Aircraft posture kinetics simplified model gain switching proportion-differential control design method

A technology of attitude dynamics and gain switching, applied in the field of aircraft control, can solve the problem that it is difficult to obtain the system step response without overshoot, no further discussion of the influence of the gain switching controller on the performance of the closed-loop system, and no discussion of the system step response Issues such as time domain indicators

Inactive Publication Date: 2009-01-07
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

This control method takes into account the requirements of response speed and overshoot to a certain extent, but it is difficult to obtain the condition that the system step response has no overshoot
At present, although this type of research discusses the design of switching controllers and the stability analysis of closed-loop systems, it does not further discuss the impact of this type of gain switching controller on the performance of closed-loop systems, let alone discuss the system order under this type of control. Time-domain indicators of jump response, such as adjustment time and overshoot, etc.
Therefore, control engineers cannot directly apply this nonlinear control idea to design a step response non-overshoot controller

Method used

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  • Aircraft posture kinetics simplified model gain switching proportion-differential control design method
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  • Aircraft posture kinetics simplified model gain switching proportion-differential control design method

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Experimental program
Comparison scheme
Effect test

Embodiment approach ( 1

[0093] I design the structure of the closed-loop control system

[0094] Such as figure 1 As shown, the unit negative feedback control structure of the output quantity (angle signal) is adopted. The connection of the three parts of the PD controller group structure, the gain switching decision-making link and the switching switch in the closed-loop control loop is shown in the attached figure 1 shown.

[0095] Using the .m language programming under the environment of Matlab 6.5, the structure and function of the gain switching decision link, switching switch and PD controller group are realized. That is, the input signal to realize the gain switching decision-making link is the error signal (obtained by subtracting the output signal from the reference signal), which is based on the relationship between the error signal and the error threshold (a designed constant value), and drives the switching according to the designed switching rule. The switch is used to connect the ...

Embodiment approach ( 2

[0123] I design the structure of the closed-loop control system

[0124] This step is exactly the same as the corresponding step in Embodiment (1).

[0125] II Design Gain Switching Decision Link

[0126] Within the value range (01), the selected error threshold e s = 0.4. The other designs are exactly the same as the corresponding steps in the implementation mode (1).

[0127] III Design the gain parameters of two PD sub-controllers

[0128] The content to be designed and related design methods are exactly the same as the corresponding steps in Embodiment (1), only the value of the initial parameter and the adjustment method of the parameter are different, and this difference is mainly introduced here.

[0129] The first small step: select an initial set of design parameters as k p1 = 3,k d1 = 1,k p2 = 1,k d2 =3, they obviously satisfy the first six inequality constraints of (4).

[0130] The second small step: combine this set of parameters and e s =0.4, press fi...

Embodiment approach ( 3

[0151] I design the structure of the closed-loop control system

[0152] This step is exactly the same as the corresponding step in Embodiment (1).

[0153] II Design Gain Switching Decision Link

[0154] This step is exactly the same as the corresponding step in Embodiment (2), that is, take e s = 0.4.

[0155] III Design the gain parameters of two PD sub-controllers

[0156] The content and related design method of this step are exactly the same as the corresponding steps in the embodiment (two), and the selection and adjustment process of the parameters are also exactly the same, that is: a set of controller parameters initially selected is: k p1 = 3,k d1 = 1,k p2 = 1,k d2 = 3; then adjust k p1 making it equal to 2 while keeping the other parameters constant, thus choosing e s =0.4,k p1 = 2,k d1 = 1,k p2 = 1,k d2 =3.

[0157] IV Inspection and Adjustment of Quickness of Step Response

[0158] In conjunction with the analysis of the IV step in the implementatio...

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Abstract

The invention relates to a design method for derivative controlling the gain switching ratio of an aerocraft pose dynamics simplified model, which adopts a nonlinear gain switching PD controlling scheme and allows two PD subcontrollers (a rapid PD subcontroller and a heavy damping subcontroller) designed with different parameters and complementary performance cooperatively function by stages according to switching rules designed. Meanwhile, on the basis of the guarantee of stability of an enclosed ring controlling system in the large, the step response of the system with no overshoot is realized, and the adjusting time of the step response is flexibly adjusted to meet the design requirements of rapidity. The technical scheme of the designing method comprises that: a first step, the structure of the enclosed ring controlling system is designed; a second step, a gain switching strategy section is designed; a third step: the gain parameters of two PD subcontrollers are designed; a fourth step: the rapidity of the step response is inspected and adjusted; a fifth step: the stability of an enclosed ring controlling system in the large is validated; a sixth step: the design is finished.

Description

(1) Technical field [0001] Aiming at the simplified model of aircraft attitude dynamics (belonging to double integral system), the invention provides a design method of gain switching proportional-derivative (Proportional-Derivative, PD) control, which belongs to the technical field of aircraft control. (2) Background technology [0002] Rapid system response and no overshoot are two contradictory performance indicators. When designing a controller, it is often necessary to take both control requirements into consideration. For example, in the takeoff-landing phase of fixed-wing flight, not only the response of angle of attack and attitude angle is required to be fast enough, but also the response of these two controlled quantities is required to have no or small overshoot (limited by ground angle). The book "Modern Flight Control" edited by Wen Chuanyuan and others pointed out: "The whole process of raising the front wheel of a certain type of fighter takes about 2 seconds...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
Inventor 朱波王新华蔡开元
Owner BEIHANG UNIV
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