A dynamic modeling and stable control method of a folding wing aircraft

Abstract

The invention relates to a dynamic modeling and stability control method of a folding-wing aircraft. Firstly, the aircraft with folding wings is regarded as a multi-rigid body system, and a multi-rigid-body dynamic model of the aircraft is established; The functional relationship between the aerodynamic parameters and the folding angle; again, according to the decoupling conditions combined with the kinematic equations, dynamics equations and navigation equations of the aircraft, the longitudinal motion equation of the aircraft is obtained, and the dynamic characteristics of the aircraft are analyzed; finally, the aircraft The nonlinear term, coupling term and parameter time-varying term in the longitudinal nonlinear dynamic model are regarded as the total disturbance inside and outside the system, and the total disturbance is estimated and compensated in real time. A PD controller is designed for the compensated system to realize the velocity channel and Decoupled control of height channels. The invention simplifies the modeling process and avoids the derivation of the moment of inertia; the controller has strong anti-interference ability and high control precision, and is suitable for deformation stability control of various variant aircrafts.

Description

technical field [0001] The present invention designs a method for dynamic modeling and stability control of a folding-wing aircraft, which can realize dynamic modeling of an aircraft with folding wings, and can realize stability control in the process of wing folding, and can be used for various variant aircraft stability control. The invention belongs to the technical field of variant aircraft control. Background technique [0002] A variant aircraft is an aircraft that can adapt to different flight environments and improve aerodynamic characteristics by changing its shape. The morphing aircraft mainly changes the configuration of the wings by changing the length, changing the sweep, stretching, folding, etc., thereby completing different flight tasks and improving work efficiency. As early as 1916, the United States proposed the concept of "deformed wing", and then Lockheed Martin proposed a folding wing deformation plan, which divided the wing into inner wing and outer ...

AI Technical Summary

Problems solved by technology

[0006] The problem solved by the technology of the present invention is: in the existing dynamic modeling and stability control methods of folding-wing aircraft, the model needs to be linearized, large-angle maneuvering is not considered, the control accuracy is low, and it is difficult to estimate and compensate external disturbances in real time The problem is to provide a dynamic modeling and stability control method for a folding-wing aircraft. It is proposed to design an expansion state observer for the velocity channel and altitude channel of the aircraft to compensate for nonlinear terms, and to design a PD stability control for the compensated system. It realizes the decoupling control of speed channel and altitude channel, has the advantages of strong anti-interference ability and high control precision, and can be used for stable control of various deformed aircraft

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