Flight simulator joystick control force control method and system based on adaptive sliding mode observer
By adopting the control method of an adaptive sliding mode observer in the control system of the flight simulator, the problem of large overshoot and poor robustness in the face of nonlinear systems is solved, and higher control accuracy and stability are achieved.
Patent Information
- Application Number
- CN202411759848.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-03
- Publication Date
- 2025-03-11
AI Technical Summary
When the control system of existing flight simulators faces nonlinear systems with strong coupling, multiple interferences and parameter perturbation, it is easy to have large overshoot and poor robustness, resulting in insufficient simulation of tracking characteristics of real aircraft handling forces.
Using the control method based on an adaptive sliding mode observer, the current equation of the servo motor under the stationary coordinate system is constructed, the sliding mode surface function is defined, the adaptive law of the back electromotive force is designed, and the control strategy is dynamically adjusted to cope with the uncertainty of the system and external interference.
It significantly reduces the overshoot of the system, improves the robustness to parameter changes and external perturbations, enhances control accuracy and stability, and can better track target manipulation forces.
Smart Images
Figure CN119596700A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the field of automatic control technology, and in particular to a flight simulator joystick control force control method based on an adaptive sliding mode observer algorithm. Background Art
[0002] When the altitude and speed of the aircraft change, the maneuverability and stability of the aircraft will also change accordingly. At present, the longitudinal and lateral control systems of many aircraft use mechanical control systems. The aircraft's control surface force will be fed back to the joystick and pedals in the cockpit, so the pilot feels different control forces under different flight conditions and different stick displacement conditions. When using a flight simulator for training, the control load system in the simulator calculates the flight state and control surface deflection in real time to provide the pilots in training with the most realistic joystick force feeling possible. Accurate and real-time control force feeling can assist pilots in judging the flight state of the aircraft, so as to make decisions and issue correct control instructions.
[0003] At present, the more advanced simulators use an electrically driven control load system, the core component of which is the load force servo system of the AC permanent magnet synchronous motor. The system has the advantages of small size and high output accuracy. The internal controller usually uses control algorithms such as PID control and vector control. Although it can effectively simulate the real situation, in the face of such a nonlinear system with strong coupling, multiple interferences and parameter perturbations, it is easy to have problems such as large overshoot and poor robustness during the control process, resulting in inaccurate simulation of the tracking characteristics of the real aircraft control force. Summary of the invention
[0004] The present invention aims at the problems that the controller inside the existing flight simulator faces a nonlinear system with strong coupling, multiple interferences and parameter perturbations, and is prone to large overshoot and poor robustness during the control process. A flight simulator joystick control force control method based on an adaptive sliding mode observer is proposed. The joystick is controlled by a servo motor. The method comprises:
[0005] S1: Construct the current equation of the servo motor in the stationary coordinate system;
[0006] S2: Define the sliding surface function and design an adaptive sliding mode observer based on the sliding surface function;
[0007] S3: Design the adaptive law of back EMF;
[0008] S4: Control the servo motor according to the adaptive sliding mode observer and the adaptive law of back electromotive force.
[0009] Furthermore, a preferred method is proposed, wherein step S1 comprises:
[0010]
[0011] Among them, i s is the stator current, R is the stator resistance, L s is the stator inductance, E s is the back electromotive force.
[0012] Furthermore, a preferred embodiment is proposed, wherein the back electromotive force E s for:
[0013]
[0014] in, is the magnetic flux, ω e is the electrical angular velocity, θ e Is the phase angle.
[0015] Furthermore, a preferred method is proposed, in which the sliding surface function in step S2 is:
[0016]
[0017] Where s is the sliding surface, is the estimated error of the stator current, is the estimated value of stator current, is the estimated error of the stator current of the α-axis, is the estimated error of the stator current of the β axis.
[0018] Furthermore, a preferred embodiment is proposed, in which the adaptive sliding mode observer in step S2 is:
[0019]
[0020] in, is the estimated value of electrical angular velocity, is the estimated phase angle.
[0021] Furthermore, a preferred embodiment is proposed, in which the adaptive law of the back electromotive force is:
[0022]
[0023] in, is the estimated value of the back EMF of the α-axis, is the estimated value of the back EMF of the β axis, is the estimated error of the back EMF of the α-axis, is the estimated error of the back EMF of the β axis.
[0024] Furthermore, a preferred embodiment is proposed, wherein the method further comprises verifying the stability of the adaptation rate according to the Lyapunov stability condition.
