CN111007872B - Rudder deflection distribution method based on spoiler - Google Patents
Rudder deflection distribution method based on spoiler Download PDFInfo
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Abstract
The invention discloses a spoiler-based rudder deflection distribution method, which belongs to the technical field of flight control and comprises the following steps: firstly, carrying out amplitude limiting on a rudder deflection instruction of a pitching channel to obtain the rudder deflection instruction of the pitching channel after amplitude limiting; step two, amplitude limiting is carried out on the rudder deflection instruction of the yaw channel, and the rudder deflection instruction of the yaw channel after amplitude limiting is obtained; thirdly, channel rudder deflection distribution is carried out on the pitching and yawing channels according to the rudder deflection instruction of the pitching channel subjected to amplitude limiting in the first step and the rudder deflection instruction of the yawing channel subjected to amplitude limiting in the second step, and the pitching and yawing channel rudder deflection instruction subjected to rudder deflection distribution is obtained; step four, according to the pitch channel instruction after rudder deflection distribution in step three, single-rudder deflection distribution is carried out, and rudder deflection instructions of 2 rudders and 4 rudders are obtained; and step five, performing single-rudder deflection distribution according to the yaw channel instruction after rudder deflection distribution in the step three, and acquiring rudder deflection instructions of the 1 rudder and the 3 rudder. The invention solves the problem of missile rudder deflection instruction distribution based on spoiler vector control.
Description
Technical Field
The invention belongs to the technical field of flight control, and relates to a channel rudder deflection self-adaptive distribution method which is suitable for a guided missile controlled by four spoilers.
Background
The missile controlled by the spoiler extends the spoiler arranged at the tail part of the missile into a flow field at the outlet section of an engine spray pipe, generates oblique shock waves and a boundary separation layer in an expansion section of the engine spray pipe, and then generates lateral control force, wherein the principle of the missile is shown in figure 2. In the process of missile flight, the deflection of the four spoilers of the missile is accurately and quickly controlled according to rudder deflection instructions of the four rudders, and then control moment is generated to control the posture and the motion track of the missile. Wherein, the 1 rudder and the 3 rudder control the yaw direction movement of the missile, and the 2 rudder and the 4 rudder control the pitch direction movement of the missile.
The traditional missile rudder deflection distribution method adopting four control surfaces for control only carries out amplitude limiting processing on the maximum rudder deflection, and the pitching channel rudder deflection and the yawing channel rudder deflection are independently controlled and do not influence each other. Due to the limitation of a mechanical structure, when a missile controlled by a spoiler deflects a pitch channel rudder and a yaw channel rudder and deflects at the same time by a large angle, structural interference is generated. Therefore, by adopting the traditional rudder deflection distribution method, the use requirement cannot be met only by limiting the maximum available rudder deflection of the pitch channel, and dynamic rudder deflection distribution needs to be carried out on the rudder deflection of the pitch channel and the rudder instruction of the yaw channel according to the limitation of an actual mechanical structure.
The control moment generated by the spoiler is a pitching or yawing direction control force generated by extending the spoiler into the engine spray pipe, and the moment generated by the control force relative to the missile mass center is the control moment. The directions of the yaw control moments generated by the rudder 1 and the rudder 3 are opposite, and in order to improve the control efficiency of the spoiler, only one rudder deflects simultaneously by the rudder 1 and the rudder 3. Similarly, the pitch control moments generated by the 2-rudder and the 4-rudder are opposite in direction, and only one rudder deflects for the 2-rudder and the 4-rudder at the same time. Therefore, when the pitching channel rudder command is converted into the single rudder command, in order to improve the control efficiency, single-rudder deflection distribution is needed.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the defects of the prior art are overcome, and the spoiler-based rudder deflection distribution method is provided. According to the method, by distributing rudder instructions of the pitch channel and the yaw channel, the physical interference of spoilers caused by the fact that the pitch channel and the yaw channel generate large rudder deflection at the same time is avoided; by distributing the single-rudder instructions, the situation that yaw channel control efficiency is reduced due to simultaneous deflection of the 1 rudder and the 3 rudder is avoided, and pitch channel control efficiency is reduced due to simultaneous deflection of the 2 rudder and the 4 rudder is avoided.
The invention provides a spoiler-based rudder deflection allocation method, which comprises the following steps of:
firstly, carrying out amplitude limiting on a rudder deflection instruction of a pitching channel to obtain the rudder deflection instruction of the pitching channel after amplitude limiting;
step two, amplitude limiting is carried out on the rudder deflection instruction of the yaw channel, and the rudder deflection instruction of the yaw channel after amplitude limiting is obtained;
thirdly, channel rudder deflection distribution is carried out on the pitching and yawing channels according to the rudder deflection instruction of the pitching channel subjected to amplitude limiting in the first step and the rudder deflection instruction of the yawing channel subjected to amplitude limiting in the second step, and the pitching and yawing channel rudder deflection instruction subjected to rudder deflection distribution is obtained;
step four, according to the pitch channel instruction after rudder deflection distribution in step three, single-rudder deflection distribution is carried out, and rudder deflection instructions of 2 rudders and 4 rudders are obtained;
and step five, performing single-rudder deflection distribution according to the yaw channel instruction after rudder deflection distribution in the step three, and acquiring rudder deflection instructions of the 1 rudder and the 3 rudder.
