A flight coordination control system for a variant aircraft

Abstract

The present invention relates to the technical field of variable aircraft, and discloses a flight coordination control system for a variable aircraft, including a deformation control system and a flight control system. The deformation control system is used to control the movement of the deformation mechanism, achieve the expected deformation target within the expected time according to the deformation instruction, and realize fast, stable and accurate structural deformation. The flight control system is used for the flight motion control of the variable aircraft to ensure that the aircraft can still fly stably and controllably during structural deformation. Through the adaptive module, different mission objectives of the aircraft can be combined, and appropriate structural deformation can be adopted to meet the performance improvement requirements. Aiming at the coupled correlation effect between deformation and flight, combined with the specific dynamics model of the variable aircraft, the movement stability of the aircraft during structural deformation is ensured, and the continuous coordinated operation of structural deformation and flight maneuver is realized, so that the aircraft can make full use of the beneficial effects of structural deformation to improve flight characteristics and enhance mission capabilities.

Description

Technical Field

[0001] The present invention relates to the technical field of variable aircraft, and particularly to a flight coordination control system for a variable aircraft. Background Art

[0002] A variable aircraft can actively or passively change its external shape structure in different flight environments and flight missions to ensure optimal flight performance at all times during different flight stages, thereby improving its environmental adaptability and meeting the requirements of a wide range of multi-missions. The advantages and potential of variable aircraft have attracted the attention of many countries, and a large amount of work has been carried out on how to design reasonable and feasible deformation mechanisms to achieve the desired structural deformation. However, there are still many problems to be solved regarding how to coordinate the control of the deformation mechanism with the motion control of the aircraft itself during flight structural deformation. Summary of the Invention

[0003] In view of the deficiencies of the prior art, the present invention provides a flight coordination control system for a variable aircraft, which has stable controllability and the advantage of maintaining flight stability during the deformation process.

[0004] To achieve the above object, the present invention provides the following technical solution: A flight coordination control system for a variable aircraft, comprising a deformation control system and a flight control system. The deformation control system is used to control the movement of the deformation mechanism, reach the expected deformation target within the expected time according to the deformation instruction, and achieve fast, stable and accurate structural deformation. The flight control system is used for the flight motion control of the variable aircraft to ensure that the aircraft can still fly stably and controllably during structural deformation and complete the expected flight mission.

[0005] The deformation control system includes an instruction receiving module and a deformation control module, wherein,

[0006] The instruction receiving module is used to receive deformation control instructions;

[0007] The deformation control module is used to implement the deformation control of the variable aircraft according to the deformation control instructions;

[0008] The flight control system includes a mission module, a route construction module, an anti-interference module, a dynamics model module, a structure model module, and an adaptive module, wherein,

[0009] The mission module is used to receive and formulate flight missions and determine flight mission objectives;

[0010] The route construction module is used to determine the flight route according to the flight mission objectives, select several working points within the flight route range, formulate corresponding fuzzy rules, and establish an all-envelope fuzzy model;

[0011] An anti-interference module, which is used to determine external interference and model uncertainty and propose self-adaptive robust control;

[0012] A dynamic model module, which is used to construct a non-linear dynamic model of a variable aircraft, analyze the basis of the system characteristics and flight performance of the variable aircraft different from that of a conventional aircraft, and reasonably describe the structural deformation that occurs during the flight of the variable aircraft;

[0013] A structural model module, which is used to reflect the main effects of structural deformation, including aspects of aerodynamic characteristics and the physical properties of the aircraft itself, reasonably analyze to combine different mission objectives of the aircraft to achieve structural deformation, and determine the optimal shape;

[0014] An adaptive module, after the variable aircraft determines the optimal shape and flight conditions, adopts a reinforcement learning method and a cost evaluation mechanism to establish an optimal control strategy and a structural adaptive inverse model strategy, combines different mission objectives of the aircraft to achieve continuous coordinated operation of structural deformation and flight maneuver, and intends to design an adaptive non-Lipschitz control scheme.