[0025] Based on the same inventive concept, the present invention also proposes a flight simulator joystick control force control system based on an adaptive sliding mode observer, wherein the joystick is controlled by a servo motor, and the system comprises:
[0026] A current equation building unit, used to build the current equation of the servo motor in a stationary coordinate system;
[0027] An adaptive sliding mode observer building unit is used to define a sliding surface function and design an adaptive sliding mode observer according to the sliding surface function;
[0028] Adaptive law design unit, used to design the adaptive law of back electromotive force;
[0029] A control unit is used for controlling the servo motor according to an adaptive sliding mode observer and an adaptive law of back electromotive force.
[0030] Based on the same inventive concept, the present invention also proposes a computer device, including a memory and a processor, wherein the memory stores a computer program. When the processor runs the computer program stored in the memory, the processor executes a flight simulator stick control force control method based on an adaptive sliding mode observer according to any one of the above items.
[0031] Based on the same inventive concept, the present invention also proposes a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the flight simulator joystick control force control method based on an adaptive sliding mode observer as described above are executed.
[0032] The present invention is beneficial in that:
[0033] The control system of a flight simulator usually involves multiple complex and mutually coupled physical parameters (such as the control force of the joystick, the movement of the servo motor, etc.), and is also subject to external interference (such as air resistance, mechanical friction, etc.) in actual operation. These factors make it difficult for traditional control methods to achieve good control performance. The method proposed in the present invention can effectively cope with such strong coupling and interference by designing an adaptive sliding mode observer to dynamically adjust the control strategy.
[0034] Traditional control methods will lead to large overshoot and poor robustness, especially when there is parameter uncertainty or external disturbance in the system. The present invention can track the state changes of the system in real time by designing an adaptive sliding mode observer, and adjust the control strategy according to the actual situation of the system, which significantly reduces the overshoot of the system and improves the robustness of the system to parameter changes and external disturbances.
[0035] The back electromotive force in the servo motor is an important factor affecting the motor control accuracy. Traditional methods often ignore or cannot accurately compensate for this effect. By introducing the adaptive law of back electromotive force in the method proposed in the present invention, the back electromotive force effect in the motor can be compensated in real time to improve the control accuracy.
[0036] The adaptive sliding mode observer in the present invention can provide a more accurate state estimation when facing system uncertainty and parameter perturbations. Compared with the traditional sliding mode control method, the adaptive law is used to adjust the control parameters, so that the system has stronger adaptive ability and can cope with different working conditions and external disturbances.
[0037] The present invention uses the design of an adaptive sliding mode observer to maintain good robustness in the face of complex situations such as strong coupling, interference and parameter perturbation, avoiding the performance degradation caused by system uncertainty in traditional methods. The adaptive sliding mode control strategy effectively suppresses the overshoot phenomenon in the control process, making the system response more stable and improving the control accuracy and stability. The introduction of the adaptive back-EMF compensation method significantly improves the control accuracy of the servo motor, especially when facing high dynamic control requirements, and can better track the target.
[0038] The invention is applied to the field of flight simulator control. BRIEF DESCRIPTION OF THE DRAWINGS
[0039] Figure 1 A flow chart of a flight simulator stick control force control method based on an adaptive sliding mode observer according to implementation mode 1;
[0040] Figure 2 This is a schematic diagram of the composition of the control load system according to the eleventh embodiment;
[0041] Figure 3 This is a control block diagram of the control load system according to the eleventh embodiment;
[0042] Figure 4 A schematic diagram of a rod force simulation error based on an adaptive sliding mode observer according to the eleventh embodiment;
[0043] Figure 5 This is a schematic diagram of the rod force simulation error based on the PID control algorithm described in the eleventh embodiment. DETAILED DESCRIPTION
[0044] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.
[0045] Implementation method 1, see Figure 1 The present embodiment is described in the flight simulator joystick control force control method based on the adaptive sliding mode observer, wherein the joystick is controlled by a servo motor, and the method comprises:
[0046] S1: Construct the current equation of the servo motor in the stationary coordinate system;
[0047] S2: Define the sliding surface function and design an adaptive sliding mode observer based on the sliding surface function;
[0048] S3: Design the adaptive law of back EMF;
[0049] S4: Control the servo motor according to the adaptive sliding mode observer and the adaptive law of back electromotive force.
[0050] The control system of a flight simulator usually involves multiple complex and mutually coupled physical parameters (such as the control force of the joystick, the movement of the servo motor, etc.), and is also subject to external interference (such as air resistance, mechanical friction, etc.) in actual operation. These factors make it difficult for traditional control methods to achieve good control performance. The method proposed in this embodiment can effectively deal with such strong coupling and interference by designing an adaptive sliding mode observer to dynamically adjust the control strategy.