Further, the method for limiting the rudder deflection command of the pitch channel in the first step includes:
according to the formula
Limiting the rudder deflection command of a pitching channel, wherein U P For pitch channel steering bias command before clipping, U dPYmax Upper limit values of rudder deflection instructions for pitching and yawing channels, U P1 And performing rudder deflection command on the pitching channel after amplitude limiting.
Further, the method for limiting the rudder deflection command of the yaw channel in the second step includes:
according to the formula
Limiting the rudder deviation instruction of the yaw channel, wherein U Y For yaw channel rudder deflection command before amplitude limiting, U Y1 And performing rudder deflection command on the limited yaw channel.
Further, in the third step, the method for allocating channel rudder deflection to the pitch channel and the yaw channel includes:
according to the formula U PY ＝|U Y1 |+|U P1 |、
Wherein, U PY Is the sum of the pitch channel rudder deflection command and the yaw channel rudder deflection command, U max An amplitude limit value, U, for the sum of the pitch channel rudder deflection command and the yaw channel rudder deflection command P2 Pitching channel rudder instruction after channel rudder deflection distribution, U Y2 And allocating a yaw channel rudder instruction for the channel rudder deflection.
Further, the method for acquiring the rudder deflection commands of the 2 rudder and the 4 rudder in the fourth step includes:
according to the formula
Calculating 2-rudder and 4-rudder deflection commands, wherein U 2 And U 4 Respectively a 2-rudder steering command and a 4-rudder steering command.
Further, the method for acquiring the rudder deflection commands of the rudder 1 and the rudder 3 in the fifth step includes:
according to the formula
Calculating a 1-rudder and a 3-rudder deflection command, wherein U 1 And U 3 Respectively a 1-rudder steering command and a 3-rudder steering command.
Compared with the prior art, the invention has the advantages that:
1) According to the invention, the pitching channel and yaw channel rudder instructions are dynamically distributed according to the practical mechanical structure limitation, so that the channel rudder deflection resources are reasonably distributed, the missile flight control capability is improved, and the problem of physical interference caused by the fact that the pitching channel and the yaw channel simultaneously pay large rudder deflection is solved.
2) According to the invention, the rudder instructions of the rudder 1 and the rudder 3 are dynamically distributed, so that the rudder 1 and the rudder 3 are prevented from simultaneously paying out rudder deflection, and yaw control moments generated by the two rudders are mutually offset, thereby reducing the control efficiency of a yaw channel. Similarly, rudder instructions of the 2 rudder and the 4 rudder are dynamically distributed, and pitching control moments generated by the 2 rudder and the 4 rudder are prevented from being mutually offset, so that the control efficiency of a pitching channel is reduced.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a schematic view of the spoiler control principle;
Detailed Description
The flow chart of the method of the invention is shown in figure 1, and the schematic diagram of the spoiler control principle is shown in figure 2. As can be seen from fig. 2, the spoiler extending into the engine nozzle generates a control moment, wherein the 1 rudder and the 3 rudder generate a yaw moment, and the 2 rudder and the 4 rudder generate a pitch moment. Due to the limitation of the size of the nozzle of the engine and the size of the spoiler, the pitch channel and the yaw channel cannot simultaneously pay large rudder deflection, and therefore channel rudder deflection distribution needs to be carried out on the pitch channel and the yaw channel. As can be seen from fig. 2, the 1-rudder and the 3-rudder are symmetrical about the central axis, and the generated yaw control moments are opposite in direction, so that single-rudder offset distribution needs to be performed on the 1-rudder and the 3-rudder, and the situation that the control efficiency is reduced due to simultaneous occurrence of rudder offset of the 1-rudder and the 3-rudder is avoided. Similarly, 2-rudder and 4-rudder are needed for single-rudder deflection distribution. The following describes in detail a specific embodiment of the spoiler-based rudder deflection assignment method of the present invention:
(1) The amplitude limiting is performed on the rudder deflection command of the pitch channel, and the specific amplitude limiting method can be as shown in formula (1):
in the formula of U P The instruction is a pitching channel rudder deflection instruction before amplitude limiting, and the instruction is obtained by resolving through a missile pitching channel control system; u shape dPYmax Commanding upper limit values for the pitching and yawing channel rudder deflection, wherein the upper limit values are constant values and are set according to the maximum available rudder deflection of the missile; u shape P1 And performing rudder deflection command on the pitching channel after amplitude limiting.
