CN112363521A - Control parameter adjusting algorithm adapting to pneumatic nonlinearity of rolling channel - Google Patents
Control parameter adjusting algorithm adapting to pneumatic nonlinearity of rolling channel Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
- G05D1/0825—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using mathematical models
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
A control parameter adjusting algorithm adapting to rolling channel pneumatic nonlinearity comprises the following steps: determining the auxiliary parameter adjustment of the rolling channel parameters by introducing the synthetic attack angle information, and analyzing the rule that the efficiency of the aileron rudder in the flight envelope changes along with the attack angle and the speed; step two: selecting an attack angle range suitable for the auxiliary parameter adjustment of the attack angle according to the change rule in the step one, and carrying out amplitude limiting treatment on the attack angle range for carrying out the attack angle parameter adjustment; step three: according to the change rule in the step one, selecting a speed range suitable for adjusting the parameters of the attack angle, and fitting out the change rule of the control parameters along with the dynamic pressure and the speed according to the change rule and the range principle; step five: and on the basis of the fourth step, further fitting out a rule that the control parameters change along with the flight attack angle according to the change rule of the control efficiency of the ailerons under the state of large and small attack angles. The method can effectively inhibit the pneumatic nonlinearity of the rolling channel caused by the change of the flight attack angle, and improve the flight control quality of the attitude control of the rolling channel in the full airspace.
Description
Technical Field
The invention relates to the field of flight control of aircrafts, in particular to a control parameter adjusting method suitable for rolling channel pneumatic nonlinearity.
The invention relates to the field of aircraft rolling channel control parameter design, which is characterized by inhibiting the pneumatic nonlinear interference of an aircraft, improving the anti-interference capability and improving the control quality of a rolling channel.
Background
The aerodynamic nonlinearity is an unavoidable problem in the field of flight control, and particularly under the condition of large flight attack angle and Mach number span, the aircraft and a high-speed flow field can generate aerodynamic nonlinearity interference of different degrees, so that the control quality and stability of a rolling channel are influenced.
The control of the rolling channel is the basis of the stable flight control of the whole aircraft, and the problem to be solved urgently is to eliminate the influence of pneumatic nonlinearity on the rolling control from the aspect of flight control.
In the design process of the control parameters of the rolling channel, the flight speed and the dynamic pressure are generally adopted as input information for a parameter calculation module to calculate. However, in the actual flight process, the flight angle of attack and the speed change to cause the control efficiency and the aerodynamic nonlinearity of the aileron to change in different degrees, and the control efficiency difference of the aileron is obvious particularly in the state of large and small angles of attack. The original parameter calculation method has weak adaptability to the changes and strong aerodynamic nonlinear influence in a large-attack-angle flight state, so that the response of the rolling channel is difficult to meet the control index of the rolling channel, and the control divergence of the rolling channel can be caused under severe conditions.
Disclosure of Invention
The invention aims to provide a control parameter adjusting algorithm adaptive to the pneumatic nonlinearity of a rolling channel, which is used for solving the control parameter of the rolling channel by introducing flight attack angle information quantity on the original basis from the aspect of engineering application, so that the influence of the pneumatic nonlinearity is inhibited, and the flight control quality is improved.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the method comprises the following steps: determining the auxiliary parameter adjustment of the rolling channel parameters by introducing the synthetic attack angle information, and analyzing the rule that the efficiency of the aileron rudder in the flight envelope changes along with the attack angle and the speed;
step two: selecting an attack angle range suitable for the auxiliary parameter adjustment of the attack angle according to the change rule in the step one, and carrying out amplitude limiting treatment on the attack angle range for carrying out the attack angle parameter adjustment;
step three: selecting a speed range suitable for angle of attack parameter adjustment according to the change rule in the step one,
fitting out the change rule of the control parameters along with the dynamic pressure and the speed according to the change rule and the range principle in the first step, the second step and the third step;
step five: and on the basis of the fourth step, further fitting out a rule that the control parameters change along with the flight attack angle according to the change rule of the control efficiency of the ailerons under the state of large and small attack angles.
The invention provides a control parameter adjusting algorithm adapting to the pneumatic nonlinearity of a rolling channel, which has the following advantages compared with the original parameter adjusting algorithm:
the original control parameter adjustment rule is mainly adjusted on line according to dynamic pressure and speed, the flight attack angle information is added on the basis of the original control parameter resolving rule to carry out auxiliary design directly according to flight state parameters with strong pneumatic nonlinear interference correlation, the method is clear in physical concept, wider in application range and more obvious in achieved control effect, the problem of pneumatic nonlinear interference caused by large flight airspace span is solved, and good channel control quality is guaranteed.
Drawings
FIG. 1 is a schematic diagram of a rolling channel attitude stabilization control loop provided by the present invention;
FIG. 2 is a flow chart of a control parameter adjustment algorithm for a rolling channel pneumatic nonlinearity in accordance with the present invention.
Detailed Description
The present invention will be further described by describing a preferred embodiment in detail with reference to the accompanying drawings of fig. 1 and 2.
The method comprises the following steps: determining the auxiliary parameter adjustment of the rolling channel parameters by introducing the synthetic attack angle information, and analyzing the rule that the efficiency of the aileron rudder in the flight envelope changes along with the attack angle and the speed;
step two: selecting an attack angle range suitable for the auxiliary parameter adjustment of the attack angle according to the change rule in the step one, and carrying out amplitude limiting treatment on the attack angle range for carrying out the attack angle parameter adjustment;
using an attack angle to carry out auxiliary parameter adjustment, screening an application range of the attack angle with obvious dynamic nonlinearity protrusion in a missile flight attack angle envelope line, and carrying out amplitude limiting processing on attack angle information;
wherein, ALPinAngle of attack input, ALP, for a parameter resolving moduledown_limitLimiting lower limit of attack angle, ALPup_limitFor the upper limit of the angle of attack clipping, ALP is the current flight angle of attack.
