is poor, and the control surface is bent or deformed; in addition, the jitter is extremely unfavorable for the control of a servo system, and can cause direct consequences such as reduction of system stability, even divergence and the like, thereby causing high power consumption, heating of a steering engine, and failure and damage in severe cases.
Disclosure of Invention
The invention aims to solve the technical problems that the steering engine shakes at high frequency and even the system diverges due to instantaneous impact force generated at the moment of unfolding a folding rudder.
In order to solve the technical problem, the invention discloses a self-adaptive control method for resisting instantaneous impact of unfolding of a folding rudder of an electric steering engine, which comprises the following steps of:
1) the missile computer sends the working state characters of the folded rudders to the electric steering engine by using digital communication according to the missile flight time sequence information;
2) judging the working state of the folded rudder according to the unfolded state characters, controlling a rigid-flexible coupling model before and after the folded rudder is unfolded, establishing an instantaneous impact state space equation according to an unfolded instantaneous impact dynamics theoretical model and an expected attitude, predicting rudder shaft torque applied by gas drive at the next moment, and representing bounded interference and uncertain factors of a system;
3) designing adaptive sliding mode control strategy according to state space equationSlightly, the instantaneous swing angle and the feedback current are controlled, the feedforward anti-swing vibration control is adopted to weaken the positive and negative feedback vibration of a position feedback signal and the torque impact action of a rudder shaft, and the output of a controller is converted into the system duty ratio deltapwmAnd finally, the closed-loop control of the motor is realized.
In order to solve the adverse effects of instantaneous impact and high-frequency jitter when the folding rudder is unfolded, the invention provides an adaptive control method for resisting the instantaneous impact when the folding rudder is unfolded by an electric steering engine, on one hand, the adaptive sliding mode control based on dynamic compensation is adopted for the instantaneous unfolding of the folding rudder, the instantaneous impact and damping oscillation action of the unfolding of the system are reduced, and the rapid robustness of the system is improved; on the other hand, discrete FFT conversion processing is carried out on the position feedback signal, frequency and amplitude identification is carried out on the high-frequency impact signal of the folded rudder, low-pass filtering based on SOGI is carried out on the position feedback signal, and therefore the problem of buffeting of the electric steering engine is solved.
Drawings
The invention will be further explained with reference to the drawings and examples.
FIG. 1 is a block diagram of a state identification process according to an embodiment of the present invention.
Fig. 2 is a schematic unfolding view of a folded rudder according to an embodiment of the present invention.
FIG. 3 is a block diagram of adaptive sliding mode control based on dynamic compensation according to an embodiment of the present invention.
Fig. 4 is a diagram of the structure of the SOGI low-pass filter according to the embodiment of the present invention.
Detailed Description
A self-adaptive control method for an electric steering engine to resist instantaneous impact of unfolding of a folded rudder comprises the following steps of:
1. the missile computer sends a folded rudder working state word to an electric steering engine by utilizing digital communication according to the missile flight time sequence information;
FIG. 1 is a block diagram illustrating a state recognition process. The computer sends the folding rudder working state word to reach the electric steering engine through popping up, and the electric steering engine identifies the folding rudder working state word D(s), thereby identifying the working state of the electric steering engine:
Figure BDA0002202672060000031
only when the folding rudder works in an unfolding stage, the self-adaptive sliding mode control based on the dynamic compensation is adopted;
2. judging the working state of the folded rudder according to the working state characters, controlling a rigid-flexible coupling model before and after the folded rudder is unfolded, establishing an instantaneous impact state space equation according to an unfolded instantaneous impact dynamics theoretical model and an expected attitude (an instantaneous swinging angle and rudder shaft bearing torque), and predicting the rudder shaft torque applied by gas drive at the next moment, wherein the characteristics are bounded interference and uncertain factors of a system;
fig. 2 is a schematic diagram of the unfolding of the folded rudder, and a dynamic model of the unfolding moment of the folded rudder is analyzed.