[0051] Traditional control methods can lead to large overshoot and poor robustness, especially when there are parameter uncertainties or external disturbances in the system. This embodiment, by designing an adaptive sliding mode observer, can track the state changes of the system in real time and adjust the control strategy according to the actual situation of the system, which significantly reduces the overshoot of the system and improves the robustness of the system to parameter changes and external disturbances.
[0052] The back electromotive force in the servo motor is an important factor affecting the motor control accuracy. Traditional methods often ignore or fail to accurately compensate for this effect. By introducing the adaptive law of the back electromotive force in this embodiment, the back electromotive force effect in the motor can be compensated in real time to improve the control accuracy.
[0053] In this embodiment, the adaptive sliding mode observer can provide a more accurate state estimation when facing system uncertainty and parameter perturbations. Compared with the traditional sliding mode control method, the adaptive law is used to adjust the control parameters, so that the system has stronger adaptive ability and can cope with different working conditions and external disturbances.
[0054] In this embodiment, the design of the adaptive sliding mode observer can maintain good robustness in the face of complex situations such as strong coupling, interference and parameter perturbation, avoiding the performance degradation caused by system uncertainty in traditional methods. The adaptive sliding mode control strategy effectively suppresses the overshoot phenomenon in the control process, making the system response smoother and improving the control accuracy and stability. The introduction of the adaptive back-EMF compensation method significantly improves the control accuracy of the servo motor, especially when facing high dynamic control requirements, and can better track the target.
[0055] Embodiment 2: This embodiment further limits the flight simulator joystick control force control method based on the adaptive sliding mode observer described in embodiment 1, and the step S1 includes:
[0056]
[0057] Among them, i s is the stator current, R is the stator resistance, L s is the stator inductance, E s is the back electromotive force.
[0058] By constructing the current equation of the servo motor in a stationary coordinate system, the dynamic characteristics of the motor can be more accurately reflected. Usually, in the control of the flight simulator, the state and behavior of the motor are complex nonlinear functions involving multiple factors such as current, back electromotive force, resistance, inductance, etc. By clarifying these parameters, the working state of the motor can be described more carefully, thereby providing a more accurate model for the design of the control strategy. The stator current directly reflects the input current of the motor and is a key parameter for controlling the motor torque. The two parameters of stator resistance and inductance affect the dynamic response of the motor, especially in high-frequency signal control, the influence of inductance and resistance is more significant. Accurately modeling these parameters can reduce system errors and deviations. Back electromotive force is the spontaneous current generated by the motor during operation, which is directly related to the speed of the motor. Modeling the back electromotive force is very important, especially when controlling the motor accuracy and response speed. Ignoring this factor will lead to large control errors.
[0059] With more accurate current equations, the control strategy of the servo motor can be fine-tuned when designing the control algorithm, especially under high dynamic range control. Accurate modeling of stator current, resistance, inductance and back EMF enables the control system to compensate for the actual dynamics of the motor in real time, improve system response speed and accuracy, and reduce overshoot and steady-state errors.
[0060] This detailed modeling control method can enhance the robustness of the system in the face of changes in motor parameters, load changes, or environmental disturbances. Traditional methods cannot fully take these dynamic characteristics into account, but this implementation method can maintain high control performance even when the parameters are uncertain or changing by accurately modeling the various parameters of the motor.
[0061] Implementation method 3: This implementation method further limits the flight simulator joystick control force control method based on the adaptive sliding mode observer described in implementation method 2. s for:
[0062]
[0063] in, is the magnetic flux, ω e is the electrical angular velocity, θ e Is the phase angle.
[0064] In this embodiment, the back electromotive force (EMF) is precisely defined as a quantity related to flux, angular velocity and phase angle. This representation method can more accurately capture the dynamic behavior of the motor system, especially in the application of flight simulators, and can more accurately simulate the control force response of the joystick. The system can better adjust and control the control feedback of the flight simulator while taking into account the physical characteristics of the motor itself (such as flux and angular velocity changes).
[0065] Adaptive sliding mode control can effectively suppress system uncertainty and external disturbances. Combining the model of back electromotive force helps to enhance the robustness of the system to uncertainty (such as changes in the flight environment) and system errors, thereby achieving more stable and accurate control feedback.
[0066] By further limiting the calculation method of the back electromotive force, this embodiment can better adjust the dynamic response of the flight simulator system and improve the accuracy and stability of the control force. This is particularly important for applications that require precise control (such as flight simulation training).
