An overload controller and control method for a thrust-adjustable direct force device

Abstract

The application discloses an overload controller and control method suitable for a thrust-adjustable direct force device, which is composed of a direct force device starting control time discrimination module, a high-low temperature working state discrimination module, a self-adaptive control parameter module, a main controller based on overload deviation control and a filter, can overcome the influence of thrust deviation caused by different temperatures, and can accurately and quickly track the overload instruction after the nozzle opening degree instruction output by the overload controller reaches the direct force device.

Description

Technical Field

[0001] This invention relates to an overload controller and control method for thrust-adjustable direct force devices, belonging to the field of tactical weapon flight control. Background Technology

[0002] In the thin air at high altitudes, interceptors have limited aerodynamic overload capacity and slow control response, making them unsuitable for dealing with hypersonic maneuvering targets. Direct thrust devices are often used for overload tracking and control. However, due to the significant dispersion in the production characteristics of direct thrust devices under high and low temperature conditions, and the time-varying thrust, achieving precise and stable overload tracking is difficult. To meet guidance requirements and achieve precise target strikes, the stability control system must ensure accurate tracking of control commands. Simultaneously, the nozzle opening of the direct thrust device must not fluctuate frequently to avoid projectile body chattering and nozzle switch damage. Summary of the Invention

[0003] The technical problem solved by the present invention is to overcome the shortcomings of the prior art and provide an overload controller and control method suitable for thrust-adjustable direct force devices, which can adapt to the thrust dispersion characteristics under high and low temperature environments and ensure the overload control quality during the thrust change process.

[0004] The technical solution of this invention is as follows: determine the working time and high and low temperature working conditions of the direct force device, design adaptive control parameters and integral limit that change with time by combining ground test thrust data, calculate the nozzle opening control command of the main controller and perform filtering processing, and output it to the direct force device to realize overload tracking.

[0005] This invention discloses an overload controller suitable for thrust-adjustable direct force devices, comprising:

[0006] This invention discloses an overload controller suitable for thrust-adjustable direct-drive systems, comprising: an activation time discrimination module, a high / low temperature operating state discrimination module, an adaptive control parameter module, a main controller, a filter, and a structural filter. The activation time discrimination module receives overload feedback and angular velocity feedback, generates an activation time, and outputs it to the high / low temperature operating state module and the adaptive control parameter adjustment module. The high / low temperature operating state discrimination module receives the activation time and overload feedback, and outputs high / low temperature operating state information to the adaptive control parameter adjustment module. The adaptive control parameter module receives the activation time information and the high / low temperature operating state information, designs the adjustment rules for adaptive control parameters and integral limiting, and outputs the adaptive control parameters and integral limiting to the main controller. The main controller receives the overload feedback, adaptive control parameters, and integral limiting after filtering by the filter, and uses a proportional-integral control method based on overload deviation to output the nozzle opening to the structural filter. The structural filter receives the nozzle opening, filters it, and outputs the direct-drive system nozzle opening.

[0007] In the aforementioned overload controller, the start-up time discrimination module receives overload feedback and angular velocity feedback to generate the start-up time. The specific method is as follows:

[0008] Based on the ground test results, the solid direct force ignition command delay is determined to be Δ1ms; the ignition command issuance time T0 is recorded.

[0009] During the flight time T≤T0+Δ1, the missile's angular velocity and overload signals are processed to obtain the maximum vibration amplitude A near the first-order vibration frequency of the missile body.

[0010] Taking the moment when |A|≥a first occurs as t1, design the start-up time T1 of the direct force device as:

[0011]

[0012] In the aforementioned overload controller, the high and low temperature operating state discrimination module receives the start-up time and overload feedback, and outputs high and low temperature operating state information, specifically:

[0013] By comparing the overload feedback measured during flight with the thrust data obtained from ground tests, the operating environment of the direct force device is determined, and the high and low temperature operating status is output as follows:

[0014]

[0015] Among them, F a The thrust at time T1 is the direct force device startup time, and HJ represents the direct force device environment; F c For the initial thrust of the direct force device at low temperature obtained during ground testing, F g The initial thrust at high temperatures obtained from the direct force device for ground testing.

[0016] In the above-mentioned overload controller, the adaptive control parameters are specifically designed as follows:

[0017] The thrust is divided into three time segments: the thrust build-up segment (0–Ta), the thrust stabilization segment (Ta–Tb), and the thrust termination segment (≥Tb).

