A Combined Lateral and Lateral Control Method of Aircraft Based on Backstepping Method

Abstract

The invention discloses an aircraft lateral and lateral joint control method based on the backstepping method. The steps include: step 1, establishing a lateral and lateral channel coupling mathematical model, and calculating the dynamic coefficient in the mathematical model according to the flight state and aerodynamic characteristics of the aircraft ; Step 2: Give the side slip angle attitude command β according to the guidance control requirements d and roll angle attitude commands¶ d ; Step 3: According to the inertial measurement strapdown solution, the roll angle γ, sideslip angle β, roll angular velocity and yaw angular velocity ω are obtained y , Ballistic deflection angular velocity step 4, according to the requirement of rapidity, give the normal constant k 1 、k 2 、k 3 、k 4 ; Step 5, integrate the input of step 1, step 2, step 3 and step 4, and output the yaw rudder command δ according to the principle of backstepping method y and rolling rudder command δ x , to get the lateral joint controller. The aircraft lateral and lateral joint controller based on the backstepping method provided by the present invention can realize the decoupling control of the yaw channel and the roll channel, and effectively improve the flight control quality of the yaw channel and the roll channel.

Description

technical field [0001] The invention relates to the field of aircraft flight control, in particular to an aircraft lateral and lateral joint control method based on a backstepping method. Background technique [0002] There is obvious coupling in the transverse and lateral channels of the aircraft. The six-degree-of-freedom model in "Missile Flight Mechanics" edited by Qian Xingsen et al. shows that there are kinematic coupling, aerodynamic coupling, and inertial coupling. Among them, the kinematic coupling and aerodynamic coupling are lateral On the one hand, the lateral channel coupling will affect the stability margin of the system, and on the other hand, it will affect the attitude control accuracy. For example, the sideslip angle will be coupled out during the maneuvering process of the BTT control aircraft, which has a great influence on the sideslip angle. Aircraft with strictly limited requirements, such as those based on air-breathing engines, significantly increase...

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Problems solved by technology

[0002] There is obvious coupling in the transverse and lateral channels of the aircraft. The six-degree-of-freedom model in "Missile Flight Mechanics" edited by Qian Xingsen et al. shows that there are kinematic coupling, aerodynamic coupling, and inertial coupling. Among them, the kinematic coupling and aerodynamic coupling are lateral On the one hand, the lateral channel coupling will affect the stability margin of the system, and on the other hand, it will affect the attitude control accuracy. For example, the sideslip angle will be coupled out during the maneuvering process of the BTT control aircraft, which has a great influence on the sideslip angle. Aircraft with strict restrictions, such as those based on air-breathing engines, significantly increase the risk of engine stalls as the sideslip angle increases

In engineering, the sideslip angle suppression method of BTT control is generally to avoid the simultaneous occurrence of angle of attack and roll angular velocity by rolling first and then turning or coordinating the roll angle command and overload command, thereby reducing the coupled sideslip angle, but this This method obviously reduces the rapidity of BTT control overload response. This patent proposes an aircraft lateral and lateral combined controller based on backstepping method. Design method, design the joint controller of yaw channel and roll channel, realize the decoupling control of yaw channel and roll channel, effectively improve the aircraft yaw channel and roll channel attitude control accuracy and system stability

[0003] The backstepping method is a control method aimed at a system with strict parameter feedback, through the introduction of the idea of ​​static compensation and gradual recursion to achieve system stability and stability. Scholars at home and abroad in the field of aircraft control have mainly studied the three-channel design of the stability control system. [1] , height control [2] , mass moment missile control [3] , direct air compound guidance [4] , Guidance and control integrated design [5] At present, there is no domestic aircraft control method involving the combined lateral and lateral control of the aircraft based on the backstepping method, so as to realize the decoupling control of the yaw channel and the roll channel, and improve the quality of flight control.

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