Step three: selecting a speed range suitable for angle of attack parameter adjustment according to the change rule in the step one; the premise of the attack angle parameter adjustment is based on the flying speed, the fact shows that the pneumatic nonlinearity of the rolling channel is closely linked with the flying speed, and the influence of the flying speed change on the pneumatic nonlinearity must be considered while a reasonable attack angle range is selected. And making a corresponding judgment criterion according to the change rule between the rudder effect of the ailerons in the full airspace trajectory and the flight speed and the flight attack angle.
And (3) carrying out amplitude limiting on the flight speed subjected to parameter calculation and selecting a flight speed node for attack angle parameter adjustment, wherein the specific implementation is shown in the formula (2) and the formula (3).
Vdown_limit＜VALP≤Vup_limit (8)
Wherein VmSpeed input for parameter calculation module，Vdown_limitFor limiting the lower limit value of the velocity, Vup_limitFor limiting the upper limit value of the velocity, VcFor the current flying speed, VALPThe speed node is used for adjusting the parameters of the attack angle.
Fitting out the change rule of the control parameters along with the dynamic pressure and the speed according to the change rule and the range principle in the first step, the second step and the third step;
the formula of the adjustment of the control parameter of the scroll channel is shown as follows:
g2＝K9·g1 (10)
wherein g is1、g2Respectively an angular rate loop control parameter and an attitude loop control parameter; qc、VmRespectively representing dynamic pressure and flying speed; k1～K9Representing the gain factor for different state variables.
Step five: and on the basis of the fourth step, further fitting out a rule that the control parameters change along with the flight attack angle according to the change rule of the control efficiency of the ailerons under the state of large and small attack angles.
As can be seen from the expression, the flying speed is less than VALPThe control parameter is calculated and adjusted according to dynamic pressure and speed, and the flying speed is greater than or equal to VALPIn the process, attack angle parameter regulation is added on the basis of dynamic pressure and speed parameter regulation.
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 (5)
1. A control parameter adjusting algorithm suitable for rolling channel pneumatic nonlinearity is characterized by comprising the following steps:
the method comprises the following steps: determining the auxiliary parameter adjustment of the rolling channel parameters by introducing the synthetic attack angle information, and analyzing the rule that the efficiency of the aileron rudder in the flight envelope changes along with the attack angle and the speed;
step two: selecting an attack angle range suitable for the auxiliary parameter adjustment of the attack angle according to the change rule in the step one, and carrying out amplitude limiting treatment on the attack angle range for carrying out the attack angle parameter adjustment;
step three: selecting a speed range suitable for angle of attack parameter adjustment according to the change rule in the step one,
fitting out the change rule of the control parameters along with the dynamic pressure and the speed according to the change rule and the range principle in the first step, the second step and the third step;
step five: and on the basis of the fourth step, further fitting out a rule that the control parameters change along with the flight attack angle according to the change rule of the control efficiency of the ailerons under the state of large and small attack angles.
2. The control parameter adjustment algorithm for the rolling channel pneumatic nonlinearity according to claim 1, wherein step two: selecting an attack angle range suitable for the auxiliary parameter adjustment of the attack angle according to the change rule in the step one, and carrying out amplitude limiting treatment on the attack angle range for carrying out the attack angle parameter adjustment;
using an attack angle to carry out auxiliary parameter adjustment, screening an application range of the attack angle with obvious dynamic nonlinearity protrusion in a missile flight attack angle envelope line, and carrying out amplitude limiting processing on attack angle information;
wherein, ALPinAngle of attack input, ALP, for a parameter resolving moduledown_limitLimiting lower limit of attack angle, ALPup_limitFor the upper limit of the angle of attack clipping, ALP is the current flight angle of attack.
3. A control parameter adjustment algorithm for rolling channel pneumatic nonlinearity according to claim 1, wherein said step three: the influence of flight speed change on pneumatic nonlinearity must be considered while selecting a reasonable attack angle range; according to the change rule between the rudder effect of the ailerons in the full airspace trajectory and the flight speed and the flight attack angle, making a corresponding judgment criterion; and (3) carrying out amplitude limiting on the flight speed subjected to parameter calculation and selecting a flight speed node for attack angle parameter adjustment, wherein the specific implementation is as shown in the formula (2) and the formula (3). Shown in the figure:
Vdown_limit＜VALP≤Vup_limit (3)
wherein VmAs speed input to the parameter calculation module, Vdown_limitFor limiting the lower limit value of the velocity, Vup_limitFor limiting the upper limit value of the velocity, VcFor the current flying speed, VALPThe speed node is used for adjusting the parameters of the attack angle.
4. A control parameter adjustment algorithm for rolling channel pneumatic nonlinearity according to claim 1, wherein said step four: the formula of the adjustment of the control parameter of the scroll channel is shown as follows:
g2＝K9·g1 (5)
wherein g is1、g2Respectively an angular rate loop control parameter and an attitude loop control parameter; qc、VmRespectively representing dynamic pressure and flying speed; k1～K9Representing the gain factor for different state variables.
5. The control parameter adjustment algorithm for rolling channel pneumatic nonlinearity according to claim 1, wherein said step five: flight speed less than VALPThe control parameter is resolved and adjusted according to dynamic pressure and speed; flight speed greater than or equal to VALPIn the process, attack angle parameter regulation is added on the basis of dynamic pressure and speed parameter regulation.
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