In the unfolding process, an inertia coordinate system of the interface center of the rudder shaft and a movable coordinate system parallel to the mass center of the outer rudder are established, and the inertia matrix of the rigid body relative to the origin p of the movable coordinate system is obtained as follows: (centroid mc coordinate is (x)c,yc,zc))
Figure BDA0002202672060000041
The kinetic energy of the rotation matrix coordinate and the rigid body around the origin of the coordinate system can be obtained by rotation transformation:
Figure BDA0002202672060000042
wherein R isopFor the rotation matrix:
Figure BDA0002202672060000043
the outer rudder kinetic energy is:
Figure BDA0002202672060000044
where ω is ωin+ωout，ωinIs the vector of angular velocity of rotation of the rudder shaft, omegaoutIs the vector of the angular velocity of the rotation of the outer rudder rotating shaft. ω projects under the inertial coordinate system as:
Figure BDA0002202672060000045
the inner rudder kinetic energy is:
Figure BDA0002202672060000046
column-writing Lagrange function, and establishing a control system dynamic equation when a control surface is unfolded as follows:
Figure BDA0002202672060000047
wherein
Figure BDA0002202672060000048
Figure BDA0002202672060000049
Figure BDA0002202672060000051
Figure BDA0002202672060000052
Figure BDA0002202672060000053
Q1＝-kpθ, kp is the stiffness of the rudder system.
Q2＝M(t), M (t) is the control surface unfolding driving torque generated by the fuel gas.
The moment of momentum is projected on an inertia coordinate system and balanced by the rigid deformation of a transmission mechanism and the moment generated by the servo control of a motor, and the torque completely applied to a rudder shaft bearing is as follows:
M(o)＝(Mx My Mz)T (9)
Figure BDA0002202672060000054
in the impact process, the inner rudder and the outer rudder are locked by the locking pin at the moment of in-place, so that the included angle of the inner rudder and the outer rudder meets the requirement
Figure BDA0002202672060000055
The method is characterized in that an ideal curve of the gas drive torque attenuation along with time in the impact stage can be predicted by an ideal model of the gas drive applied torque in the expansion stage:
MB→t＝F(t) (10)
3. simplifying a dynamic equation of a rotation angle and torque of a motor and a rudder shaft, establishing an instantaneous impact discrete state space equation, taking the rotation angle of the rudder shaft as output, taking the rudder shaft torque applied by gas drive of an impact section as external interference and uncertain factors, predicting the predicted rudder shaft torque, establishing a sliding mode surface, designing an adaptive law of a prediction error estimation value, performing stability design by using a Lyapunov function, and finally realizing adaptive control based on dynamic compensation at the moment of unfolding of a folded rudder.
As shown in FIG. 3, the dynamic model is a dynamic model of the rotation direction of the rudder shaft in the impact section by simplifying the dynamic equation of the rotation angle and the torque of the motor and the rudder shaft based on the adaptive sliding mode control of the dynamic compensation
Figure BDA0002202672060000056
Wherein J is equivalent moment of inertia, theta is the rotation angle of the rudder shaft, imFor the gear ratio of the motor shaft to the rudder shaft, KtIs the motor current torque coefficient, MBThe torque generated by the explosion to which the rudder shaft of the impact section is subjected.
Let x1＝θ,
Figure BDA0002202672060000061
The state space model obtained by u-i is as follows:
Figure BDA0002202672060000062
dynamic gas torque M obtained by the aboveB(t) function of time with d characterizing other unmodeled disturbances, while letting
Figure BDA0002202672060000063
The state space model is thus rewritten as:
Figure BDA0002202672060000064
the defined error is:
Figure BDA0002202672060000065
wherein xdAlpha is the virtual control for the command position. The virtual control α is set to:
Figure BDA0002202672060000066
k of which1Positive real number, from which it follows:
Figure BDA0002202672060000067
defining the slip form surface as:
s＝ce1+e2 (17)
then it can be deduced that:
Figure BDA0002202672060000068
designing the controller output:
u＝ueq+uvss (19)
wherein u iseqFor equivalent control, uvssFor handover control, it is specifically expressed as follows:
Figure BDA0002202672060000071
wherein k is2Is a positive real number, dfIs a predicted value of d and is,
Figure BDA0002202672060000072
torque is applied for the gas predicted at time t,
Figure BDA0002202672060000073
is the predicted next time instant.