[0018] Based on the determined working time T1, design adaptive direct force overload control parameters that vary with the working time T:

[0019]

[0020] Where, Ta is the overload setup time obtained from ground testing; Tb is the overload stabilization time obtained from ground testing; k p k is the proportional control parameter. i f is the integral term control parameter; pjThe parameter tuning law of the proportional control parameter with time T under HJ state, f ij Let represent the parameter tuning law of the integral term changing with time T under the HJ state, where j = 1, 2, 3.

[0021] In the above-mentioned overload controller, the parameter tuning rules for the design integral limit are specifically as follows:

[0022]

[0023] Among them, G ip G is the integral of the pitch channel overload deviation at the current moment; ip1_0 G is the integral of the pitch channel overload deviation from the previous moment; ip1 The integral of the load deviation after the current time-limited processing; g ip_max This is for integral limiting.

[0024] In the above overload controller, the integral limiting is specifically as follows:

[0025]

[0026] Among them, g ip_max For integral limiting; g i (T) represents the integral limiting parameter adjustment law that varies with time T, where i = 1, 2, 3, 4; T1 is the working time for judgment, Ta is the overload establishment time obtained from ground test; and Tb is the overload stabilization time obtained from ground test.

[0027] In the above overload controller, the proportional-integral control method based on overload deviation is specifically as follows:

[0028] G p =k p ×ΔN y +G ip1

[0029] Among them, G p For control commands, ΔN y G represents the overload deviation. ip1 The integral amount after amplitude limiting.

[0030] In the above overload controller, the transfer function Gf1(s) of the filter is specifically:

[0031]

[0032] Where T1 and T2 are the filtering time constants, ζ1 and ζ2 are the filter damping coefficients, and s is the differential operator.

[0033] In the above overload controller, the transfer function Gf2(s) of the structural filter is specifically:

[0034]

[0035] Where T3 and T4 are the filtering time constants, respectively; ζ3 and ζ4 are the damping coefficients of the structural filter.

[0036] This invention discloses an overload control method applicable to thrust-adjustable direct-drive systems, comprising:

[0037] Step S1: The start-up time discrimination module receives overload feedback and angular velocity feedback, generates the start-up time, and outputs it to the high and low temperature working status module and the adaptive control parameter adjustment module.

[0038] Step S2: The high and low temperature working status discrimination module receives the start-up time and overload feedback, and outputs the high and low temperature working status information to the adaptive control parameter adjustment module.

[0039] Step S3: The adaptive control parameter module receives the start-up time information and high and low temperature operating status information, designs the parameter tuning rules for the adaptive control parameters and integral limit, and outputs the adaptive control parameters and integral limit to the main controller.

[0040] Step S4: The main controller receives the filtered overload feedback, adaptive control parameters and integral limit, and adopts the proportional-integral control method based on overload deviation to output the nozzle opening to the structure filter. The structure filter receives the nozzle opening, filters it and outputs the direct force device nozzle opening.

[0041] The advantages of this invention over the prior art are as follows:

[0042] (1) The present invention adopts overload closed-loop control, which can improve the response speed of the control system to overload commands and eliminate overload tracking steady error.

[0043] (2) This invention analyzes the thrust of the direct force device, designs adaptive parameter adjustment of control parameters and integral limiting to adapt to the discrete variation characteristics of thrust, and improves the robustness of the control system;

[0044] (3) The present invention filters the overload feedback command and control quantity, suppresses the influence of interference on the overload circuit, and avoids frequent jitter of the opening degree of the direct force device.

[0045] (4) The present invention designs a proportional-integral controller based on overload deviation. In order to adapt to the thrust discrete characteristics under high and low temperature environments, the working time of the direct force device is determined and the time-varying adaptive control parameters and integral limit are designed in combination with the ground test thrust data, thereby improving the overload control quality during the thrust change process.

[0046] (5) The present invention designs an integral limit that varies with time based on the relationship between the thrust of the direct force device obtained under different environmental conditions of high and low temperatures, so as to avoid integral saturation of the integrator and improve the control performance of the controller.

[0047] (6) The filter designed in this invention suppresses jet interference and projectile elastic vibration interference, thus avoiding high-frequency jitter of nozzle opening. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of overload control for a direct force device with adjustable thrust, according to the present invention.