[0015] Preferably, the deformation instruction received by the deformation control module is generally directly given by the outside according to the needs of the flight mission. The deformation control of the deformation control module for the variable aircraft is only related to time and is not affected by the flight state. The attitude and motion control of the aircraft are still executed by the conventional control mechanism; the deformation instruction can also be given by the flight control system according to the change of the flight state, that is, it is considered that the deformation mechanism has a similar function to the conventional control mechanisms such as elevators.

[0016] Preferably, the anti-interference module is based on the interference observation compensation control and the fuzzy system universal approximation idea to ensure the robust performance of the deformation flight process.

[0017] Preferably, the establishment of the non-linear dynamic model by the dynamic model module includes establishing a function model related to the aerodynamic parameters and structural deformation, indicating the essential characteristics of the mutual coupling and influence between the motion state and structural deformation of the variable aircraft, and analyzing the specific forms and variation laws of aerodynamic forces and aerodynamic moments.

[0018] Preferably, the main methods for obtaining aerodynamic parameters are: wind tunnel test, computational fluid dynamics, DATCOM simulation, and a suitable method can be selected according to the research object and purpose, comprehensively considering factors such as feasibility, accuracy, computational efficiency, and economic cost.

[0019] Preferably, the dynamic model module converts the non-linear dynamic model of the variable aircraft into a linear time-varying model, analyzes the essential influence of structural deformation on the flight characteristics of the variable aircraft, and determines the linear time-varying control.

[0020] Preferably, the adaptive module demonstrates through numerical simulation that the morphing aircraft can better complete the deformation and stable flight under the action of this controller, verifies the rationality and superiority of the proposed control strategy, considers the acquisition and analysis of the real-time state of structural deformation, and maintains it within an acceptable time delay range to meet the control requirements of the flight control computer.

[0021] Beneficial effects:

[0022] The flight coordination control system for the morphing aircraft can, through the adaptive module, combine different mission objectives of the aircraft and adopt corresponding structural deformations to meet the performance improvement requirements. Aiming at the coupled influence of deformation and flight, combined with the specific dynamic model of the morphing aircraft, it ensures the stable movement of the aircraft during structural deformation and realizes the continuous coordinated operation of structural deformation and flight maneuvers, enabling the aircraft to make full use of the beneficial effects of structural deformation to improve flight characteristics and enhance mission capabilities. The proposed adaptive non-Lipschitz control scheme in this project can make the system have a fast response speed, high stability / tracking accuracy, and good disturbance rejection ability, which are exactly the urgent needs of the morphing aircraft control system; the adaptive control module has the ability to modify the control law to adapt to the changes in the dynamic characteristics of the controlled object and the environment. Description of the drawings

[0023] Figure 1 It is a schematic structural diagram of the present invention. Specific implementation manners

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0025] Embodiment

[0026] A flight coordination control system for a morphing aircraft includes a deformation control system and a flight control system. The deformation control system is used to control the movement of the deformation mechanism, reach the expected deformation target within the expected time according to the deformation instruction, and achieve fast, stable, and accurate structural deformation. The flight control system is used for the flight motion control of the morphing aircraft to ensure that the aircraft can still fly stably and controllably during structural deformation and complete the expected flight mission;

[0027] The deformation control system includes an instruction receiving module and a deformation control module, where,

[0028] The instruction receiving module is used to receive deformation control instructions;

[0029] Among them, the deformation commands received by the deformation control module are generally directly given by the external according to the needs of flight missions. The deformation control of the variable aircraft by the deformation control module is only related to time and is not affected by the flight state. The attitude and motion control of the aircraft are still executed by the conventional control mechanisms; the deformation commands can also be given by the flight control system according to the changes in the flight state, that is, it is considered that the deformation mechanism has a similar function to the conventional control mechanisms such as the elevator.