[0067] Embodiment 4: This embodiment further limits the flight simulator joystick control force control method based on the adaptive sliding mode observer described in embodiment 1. The sliding mode surface function in step S2 is:
[0068]
[0069] Where s is the sliding surface, is the estimated error of the stator current, is the estimated value of stator current, is the estimated error of the stator current of the α-axis, is the estimated error of the stator current in the β axis
[0070] Embodiment 5: This embodiment further limits the flight simulator joystick control force control method based on the adaptive sliding mode observer described in embodiment 4. The adaptive sliding mode observer in step S2 is:
[0071]
[0072] in, is the estimated value of electrical angular velocity, is the estimated phase angle.
[0073] Embodiment 6: This embodiment further limits the flight simulator joystick control force control method based on the adaptive sliding mode observer described in embodiment 5. The adaptive law of the back electromotive force is:
[0074]
[0075] in, is the estimated value of the back EMF of the α-axis, is the estimated value of the back EMF of the β axis, is the estimated error of the back EMF of the α-axis, is the estimated error of the back EMF of the β axis.
[0076] Embodiment 7: This embodiment further limits the flight simulator joystick control force control method based on the adaptive sliding mode observer described in embodiment 1, and the method also includes verifying the stability of the adaptation rate according to the Lyapunov stability condition.
[0077] Embodiment 8: The flight simulator joystick control force control system based on the adaptive sliding mode observer described in this embodiment, the joystick is controlled by a servo motor, and the system includes:
[0078] A current equation building unit, used to build the current equation of the servo motor in a stationary coordinate system;
[0079] An adaptive sliding mode observer building unit is used to define a sliding surface function and design an adaptive sliding mode observer according to the sliding surface function;
[0080] Adaptive law design unit, used to design the adaptive law of back electromotive force;
[0081] A control unit is used for controlling the servo motor according to an adaptive sliding mode observer and an adaptive law of back electromotive force.
[0082] Embodiment 9. A computer device described in this embodiment includes a memory and a processor, wherein the memory stores a computer program. When the processor runs the computer program stored in the memory, the processor executes the flight simulator stick control force control method based on an adaptive sliding mode observer according to any one of embodiments 1 to 7.
[0083] Embodiment 10. A computer-readable storage medium described in this embodiment stores a computer program, and when the computer program is executed by a processor, the steps of the flight simulator stick control force control method based on an adaptive sliding mode observer are executed as described in any one of embodiments 1 to 7.
[0084] Implementation Method 11: See Figure 2 and Figure 5 This embodiment provides a specific example of the flight simulator joystick control force control method based on the adaptive sliding mode observer described in the first embodiment, and is also used to explain the second to seventh embodiments, specifically:
[0085] like Figure 2 As shown in the figure, the flight simulator control load system mainly includes the control actuator (control stick), servo motor control system, force feedback system, computer control software, etc. The force signal on the control stick is measured by the sensor, and the control command applied to the actuator of the force servo system is obtained through the calculation of the rod force simulation model program in the computer. The force generated by the actuator is directly added to the control stick and pedals.
[0086] By using the force and displacement signals on the steering rod (pedal) measured by the sensor, the control instructions on the actuator are obtained through calculation of the rod force simulation model program in the control load computer, and the force generated by the servo motor is directly added to the steering rod. The steering rod loading force measured by the force sensor and the calculated model force are comprehensively compared in the computer to form a closed-loop control of the force, and the force error signal is used to drive the actuator to form feedback.
[0087] The core control component of the control load system is the servo motor. This embodiment mainly uses an adaptive sliding mode observer algorithm to control the servo motor. The current equation of the servo motor in the stationary coordinate system can be expressed as:
[0088]
[0089] Among them, the matrix i s =[i α i β ] T is the stator current, u s =[uα u β ] T is the stator voltage, R is the stator resistance, L s is the stator inductance, E s =[E α E β ] T is the back electromotive force and satisfies the following conditions: is the magnetic flux, ω e is the electrical angular velocity, θ e Is the phase angle.
[0090] The adaptive sliding mode observer is designed as:
[0091]
[0092] The sliding surface function is defined as:
[0093]
[0094] in, k is a negative constant, is the estimated value of electrical angular velocity, is the estimated phase angle.
[0095] The adaptive law of back EMF is designed as:
[0096] in
[0097] According to the current equation of the servo motor in the stationary coordinate system, the designed adaptive sliding mode observer and the adaptive law of back electromotive force are adopted, and the system can be stabilized on the sliding mode surface within the effective time.