[0049] Figure 2 This is a graph showing the changes in thrust and mass of the direct force device of the present invention at different temperatures. Detailed Implementation

[0050] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0051] This invention discloses an overload controller suitable for thrust-adjustable direct-drive systems, comprising: an activation time discrimination module, a high / low temperature operating state discrimination module, an adaptive control parameter module, a main controller, a filter, and a structural filter. The activation time discrimination module receives overload feedback and angular velocity feedback, generates an activation time, and outputs it to the high / low temperature operating state module and the adaptive control parameter adjustment module. The high / low temperature operating state discrimination module receives the activation time and overload feedback, and outputs high / low temperature operating state information to the adaptive control parameter adjustment module. The adaptive control parameter module receives the activation time information and the high / low temperature operating state information, designs control parameters and integral limiting adjustment rules, and outputs adaptive control parameters and integral limiting to the main controller. The main controller receives the overload feedback, adaptive control parameters, and integral limiting after filtering by the filter, and uses a proportional-integral control method based on overload deviation to output the nozzle opening to the structural filter. The structural filter receives the nozzle opening, filters it, and outputs the direct-drive system nozzle opening.

[0052] The onboard computer acquires angular velocity and overload signals in real time, and takes into account the ignition delay time of the ground test and the first-order frequency start-up time of the missile body to obtain the start-up time of the direct force device.

[0053] In the start-up time determination module, the start-up time determination module receives overload feedback and angular velocity feedback to generate the start-up time. The specific method is as follows:

[0054] Based on the ground test results, the solid direct force ignition command delay is determined to be Δ1ms; the ignition command issuance time T0 is recorded.

[0055] During the flight time T≤T0+Δ1, the missile's angular velocity and overload signals are processed to obtain the maximum vibration amplitude A near the first-order vibration frequency of the missile body.

[0056] Taking the moment when |A|≥a first occurs as t1, design the start-up time T1 of the direct force device as:

[0057]

[0058] In the high and low temperature operating status discrimination module, the module receives the start-up time and overload feedback, and outputs high and low temperature operating status information, specifically:

[0059] By comparing the overload feedback measured during flight with the thrust data obtained from ground tests, the operating environment of the direct force device is determined, and the high and low temperature operating status is output as follows:

[0060]

[0061] Among them, F a The thrust at time T1 is the direct force device startup time, and HJ represents the direct force device environment; F c For the initial thrust of the direct force device at low temperature obtained during ground testing, F g The initial thrust at high temperatures obtained from the direct force device for ground testing.

[0062] Based on ground test data of the direct drive system, the thrust variation curves of the direct drive system over time at different temperatures were analyzed. Taking the moment of direct drive system operation as the zero point, the actual overload reported after a period of time was compared with the corresponding ground test overload to determine the operating state of the direct drive system at that time.

[0063] In the adaptive control parameter module, the control parameters are designed, specifically as follows:

[0064] The thrust is divided into three time segments: the thrust build-up segment (0–Ta), the thrust stabilization segment (Ta–Tb), and the thrust termination segment (≥Tb).

[0065] Based on the determined working time T1, design adaptive direct force overload control parameters that vary with the working time T:

[0066]

[0067] Where, Ta is the overload setup time obtained from ground testing; Tb is the overload stabilization time obtained from ground testing; k p k is the proportional control parameter. i f is the integral term control parameter; pj The parameter tuning law of the proportional control parameter with time T under HJ state, f ijLet represent the parameter tuning law of the integral term changing with time T under the HJ state, where j = 1, 2, 3.

[0068] Based on thrust variation data obtained from ground tests of the direct thrust unit over time, a time-varying control parameter tuning law and an integral limiting command are designed. This aims to improve overload control quality during thrust variation and avoid integral saturation of the integrator caused by overload commands exceeding the maximum overload of the direct thrust unit.

[0069] In the adaptive control parameter module, the integral limiting parameter tuning law is designed as follows:

[0070]

[0071] Among them, G ip G is the integral of the pitch channel overload deviation at the current moment; ip1_0 G is the integral of the pitch channel overload deviation from the previous moment; ip1 The integral of the load deviation after the current time-limited processing; g ip_max This is an integral limit. The integral limit is specifically defined as follows:

[0072]

[0073] Among them, g ip_max is the integral limiting; gi(T) is the integral limiting parameter adjustment law that varies with time T, where i = 1, 2, 3, 4; T1 is the working time for judgment; Ta is the overload establishment time obtained from ground test; Tb is the overload stabilization time obtained from ground test.

