Aircraft control allocation method based on direct allocation method and null space

A control distribution, zero-space technology, applied in the field of aircraft control, can solve the problems of torque reachable set control torque unreachable, limited use range, inability to correct pseudo-inverse solution, etc. degree of effect

Active Publication Date: 2019-07-05
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

The pseudo-inverse method applies the optimal performance index to the control assignment problem, but using this method, there are still some unreachable control torques in the torque reachable set, which affects the application range of the pseudo-inverse method
The cascaded pseudo-inverse method further expands the solution space, but when the desired torque exceeds the boundary of the reachable torque set, cont

Method used

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  • Aircraft control allocation method based on direct allocation method and null space
  • Aircraft control allocation method based on direct allocation method and null space
  • Aircraft control allocation method based on direct allocation method and null space

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Embodiment Construction

[0048] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0049] The structural block diagram of the redundant control system that the present invention aims at is as figure 1 As shown, the mathematical expression of the system is as follows:

[0050]

[0051] Where: x∈R n is the state variable of the aircraft; u∈R m is the deflection command of the control surface, and u∈Ω u ={u|u min ≤u≤u max}, u min and u max is the upper and lower bound of the control surface constraint; A∈R n×n is the system matrix; B∈R n x m is the control matrix of the system and column B is not in rank; C∈R k×n Output matrix for the system.

[0052] Due to the overdrive characteristics of the system, a virtual control command is introduced: v=B u u, where v∈R l Virtual instruction output for the controller; B u is the control efficiency matrix of the system. The above formula can be re-expressed as:

[0...

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Abstract

The invention discloses an aircraft control allocation method based on the direct allocation method and a null space. The method has the advantages that the maximum achievable torque in an expected torque direction is obtained through the direct allocation method, and control allocation is carried out on the obtained maximum achievable torque through the null space control allocation method, so that an actual output torque obtained through the control allocation is as close to the maximum achievable torque as possible, premature saturation of an aircraft control surface is avoided, and the application range of a pseudo-inverse control allocation algorithm based on the null space is further extended.

Description

technical field [0001] The invention belongs to the field of aircraft control, and in particular relates to an aircraft control distribution method. Background technique [0002] With the continuous improvement of the reliability, maneuverability, safety and stealth performance of modern aircraft, the aerodynamic layout of modern aircraft has undergone great changes compared with traditional aircraft. Compared with traditional aircraft, modern aircraft often adopt redundant configuration schemes composed of multiple control variables, which makes the design of flight control laws of modern aircraft increasingly complex using traditional controller design methods. To solve this problem, the control assignment problem arises as the times require. After nearly 30 years of continuous research and exploration by many scholars and experts at home and abroad, the control allocation method has become more and more mature. Control assignment, as an effective method to deal with the...

Claims

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/0808
Inventor 马诚诚刘春生姚家桢
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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