A high-precision overload control method

Abstract

The present invention discloses a high-precision overload control method, comprising: transmitting pitch / yaw angular velocity and longitudinal / lateral overload measured by a sensor processing unit, dynamic pressure, Mach number, resultant angle of attack, velocity, pitch angle, roll angle, and guidance law calculated by a strapdown inertial navigation solution unit to a pitch / yaw channel control loop; calculating pitch and yaw composite stability control loop control parameters based on flight state quantities; the pitch / yaw channel calculating corresponding pitch / yaw channel rudder commands based on the pitch / yaw angular velocity, longitudinal / lateral overload, velocity, pitch angle, roll angle, and pitch / yaw channel control parameters; filtering the pitch / yaw channel rudder commands through a structural filter and transmitting them to a steering gear to drive the missile's rudder surface to deflect, thereby achieving accurate tracking of overload. The pitch and yaw channel control solution method provided by the present invention can effectively suppress gravity interference, improve overload tracking accuracy, and improve missile control quality.

Description

Technical Field

[0001] The present invention relates to the field of aircraft flight control, and in particular to a high-precision overload control method based on a composite stable control structure. Background Art

[0002] As requirements for missile maneuverability and guidance accuracy increase, missiles must be designed to be statically unstable. Furthermore, the inherent static instability of supersonic and even hypersonic missiles becomes increasingly pronounced. For missiles with static instability, a composite stability control structure is the most widely used and simplest and most effective control method in engineering. This composite control structure primarily consists of three loops: a damping loop, a composite loop, and an acceleration control loop. The damping control loop primarily provides loop damping, the composite loop introduces pseudo-attitude angle feedback to improve adaptability to static instability, and the acceleration loop primarily implements command control for overload response.

[0003] In general, composite stability control structures can usually achieve good control results. However, for some special operating conditions, such as strong aerodynamic nonlinear interference, large static instability, or gravity interference at high altitude, composite stability control structures may suffer from insufficient control accuracy. Composite stability control structures will experience certain control errors under strong aerodynamic interference, especially nonlinear interference. To address this problem, existing designs often use an extended state observer to observe and feedforward compensate for aerodynamic interference based on the composite stability control structure, improving the accuracy of overload or attitude control. However, this will significantly reduce the stability margin of the system. Generally speaking, gravity interference has little effect on control accuracy. However, when the composite loop gain Kg is too large due to large static instability conditions, or the acceleration control loop gain Ki is too small due to high altitude (30km and above) conditions, gravity interference has a significant impact on overload control accuracy. Currently, there are no high-precision overload control methods in China that address the effects of gravity interference. Summary of the Invention

[0004] The purpose of the present invention is to provide a high-precision overload control method to overcome the shortcomings of existing composite stability control technology, so that the missile can still effectively suppress gravity interference under flight conditions such as large static instability and high altitude, accurately track overload instructions, and at the same time not affect the stability margin of the system, thereby improving the control quality.

[0005] In order to achieve the above-mentioned object, the present invention provides a high-precision overload control method, which comprises the following steps:

[0006] Step 1: The pitch angular velocity ω measured by the sensitive element processing unit z , longitudinal overload N y The dynamic pressure Q, Mach number Ma, composite angle of attack ALP, speed V calculated by the strapdown inertial navigation solution unit m, pitch angle θ, roll angle γ, and pitch overload command N given by the guidance law yc Send it to the pitch channel control loop, and the yaw angular velocity ω measured by the sensitive element processing unit y , lateral overload N z The dynamic pressure Q, Mach number Ma, composite angle of attack ALP, speed V calculated by the strapdown inertial navigation solution unit m , pitch angle θ, roll angle γ, and pitch overload command N given by the guidance law zc Send to the yaw channel control loop;

[0007] Step 2: According to the dynamic pressure Q, Mach number Ma, composite angle of attack ALP, speed V m The flight state quantity calculates the pitch and yaw channel control parameters, where the pitch channel control parameters include: damping loop gain K sfp , composite loop gain K gp , acceleration loop gain K ip , yaw channel control parameters include: damping loop gain K sfy , composite loop gain K gy , acceleration loop gain K iy ;

[0008] Step 3: The pitch channel is based on the pitch angular velocity ω z , longitudinal overload N y , speed V m , pitch angle θ, roll angle γ and the pitch channel control parameters obtained in step 2 to calculate the corresponding pitch channel rudder command δ pc , calculated as δ pc =K sfp ×ω z +∫K gp (ω z +K ap (N y +N gy ))+∫K ip (N y -N yc ), where K ap is the transmission gain coefficient of the elevation channel, N gy is the gravity compensation coefficient of the pitch channel;

[0009] The yaw channel is based on the yaw angular velocity ω y , lateral overload N z , speed V m , pitch angle θ, roll angle γ and the yaw channel control parameters obtained in step 2 to calculate the corresponding yaw channel rudder command δ yc , calculated as δ yc =-K sfy ×ωy -∫K gy (ω y +K ay (N z +N gz ))+∫K iy (N z -N zc ), where K ay is the yaw channel transmission gain coefficient, N gz is the yaw gravity compensation coefficient;

[0010] Step 4: Set the pitch channel rudder command δ pc , yaw channel rudder command δ yc After being filtered by the structural filter, it is sent to the servo to drive the missile's control surface to deflect, thereby achieving accurate tracking of the overload command.