Figure BDA0002202672060000074
e3For uncertain upper bound of interference, and
Figure BDA0002202672060000075
is e3An estimate of (d). Defining the estimation error as:
Figure BDA0002202672060000076
wherein
Figure BDA0002202672060000077
The adaptive law of (1) is as follows:
Figure BDA0002202672060000078
the Lyapunov function is chosen to be:
Figure BDA0002202672060000079
derivation of this can yield:
Figure BDA00022026720600000710
substituting the adaptive law to obtain:
Figure BDA00022026720600000711
get a0＝min{2(k1+c),2k2}, then
Figure BDA00022026720600000712
Therefore, all signal closed loops in the system are proved to be converged to zero, and the designed control strategy is stable in closed loop.
4. Discrete FFT conversion processing is carried out on the steering engine position feedback signal, frequency and amplitude identification is carried out on the folded steering engine high-frequency impact signal, and low-pass filtering based on SOGI is carried out on the feedback signal;
the position feedback signal is low-pass filtered using a SOGI second order generalized integrator as shown in fig. 4. Firstly, identifying the frequency and amplitude information of a high-frequency impact signal of the folded rudder in real time by utilizing discrete FFT analysis and combining rolling type sampling; and then the high-frequency buffeting signal is subjected to low-pass filtering processing through an SOGI second-order generalized integrator shown in the figure, and the central frequency of a low-pass filter is set as a recognized high-frequency impact signal.
The SOGI low-pass filter transfer function q(s) satisfies:
Figure BDA0002202672060000081
wherein Q(s) is a low pass filter transfer function,
Figure BDA0002202672060000082
is the center frequency of the low pass filter, and ζ is the damping ratio.
5. The electric steering engine control system adopts position loop and current loop double closed loop control, takes a rudder instruction and a rudder feedback position signal after low-pass filtering as the input of a position loop, and sends the rudder instruction and the rudder feedback position signal to the electric steering engine, and finally realizes closed loop control.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.

Claims (6)

1. The self-adaptive control method for preventing instantaneous impact of unfolding of the folding rudder of the electric steering engine is characterized by comprising the following steps of:
1) the missile computer sends the working state characters of the folded rudders to the electric steering engine by using digital communication according to the missile flight time sequence information;
2) judging the working state of the folded rudder according to the working state characters, controlling a rigid-flexible coupling model before and after the folded rudder is unfolded, establishing an instantaneous impact state space equation according to an unfolded instantaneous impact dynamics theoretical model and an expected attitude, predicting rudder shaft torque applied by gas drive at the next moment, and representing bounded interference and uncertain factors of a system;
3) designing a self-adaptive sliding mode control strategy according to a state space equation, controlling an instantaneous swing angle and a feedback current, weakening positive and negative feedback vibration of a position feedback signal and torque impact action of a rudder shaft by adopting feedforward anti-swing vibration control, and converting the output of a controller into a system duty ratio deltapwmAnd finally, the closed-loop control of the electric steering engine is realized.
2. The self-adaptive control method for resisting instantaneous impact of unfolding of the folding rudder of the electric steering engine as claimed in claim 1, wherein the working state of the folding rudder of the electric steering engine is recognized, the missile-mounted computer sends missile-launching and folding rudder unfolding state signals in real time and transmits the missile-launching and folding rudder unfolding state signals to the electric steering engine through state words D(s) to participate in control:
Figure FDA0003174867760000011
3. the adaptive control method for the electric steering engine to resist the instantaneous unfolding impact of the folded rudder as claimed in claim 1, wherein the desired attitude in the step 2) comprises an instantaneous swing angle and a rudder shaft bearing torque.