[0098] Proof: Define the Lyapunov function as:
[0099]
[0100] in According to the designed adaptive law, combined with the above formula, we can get:
[0101]
[0102] According to the Lyapunov stability condition, it can be concluded that the above algorithm is stable.
[0103] The servo motor is accurately controlled by the above adaptive sliding mode observer control algorithm, and then according to Figure 3The control block diagram of the control load system shown in the figure can realize the rod force control of the control load system. In the process of rod force control, in order to introduce as little system error as possible, the system uses a torque sensor as a feedback unit under the condition of simplifying the mechanical structure and transmission link of the control system as much as possible. Since the torque sensor has the characteristics of high rigidity, high precision, and easy installation, it can accurately collect the system torque value, has little effect on the system rigidity, and will not bring redundant mechanical structure to the system.
[0104] like Figure 4 and Figure 5 As shown, by comparing with the PID control algorithm, it can be concluded that the electric load control system based on the adaptive sliding mode observer control algorithm has higher control force control accuracy, can truly simulate the stick force curve of the aircraft under certain conditions, and can meet the simulation requirements for the control load system in the flight simulator.
[0105] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, systems or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0106] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each process and / or block in the flowchart and / or block diagram and the combination of processes and / or blocks in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including an instruction device, which implements the functions specified in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.
[0107] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.
[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure rather than to limit its protection scope. Although the present disclosure has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that after reading the present disclosure, those skilled in the art can still make various changes, modifications or equivalent substitutions to the specific implementation methods of the invention, but these changes, modifications or equivalent substitutions are all within the protection scope of the disclosed claims to be approved.
Claims
1. A flight simulator joystick control force control method based on an adaptive sliding mode observer, wherein the joystick is controlled by a servo motor, characterized in that: The method comprises: S1: Construct the current equation of the servo motor in the stationary coordinate system; S2: Define the sliding surface function and design an adaptive sliding mode observer based on the sliding surface function; S3: Design the adaptive law of back EMF; S4: Control the servo motor according to the adaptive sliding mode observer and the adaptive law of back electromotive force.
2. The flight simulator joystick control force control method based on adaptive sliding mode observer according to claim 1, characterized in that: The step S1 comprises: Among them, i s is the stator current, R is the stator resistance, L s is the stator inductance, E s is the back electromotive force.
3. The flight simulator joystick control force control method based on adaptive sliding mode observer according to claim 2 is characterized in that: The back electromotive force E s for: in, is the magnetic flux, ω e is the electrical angular velocity, θ e Is the phase angle.
4. The flight simulator joystick control force control method based on adaptive sliding mode observation according to claim 1, characterized in that: The sliding surface function in step S2 is: Where s is the sliding surface, is the estimated error of the stator current, is the estimated value of stator current, is the estimated error of the stator current of the α-axis, is the estimated error of the stator current of the β axis.
5. The flight simulator joystick control force control method based on adaptive sliding mode observer according to claim 4 is characterized in that: The adaptive sliding mode observer in step S2 is: in, is the estimated value of electrical angular velocity, is the estimated phase angle.
6. The flight simulator joystick control force control method based on adaptive sliding mode observer according to claim 5, characterized in that: The adaptive law of the back EMF is: in, is the estimated value of the back electromotive force of the α axis is the estimated value of the back EMF of the β axis, is the estimated error of the back EMF of the α-axis, is the estimated error of the back EMF of the β axis.
7. The flight simulator joystick control force control method based on adaptive sliding mode observer according to claim 1, characterized in that: The method also includes verifying the stability of the adaptation rate according to a Lyapunov stability condition.
8. A flight simulator joystick control force control system based on an adaptive sliding mode observer, wherein the joystick is controlled by a servo motor, characterized in that: The system comprises: A current equation building unit, used to build the current equation of the servo motor in a stationary coordinate system; An adaptive sliding mode observer building unit is used to define a sliding surface function and design an adaptive sliding mode observer according to the sliding surface function; Adaptive rate design unit, used to design the adaptive law of back EMF; A control unit is used for controlling the servo motor according to an adaptive sliding mode observer and an adaptive law of back electromotive force.
9. A computer device, characterized in that: It comprises a memory and a processor, wherein a computer program is stored in the memory, and when the processor runs the computer program stored in the memory, the processor executes the flight simulator joystick control force control method based on an adaptive sliding mode observer according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, executes the steps of the flight simulator joystick control force control method based on an adaptive sliding mode observer as described in any one of claims 1 to 7.