[0030] The deformation control module is used to implement the deformation control of the variable aircraft according to the deformation control command;

[0031] The flight control system includes a mission module, a route construction module, an anti-interference module, a dynamic model module, a structural model module, and an adaptive module. Among them,

[0032] The mission module is used to receive and formulate flight missions and determine flight mission objectives;

[0033] The route construction module is used to determine the flight route according to the flight mission objectives, select several working points within the flight route range, formulate corresponding fuzzy rules, and establish an all-envelope fuzzy model;

[0034] The anti-interference module is used to determine external interference and model uncertainties and propose self-adaptive robust control;

[0035] Among them, the anti-interference module is based on the interference observation compensation control and the universal approximation idea of the fuzzy system to ensure the robust performance of the deformation flight process.

[0036] The dynamic model module is used to construct the nonlinear dynamic model of the variable aircraft, analyze the basis of the system characteristics and flight performance of the variable aircraft different from the conventional aircraft, and reasonably describe the structural deformation of the variable aircraft during flight;

[0037] Among them, the establishment of the nonlinear dynamic model by the dynamic model module includes establishing a function model related to the aerodynamic parameters and the structural deformation, indicating the essential characteristics of the mutual coupling influence between the motion state and the structural deformation of the variable aircraft, and analyzing the specific forms and variation laws of the aerodynamic force and the aerodynamic moment.

[0038] Among them, the main methods for obtaining the aerodynamic parameters are: wind tunnel test, computational fluid dynamics, DATCOM simulation. The appropriate method can be selected according to the research object and purpose, comprehensively considering factors such as feasibility, accuracy, computational efficiency, and economic cost.

[0039] Among them, the dynamic model module converts the nonlinear dynamic model of the variable aircraft into a linear time-varying model, analyzes the essential influence of the structural deformation on the flight characteristics of the variable aircraft, and determines the linear time-varying control.

[0040] The structural model module is used to reflect the main influences of structural deformation, including aspects of aerodynamic characteristics and the physical properties of the aircraft itself. It analyzes reasonably to achieve structural deformation in combination with different mission objectives of the aircraft and determine the optimal shape.

[0041] The adaptive module, after the variant aircraft determines the optimal shape and flight conditions, adopts the reinforcement learning method and the cost evaluation mechanism to establish the optimal control strategy and the structural adaptive inverse model strategy, and realizes the continuous coordinated operation of structural deformation and flight maneuver in combination with different mission objectives of the aircraft. It intends to design an adaptive non-Lipschitz control scheme.

[0042] Among them, the adaptive module shows through numerical simulation that the variant aircraft can better complete the deformation and stable flight under the action of this controller, verifies the rationality and superiority of the proposed control strategy, considers the acquisition and analysis of the real-time state of structural deformation, and maintains it within an acceptable time delay range to meet the control requirements of the flight control computer.

[0043] Its specific steps are as follows:

[0044] S1. The task module receives the formulated flight task and determines the flight task objective.

[0045] S2. The route construction module determines the flight route according to the flight task objective, selects several working points within the flight route range, formulates corresponding fuzzy rules, and establishes an envelope fuzzy model.

[0046] S3. The anti-interference module, based on the disturbance observation compensation control and the idea of the universal approximation of fuzzy systems, ensures the robust performance of the deformation flight process and is used to determine external disturbances and model uncertainties.

[0047] S4. The dynamic model module constructs the non-linear dynamic model of the variant aircraft, analyzes the basis for the system characteristics and flight performance of the variant aircraft different from the conventional aircraft, and reasonably describes the structural deformation that occurs during the flight of the variant aircraft.

[0048] S5. The structural model module reflects the main influences of structural deformation, including aspects of aerodynamic characteristics and the physical properties of the aircraft itself. It analyzes reasonably to achieve structural deformation in combination with different mission objectives of the aircraft, determines the optimal shape, forms deformation control instructions according to the optimal shape, and transmits the deformation control instructions.

[0049] S6. The instruction receiving module receives the deformation control instructions.

[0050] S7. The deformation control module implements the deformation control of the variant aircraft according to the deformation control instructions.

[0051] After the adaptive module determines the optimal shape and flight conditions of the variant aircraft, it uses the reinforcement learning method and the cost evaluation mechanism to establish the optimal control strategy and the structural adaptive inverse model strategy, and combines the different mission objectives of the aircraft to achieve the continuous coordinated operation of structural deformation and flight maneuvers. It is intended to design an adaptive non-Lipschitz control scheme to ensure that the aircraft can still fly stably and controllably during structural deformation and complete the expected flight mission.