[0011] The above-mentioned high-precision overload control method, wherein in step 3, K ap =-561.54 / V m , N gy =-cos(θ / 57.3)×cos(γ / 57.3).

[0012] The above-mentioned high-precision overload control method, wherein in step 3, K ay =561.54 / V m , N gz =cos(θ / 57.3)×sin(γ / 57.3).

[0013] Compared with the prior art, the technical benefits of the present invention are:

[0014] Based on the composite stable control structure, the present invention adds a gravity interference compensation algorithm to the composite loop, which can inherit the advantages of the composite stable control structure such as strong robustness and strong engineering applicability, and can also solve the problem of reduced gravity interference suppression performance caused by the missile's large static instability, excessive composite loop gain during high-altitude flight, and excessively small acceleration loop gain, effectively improving overload tracking accuracy and flight control quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] A high-precision overload control method of the present invention is provided by the following embodiments and drawings.

[0016] Figure 1 This is a diagram of the pitch channel control structure for improving missile overload control accuracy provided by the present invention;

[0017] Figure 2 This is a diagram of the yaw channel control structure for improving missile overload control accuracy provided by the present invention;

[0018] Figure 3 It is a comparison chart of simulation results in the overload response process of the pitch channel in a specific implementation case of the present invention without adopting the method of the present invention and adopting the method of the present invention.

[0019] Figure 4 It is a comparison chart of simulation results in the yaw channel overload response process in a specific implementation case of the present invention, in which the method of the present invention is not adopted and in which the method of the present invention is adopted. DETAILED DESCRIPTION

[0020] A high-precision overload control method of the present invention is described in further detail below.

[0021] Combined with reference Figure 1 、 Figure 2 , the pitch angular velocity ω measured by the sensor processing unit z , longitudinal overload N y The dynamic pressure Q, Mach number Ma, composite angle of attack ALP, speed V calculated by the strapdown inertial navigation solution unit m , pitch angle θ, roll angle γ, and pitch overload command N given by the guidance law yc Send it to the pitch channel control loop, and the yaw angular velocity ω measured by the sensitive element processing unit y , lateral overload N z The dynamic pressure Q, Mach number Ma, composite angle of attack ALP, speed V calculated by the strapdown inertial navigation solution unit m , pitch angle θ, roll angle γ, and pitch overload command N given by the guidance law zc Sent to the yaw channel control loop; the pitch and yaw channels are controlled by the dynamic pressure Q, Mach number Ma, synthetic angle of attack ALP, speed V m The corresponding control parameters are calculated, and the corresponding pitch channel and yaw channel rudder commands are calculated according to the algorithm of the present invention based on the control parameters, overload command, angular velocity, speed, pitch angle, and roll angle. The rudder commands are filtered by a structural filter and then sent to the steering gear to drive the missile rudder surface to deflect, thereby realizing accurate overload control under the action of gravity interference.

[0022] In an implementation case of the present invention, a six-degree-of-freedom full-parameter simulation is used to illustrate the implementation effect. During the simulation process, a 1g step overload command is added to the pitch and yaw channels respectively.

[0023] In this implementation case, the specific workflow is described as follows:

[0024] 1. The pitch angular velocity ω measured by the sensitive element processing unit z , longitudinal overload N y The dynamic pressure Q, Mach number Ma, composite angle of attack ALP, speed V calculated by the strapdown inertial navigation solution unit m, pitch angle θ, roll angle γ, and pitch overload command N given by the guidance law yc Send it to the pitch channel control loop, and the yaw angular velocity ω measured by the sensitive element processing unit y , lateral overload N z The dynamic pressure Q, Mach number Ma, composite angle of attack ALP, speed V calculated by the strapdown inertial navigation solution unit m , pitch angle θ, roll angle γ, and pitch overload command N given by the guidance law zc The yaw channel control loop is sent to the following parameters: During the simulation of this implementation case, the initial dynamic pressure is 147.1 kPa, the initial Mach number is 4.45, the initial velocity is 1314 m / s, the initial composite angle of attack is 0°, the initial pitch angle is 20.1°, and the initial roll angle is 45°. The pitch angular velocity, longitudinal overload, yaw angular velocity, and lateral overload are all measured in real time.