4. The self-adaptive control method for resisting instantaneous expansion impact of the folding rudder of the electric steering engine according to claim 1, wherein in the expansion process, an inertia coordinate system of the interface center of the rudder shaft and a moving coordinate system parallel to the mass center of the outer rudder are established to obtain an inertia matrix of a rigid body relative to the origin p of the moving coordinate system
Figure FDA0003174867760000012
Comprises the following steps:
Figure FDA0003174867760000013
the centroid mc coordinate is (x)c,yc,zc)；
The kinetic energy of the rotation matrix coordinate and the rigid body around the origin of the coordinate system can be obtained by rotation transformation:
Figure FDA0003174867760000021
wherein R isopFor the rotation matrix:
Figure FDA0003174867760000022
the outer rudder kinetic energy is:
Figure FDA0003174867760000023
where ω is ωin+ωout，ωinIs the vector of angular velocity of rotation of the rudder shaft, omegaoutThe vector of the rotating angular velocity of the outer rudder rotating shaft is shown; ω projects under the inertial coordinate system as:
Figure FDA0003174867760000024
the inner rudder kinetic energy is:
Figure FDA0003174867760000025
column-writing Lagrange function, and establishing a control system dynamic equation when a control surface is unfolded as follows:
Figure FDA0003174867760000026
wherein
Figure FDA0003174867760000027
Figure FDA0003174867760000028
Figure FDA0003174867760000029
Figure FDA00031748677600000210
Figure FDA00031748677600000211
Q1＝-kpθ，kpThe stiffness of the rudder system;
Q2m (t), m (t) is a control surface unfolding driving torque generated by gas;
the moment of momentum is projected on an inertia coordinate system and balanced by the rigid deformation of a transmission mechanism and the moment generated by the servo control of a motor, and the torque completely applied to a rudder shaft bearing is as follows:
M(o)＝(Mx My Mz)T (9)
Figure FDA0003174867760000031
in the impact process, the inner rudder and the outer rudder are locked by the locking pin at the moment of in-place, so that the included angle of the inner rudder and the outer rudder meets the requirement
Figure FDA0003174867760000032
The ideal model of the torque applied by the gas drive in the expansion section can predict an ideal curve of the gas drive torque attenuation along with time in the impact section:
MB→t＝F(t) (11)。
5. the adaptive control method of the electric steering engine for resisting the instantaneous impact of the unfolding of the folding rudder according to claim 1 is characterized in that adaptive sliding mode control is performed, a dynamic equation of a rotation angle and a torque of a motor and a rudder shaft is simplified according to the locking characteristics of an inner rudder and an outer rudder of an impact section, an instantaneous impact state space equation is established, the rotation angle of the rudder shaft is used as output, the torque of the rudder shaft applied by gas driving of the impact section is used as external interference and uncertain factors, the torque of the rudder shaft is predicted, a sliding mode surface is established, an adaptive law of a prediction error estimation value is designed, a Lyapunov function is used for stability design, and finally adaptive control based on dynamic compensation at the moment of the unfolding of the folding rudder is achieved.
6. The self-adaptive control method for resisting instantaneous impact of unfolding of the folding rudder of the electric steering engine according to claim 1, wherein feedforward anti-shimmy control is carried out on the position feedback signal, discrete FFT analysis is adopted to combine with rolling type sampling, amplitude and frequency information of the impact signal are identified in real time, low-pass filtering processing is carried out on the position feedback signal through SOGI low-pass filtering, and the central frequency of a low-pass filter is set as an identified impact signal frequency value.
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CN113221243B (en) * 2021-05-12 2023-01-20 上海机电工程研究所 Simulation calculation method and system for transient synchronous unfolding of aircraft folded rudder
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