[0052] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A flight coordination control system for a variable aircraft, characterized in that It includes a deformation control system and a flight control system. The deformation control system is used to control the movement of the deformation mechanism to reach the expected deformation target within the expected time according to the deformation instruction. The flight control system is used for the flight motion control of the variant aircraft; The deformation control system includes an instruction receiving module and a deformation control module, where, The instruction receiving module is used to receive the deformation control instruction; The deformation control module is used to implement the deformation control of the variant aircraft according to the deformation control instruction; The flight control system includes a task module, a route construction module, an anti-interference module, a dynamic model module, a structural model module, and an adaptive module, where, The task module is used to receive and formulate the flight task and determine the flight task target; The route construction module is used to determine the flight route according to the flight task target, select several working points within the flight route range, formulate corresponding fuzzy rules, and establish an all-envelope fuzzy model; The anti-interference module is used to determine the external interference and model uncertainty and propose self-adaptive robust control; The dynamic model module is used to construct the nonlinear dynamic model of the variant aircraft, analyze the basis for the system characteristics and flight performance of the variant aircraft different from the conventional aircraft, and reasonably describe the structural deformation of the variant aircraft during flight; The structural model module is used to reflect the main effects of the structural deformation, including the aerodynamic characteristics and the physical properties of the aircraft itself, reasonably analyze to combine the different task purposes of the aircraft to achieve the structural deformation, and determine the optimal shape; The adaptive module, after the variant aircraft determines the optimal shape and flight conditions, adopts the reinforcement learning method and the cost evaluation mechanism to establish the optimal control strategy and the structural adaptive inverse model strategy, combines the different task purposes of the aircraft to achieve the continuous coordinated operation of the structural deformation and the flight maneuver, and intends to design an adaptive non-Lipschitz control scheme.

2. The flight coordination control system for a variant aircraft according to claim 1, characterized in that: The deformation instructions received by the deformation control module are divided into two cases. In case one, it is directly given by the external according to the needs of the flight task. The deformation control of the deformation control module for the variant aircraft is only related to time and is not affected by the flight state. The attitude and motion control of the aircraft are executed by the control mechanism. In case two, it is given by the flight control system according to the change of the flight state, that is, it is considered that the deformation mechanism has the same function as the elevator or any one of the same type of control mechanisms.

3. The flight coordination control system for a variable aircraft according to claim 1, characterized in that: The anti-interference module is based on the disturbance observer compensation control and the fuzzy system universal approximation idea to ensure the robust performance of the deformation flight process.

4. A flight coordination control system for a variable aircraft according to claim 1, characterized in that: The establishment of the nonlinear dynamic model by the dynamic model module includes establishing a function model related to the aerodynamic parameters and the structural deformation, indicating the essential characteristics of the mutual coupling effect between the motion state of the variant aircraft and the structural deformation, and analyzing the specific forms and variation laws of the aerodynamic force and the aerodynamic moment.

5. A flight coordination control system for a variable aircraft according to claim 1, characterized in that: The methods for obtaining aerodynamic parameters are: wind tunnel test, computational fluid dynamics, DATCOM simulation. According to the research object and purpose, a suitable method is selected by comprehensively considering factors such as feasibility, accuracy, computational efficiency, and economic cost.

6. The flight coordination control system for a variable aircraft according to claim 1, characterized in that: The kinetic model module converts the non-linear kinetic model of the morphing aircraft into a linear time-varying model, analyzes the essential influence of structural deformation on the flight characteristics of the morphing aircraft, and determines the linear time-varying control.

7. A flight coordination control system for a variable aircraft according to claim 1, characterized in that: The adaptive module demonstrates through numerical simulation that the morphing aircraft can better complete the deformation and stable flight under the action of the controller, verifies the rationality and superiority of the proposed control strategy, considers the acquisition and analysis of the real-time state of the structural deformation, and maintains it within an acceptable time delay range to meet the control requirements of the flight control computer.

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