[0025] 2. According to the dynamic pressure Q, Mach number Ma, composite angle of attack ALP, speed V m The pitch and yaw channel control parameters are calculated by the flight state variables, where the pitch channel control parameters include the damping loop gain K sfp , composite loop gain K gp , acceleration loop gain K ip , the yaw channel control parameters include the damping loop gain K sfy , composite loop gain K gy , acceleration loop gain K iy In this implementation case, K sfp 0.715, K ip 1.865, K gp 4.717, K sfy 0.544, K iy 2.81, K gy is 2.80. In this embodiment, the missile is in a state of large static instability under the flight condition, which makes the composite loop gain K gp , K gy Large, while the acceleration loop gain K ip , K iy Relatively small.

[0026] 3. The pitch channel is based on the pitch angular velocity ω z , longitudinal overload N y , speed V m , pitch angle θ, roll angle γ and pitch channel control parameters to calculate the corresponding pitch channel rudder command δ pc , calculated as δ pc =K sfp ×ω z +∫K gp (ω z +Kap (N y +N gy ))+∫K ip (N y -N yc ), where K ap =-561.54 / V m , N gy =-cos(θ / 57.3)×cos(γ / 57.3).

[0027] 4. The yaw channel is based on the yaw angular velocity ω y , lateral overload N z , speed V m , pitch angle θ, roll angle γ and the yaw channel control parameters obtained in step 2 to calculate the corresponding yaw channel rudder command δ yc , calculated as δ yc =-K sfy ×ω y -∫K gy (ω y +K ay (N z +N gz ))+∫K iy (N z -N zc ), where K ay =561.54 / V m , N gz =cos(θ / 57.3)×sin(γ / 57.3).

[0028] Based on the above steps, a six-degree-of-freedom full-parameter simulation is performed. The simulation results of the pitch channel are shown in the attached figure. Figure 3 The simulation results of the yaw channel are shown in the attached Figure 4 As shown in the figure, when the composite stability control method is used alone, the pitch channel overload tracking error is about 26%, and the yaw channel overload tracking error is 16%. When the control method described in the present invention is used, the pitch channel overload tracking error is reduced to 3.5%, and the yaw channel overload tracking error is reduced to 3.5%. This shows that the high-precision overload control method described in the present invention can effectively suppress interference, improve overload tracking accuracy, and improve the missile flight control quality.

[0029] Although the present invention has been disclosed above in terms of preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solutions of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the scope of protection of the technical solutions of the present invention.

Claims

1. A high-precision overload control method, characterized in that: The steps are as follows: Step 1: The pitch angular velocity ω measured by the sensitive element processing unit z , longitudinal overload N y The dynamic pressure Q, Mach number Ma, composite angle of attack ALP, speed V calculated by the strapdown inertial navigation solution unit m , pitch angle Roll angle γ, and pitch overload command N given by the guidance law yc Send it to the pitch channel control loop, and the yaw angular velocity ω measured by the sensitive element processing unit y , lateral overload N z The dynamic pressure Q, Mach number Ma, composite angle of attack ALP, speed V calculated by the strapdown inertial navigation solution unit m , pitch angle Roll angle γ, and yaw overload command N given by the guidance law zc Send to the yaw channel control loop; Step 2: According to the dynamic pressure Q, Mach number Ma, composite angle of attack ALP, speed V m These flight state quantities are used to calculate the pitch channel control parameters and the yaw channel control parameters, respectively. The pitch channel control parameters include: the damping loop gain K sfp , composite loop gain K gp , acceleration loop gain K ip , yaw channel control parameters include: damping loop gain K sfy , composite loop gain K gy , acceleration loop gain K iy ; Step 3: The pitch channel is based on the pitch angular velocity ω z , longitudinal overload N y , speed V m , pitch angle The roll angle γ and the pitch channel control parameters obtained in step 2 are used to calculate the corresponding pitch channel rudder command δ pc , calculated as δ pc =K sfp ×ω z +∫K gp (ω z +K ap (N y +N gy ))+∫K ip (N y -N yc ), where K ap is the transmission gain coefficient of the elevation channel, N gy is the gravity compensation coefficient of the pitch channel; The yaw channel is based on the yaw angular velocity ω y , lateral overload N z , speed V m , pitch angle The roll angle γ and the yaw channel control parameters obtained in step 2 are used to calculate the corresponding yaw channel rudder command δ yc , calculated as δ yc =-K sfy ×ω y -∫K gy (ω y +K ay (N z +N gz ))+∫K iy (N z -N zc ), where K ay is the yaw channel transmission gain coefficient, N gz is the yaw gravity compensation coefficient; Step 4: Set the pitch channel rudder command δ pc , yaw channel rudder command δ yc After being filtered by the structural filter, it is sent to the servo to drive the missile's control surface to deflect, thereby achieving accurate tracking of the overload command.

2. A high-precision overload control method according to claim 1, characterized in that: In the step 3, K ap =-561.54 / V m , 3. A high-precision overload control method according to claim 1, characterized in that: In the step 3, K ay =561.54 / V m ,

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