(2) And (3) carrying out amplitude limiting on the rudder deflection command of the yaw channel, wherein a specific amplitude limiting method can be as shown in formula (2):
in the formula of U Y The instruction is a yaw channel rudder deflection instruction before amplitude limiting, and the instruction is obtained by solving a missile yaw channel control system; u shape Y1 And performing rudder deflection command on the limited yaw channel.
(3) And performing dynamic helm bias allocation on the pitch channel and the yaw channel, wherein a specific dynamic allocation method can be shown as a formula (3):
in the formula of U PY The sum of the pitching channel rudder deflection instruction and the yawing channel rudder deflection instruction is obtained by adding the absolute value of the pitching channel rudder instruction after amplitude limiting and the absolute value of the yawing channel rudder instruction after amplitude limiting; u shape max The amplitude limiting value is the sum of the pitching channel rudder deflection instruction and the yawing channel rudder deflection instruction, is a constant value, and is set according to the practical mechanical structure limit of the missile; u shape P2 A pitching channel rudder instruction after the channel rudder deflection is distributed; u shape Y2 And allocating a yaw channel rudder instruction for the channel rudder deflection.
(4) Dynamic rudder deflection distribution is carried out on the 2-rudder and the 4-rudder, and a specific dynamic distribution method can be shown as a formula (4):
in the formula of U 2 And U 4 Respectively a 2-rudder steering command and a 4-rudder steering command.
(5) Dynamic rudder deflection distribution is carried out on the 2-rudder and the 4-rudder, and a specific dynamic distribution method can be shown as a formula (5):
in the formula of U 1 And U 3 Respectively 1-rudder and 3-rudder deflection commands.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (3)
1. A rudder deflection distribution method based on spoilers is characterized by comprising the following steps:
(1) Carrying out amplitude limiting on the rudder deflection instruction of the pitching channel to obtain the rudder deflection instruction of the pitching channel after amplitude limiting;
(2) Carrying out amplitude limiting on the rudder deflection instruction of the yaw channel to obtain the rudder deflection instruction of the yaw channel after amplitude limiting;
(3) According to the rudder deflection instruction of the pitching channel subjected to amplitude limiting in the step (1) and the rudder deflection instruction of the yawing channel subjected to amplitude limiting in the step (2), channel rudder deflection distribution is carried out on the pitching and yawing channels, and the pitching and yawing channel rudder deflection instruction subjected to rudder deflection distribution is obtained;
(4) According to the pitching channel instruction after rudder deflection distribution in the step (3), single rudder deflection distribution is carried out, and rudder deflection instructions of the 2 rudder and the 4 rudder are obtained;
(5) According to the yaw channel instruction after rudder deflection distribution in the step (3), single rudder deflection distribution is carried out, and rudder deflection instructions of the rudder 1 and the rudder 3 are obtained;
the method for limiting the rudder deflection instruction of the pitching channel in the step (1) comprises the following steps:
according to the formula
Limiting the rudder deflection command of a pitching channel, wherein U P For pitch channel rudder deflection command before clipping, U dPYmax For pitch and yaw channel rudder deflection command upper limit values, U P1 The pitch channel rudder deflection instruction after amplitude limiting is obtained;
the method for limiting the rudder deflection command of the yaw channel in the step (2) comprises the following steps:
according to the formula
Limiting the rudder deviation instruction of the yaw channel, wherein U Y For the yaw path rudder deflection command before amplitude limiting, U Y1 The yaw channel rudder deflection instruction after amplitude limiting is obtained;
the method for performing channel rudder deflection distribution on the pitching channel and the yawing channel in the step (3) comprises the following steps:
according to the formula U PY ＝|U Y1 |+|U P1 |、
Wherein, U PY Is the sum of a pitch channel rudder deflection command and a yaw channel rudder deflection command, U max An amplitude limit value, U, for the sum of the pitch channel rudder deflection command and the yaw channel rudder deflection command P2 Pitching channel rudder instruction after channel rudder deflection distribution, U Y2 And allocating a yaw channel rudder instruction for the channel rudder deflection.
2. The spoiler-based rudder deflection allocation method according to claim 1, wherein the method for acquiring 2-rudder and 4-rudder deflection commands in the step (4) comprises the following steps:
according to the formula
Calculating 2-rudder and 4-rudder deflection instructions, wherein U 2 And U 4 Respectively a 2-rudder steering command and a 4-rudder steering command.
3. The spoiler-based rudder deflection allocation method according to claim 1, wherein the method for acquiring the rudder deflection commands of the 1 rudder and the 3 rudder in the step (5) comprises the following steps:
according to the formula
Calculating a 1-rudder and a 3-rudder deflection command, wherein U 1 And U 3 Respectively a 1-rudder steering command and a 3-rudder steering command.
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