[0074] Since the thrust of a solid direct force device is affected by ambient temperature and varies over time, an overload closed-loop control is designed to meet the requirement of accurate tracking of overload commands. A proportional-integral controller based on the overload deviation is designed to enable the control system to meet the speed requirement and eliminate tracking steady-state error.

[0075] The main controller employs a proportional-integral control method based on overload deviation, specifically:

[0076] G p =k p ×ΔN y +G ip1

[0077] Among them, G p For control commands, ΔN y G represents the overload deviation. ip1 The integral amount after amplitude limiting.

[0078] The filter's transfer function Gf1(s) is as follows:

[0079]

[0080] Where T1 and T2 are the filtering time constants, ζ1 and ζ2 are the filter damping coefficients, and s is the differential operator.

[0081] Based on the attitude control engine switching frequency characteristics and the projectile's elastic vibration frequency, an overload feedback structural filter is designed. Then, the control commands are filtered according to the performance requirements of the direct force device nozzle switching mechanism to smooth the controller output commands and avoid frequent vibrations in the direct force device nozzle opening. The transfer function of the structural filter, Gf2(s), is as follows:

[0082]

[0083] Where T3 and T4 are the filtering time constants, respectively; ζ3 and ζ4 are the damping coefficients of the structural filter.

[0084] This invention discloses an overload control method applicable to thrust-adjustable direct-drive systems, comprising:

[0085] Step S1: The start-up time discrimination module receives overload feedback and angular velocity feedback, generates the start-up time, and outputs it to the high and low temperature working status module and the adaptive control parameter adjustment module.

[0086] Step S2: The high and low temperature working status discrimination module receives the start-up time and overload feedback, and outputs the high and low temperature working status information to the adaptive control parameter adjustment module.

[0087] Step S3: The adaptive control parameter module receives the start-up time information and high and low temperature operating status information, designs the parameter tuning rules for the adaptive control parameters and integral limit, and outputs the adaptive control parameters and integral limit to the main controller.

[0088] Step S4: The main controller receives the filtered overload feedback, adaptive control parameters and integral limit, and adopts the proportional-integral control method based on overload deviation to output the nozzle opening to the structure filter. The structure filter receives the nozzle opening, filters it and outputs the direct force device nozzle opening.

[0089] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations 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 protection scope of the technical solutions of the present invention.

[0090] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. An overload controller suitable for a thrust-adjustable direct force device, characterized in that, include: The system comprises a start-up time discrimination module, a high / low temperature operating state discrimination module, an adaptive control parameter module, a main controller, a filter, and a structural filter. The start-up time discrimination module receives overload and angular velocity feedback, generates the start-up time, and outputs it to the high / low temperature operating state module and the adaptive control parameter adjustment module. The high / low temperature operating state discrimination module receives the start-up time and overload feedback, and outputs high / low temperature operating state information to the adaptive control parameter adjustment module. The adaptive control parameter module receives the start-up time information and the high / low temperature operating state information, designs the adjustment rules for adaptive control parameters and integral limiting, and outputs the adaptive control parameters and integral limiting to the main controller. The main controller receives the overload feedback, adaptive control parameters, and integral limiting after filtering by the filter, adopts a proportional-integral control method based on overload deviation, and outputs the nozzle opening to the structural filter. The structural filter receives the nozzle opening, filters it, and outputs the direct-force device nozzle opening. The adaptive control parameters are as follows: The thrust is divided into three time segments: the thrust build-up segment (0–Ta), the thrust stabilization segment (Ta–Tb), and the thrust termination segment (≥Tb). Based on the determined working time T1, design adaptive direct force overload control parameters that vary with the working time T: Where, Ta is the overload setup time obtained from ground testing; Tb is the overload stabilization time obtained from ground testing; k p k is the proportional control parameter. i f is the integral term control parameter; pj The parameter tuning law of the proportional control parameter with time T under HJ state, f ij The integral term parameter tuning law of HJ state as a function of time T is given, where j = 1, 2, 3; The high and low temperature operating status discrimination module receives the start-up time and overload feedback, and outputs high and low temperature operating status information, specifically: By comparing the overload feedback measured during flight with the thrust data obtained from ground tests, the operating environment of the direct force device is determined, and the high and low temperature operating status is output as follows: Among them, F a The thrust at time T1 is the direct force device startup time, and HJ represents the direct force device environment; F c For the initial thrust of the direct force device at low temperature obtained during ground testing, F g The initial thrust at high temperatures obtained from the direct force device for ground testing.

2. An overload controller for a thrust-adjustable direct force device according to claim 1, characterized in that: The start-up time determination module receives overload feedback and angular velocity feedback to generate the start-up time, specifically through the following method: Based on the ground test results, the solid direct force ignition command delay is determined to be Δ1ms; the ignition command issuance time T0 is recorded. During the flight time T≤T0+Δ1, the missile's angular velocity and overload signals are processed to obtain the maximum vibration amplitude A near the first-order vibration frequency of the missile body. Taking the moment when |A|≥a first occurs as t1, design the start-up time T1 of the direct force device as:

3. An overload controller for a thrust-adjustable direct force device according to claim 1, characterized in that: The parameter tuning rules for the design integral limiting are as follows: Among them, G ip G is the integral of the pitch channel overload deviation at the current moment; ip1_0 G is the integral of the pitch channel overload deviation from the previous moment; ip1 The integral of the load deviation after the current time-limited processing; g ip_max This is for integral limiting.

4. An overload controller for a thrust-adjustable direct force device according to claim 3, characterized in that: The integral limit is specifically as follows: Among them, g ip_max For integral limiting; g i (T) represents the integral limiting parameter adjustment law that varies with time T, where i = 1, 2, 3, 4; T1 is the working time for judgment, Ta is the overload establishment time obtained from ground test; and Tb is the overload stabilization time obtained from ground test.

5. An overload controller for a thrust-adjustable direct force device according to claim 1, characterized in that: The proportional-integral control method based on overload deviation is specifically as follows: G p =k p ×ΔN y +G ip1 Among them, G p For control commands, ΔN y G represents the overload deviation. ip1 The integral amount after amplitude limiting.

6. An overload controller for a thrust-adjustable direct force device according to claim 1, characterized in that: The transfer function Gf1(s) of the filter is as follows: Where T1 and T2 are the filtering time constants, ζ1 and ζ2 are the filter damping coefficients, and s is the differential operator.

7. An overload controller for a thrust-adjustable direct force device according to claim 1, characterized in that: The transfer function Gf2(s) of the structure filter is as follows: Where T3 and T4 are the filtering time constants, respectively; ζ3 and ζ4 are the damping coefficients of the structural filter.

8. An overload control method applicable to thrust-adjustable direct force devices, characterized in that, include: The start-up time discrimination module receives overload feedback and angular velocity feedback, generates the start-up time, and outputs it to the high and low temperature working status module and the adaptive control parameter adjustment module. The high and low temperature operating status discrimination module receives the start-up time and overload feedback, and outputs high and low temperature operating status information to the adaptive control parameter adjustment module. The adaptive control parameter module receives start-up time information and high / low temperature operating status information, designs the adjustment rules for adaptive control parameters and integral limit, and outputs the adaptive control parameters and integral limit to the main controller. The main controller receives the filtered overload feedback, adaptive control parameters and integral limit, and adopts the proportional-integral control method based on overload deviation to output the nozzle opening to the structure filter. The structure filter receives the nozzle opening, filters it and outputs the direct force device nozzle opening. The adaptive control parameters are as follows: The thrust is divided into three time segments: the thrust build-up segment (0–Ta), the thrust stabilization segment (Ta–Tb), and the thrust termination segment (≥Tb). Based on the determined working time T1, design adaptive direct force overload control parameters that vary with the working time T: Where, Ta is the overload setup time obtained from ground testing; Tb is the overload stabilization time obtained from ground testing; k p k is the proportional control parameter. i f is the integral term control parameter; pj The parameter tuning law of the proportional control parameter with time T under HJ state, f ij The integral term parameter tuning law of HJ state as a function of time T is given, where j = 1, 2, 3; The high and low temperature operating status discrimination module receives the start-up time and overload feedback, and outputs high and low temperature operating status information, specifically: By comparing the overload feedback measured during flight with the thrust data obtained from ground tests, the operating environment of the direct force device is determined, and the high and low temperature operating status is output as follows: Among them, F a The thrust at time T1 is the direct force device startup time, and HJ represents the direct force device environment; F c For the initial thrust of the direct force device at low temperature obtained during ground testing, F g The initial thrust at high temperatures obtained from the direct force device for ground testing.

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