A double closed loop based active rod control method, system, device and storage medium

Abstract

The present application belongs to the field of aircraft control technology, and relates to a kind of active stick control method based on double closed loop, comprising the following processes: obtaining aircraft state information, joystick position signal and stick force signal;Desired control force is obtained by calculation according to aircraft state information and joystick position signal;Desired control force and stick force signal of joystick are obtained through force closed loop control to obtain virtual sensing signal;Virtual sensing signal and position signal of joystick are output through position closed loop control to output closed loop motor instruction;According to the stick force signal of joystick, the force feedback motor instruction based on the stick force is obtained through force compensation;The closed loop motor instruction and the force feedback motor instruction are integrated, and the motor driving instruction is output through instruction conversion to drive the motor to move.After obtaining the force signal, the force signal is directly acted on the motor driving model through the force compensation control model, so that the motor follows the force sensed by the sensor to move quickly first, and the redundant force effect of the hand is inhibited.

Description

Technical Field

[0001] This invention belongs to the field of aircraft control technology, specifically relating to a method, system, device, and storage medium for active stick control based on dual closed loops. Background Technology

[0002] In the past, aircraft often used passive sticks (including passive center stick, passive side stick, passive throttle, passive helicopter collective pitch stick, passive pedals, etc.) to achieve human-machine interaction for flight control and power systems in fixed-wing / rotor aircraft. Due to the expansion of the flight envelope of aircraft, system design needs to provide pilots with variable force characteristics to ensure flight quality requirements. It also needs to provide stick jitter functionality, autopilot feedback, and synchronized tactile feedback in dual-pilot operation to enhance the pilot's "perception" of the flight status. Therefore, active sticks (including active center stick, active side stick, active throttle, active helicopter collective pitch stick, active pedals, etc.) have emerged. However, during control, traditional active sticks often generate excess force during servo drive due to the inertia of the stick and time-varying nonlinearities in the system, leading to "stick jitter and hand-hitting phenomenon," making the pilot's control experience unacceptable. Summary of the Invention

[0003] The purpose of this invention is to provide a method, system, device, and storage medium for controlling an active lever based on a dual closed-loop system, which solves the problem of redundant force in the active lever.

[0004] This invention is achieved through the following technical solution:

[0005] This invention discloses a dual-closed-loop-based active lever control method, comprising the following processes:

[0006] Acquire aircraft status information, control stick position signals, and stick force signals;

[0007] Based on the aircraft status information and the position signal of the control stick, the desired control force is calculated.

[0008] The desired control force and the joystick force signal are combined through force closed-loop control to obtain a virtual sensing signal;

[0009] The virtual sensor signal and the joystick position signal are combined and then processed through position closed-loop control to output closed-loop motor commands;

[0010] Based on the lever force signal, force feedback motor commands based on the lever force are obtained through force compensation;

[0011] The combined closed-loop motor command and force feedback motor command are transformed into a motor drive command to drive the motor.

[0012] Furthermore, virtual sensing signals include virtual acceleration signals, virtual velocity signals, and virtual position signals.

[0013] Furthermore, the calculation expression for the virtual acceleration signal is as follows:

[0014] The expression for calculating the virtual velocity signal is:

[0015] The expression for calculating the virtual position signal is:

[0016] Among them, F * denoted as ζ, where ζ is the desired control force; F is the acquired joystick force signal; J is the system's equivalent inertia; ζ is the equivalent damping coefficient; and s is the Laplace operator.

[0017] Furthermore, the virtual sensor signal and the joystick position signal are processed through closed-loop control to output closed-loop motor commands. Specifically, a proportional control method is used, and the expression is as follows:

[0018]

[0019] Where Θ is the acquired rod position signal; Θ 虚拟 For virtual position signal; V 虚拟 For virtual velocity signal, A 虚拟 This is a virtual acceleration signal;

[0020] K1, K2, and K3 are the control gain coefficients for position, velocity, and acceleration, respectively; U c This is the output closed-loop motor command.

[0021] Furthermore, based on the joystick force signal, force feedback motor commands based on the joystick force are obtained after force compensation, and the specific expression is as follows:

[0022] U f =K4(F * -F)

[0023] F * is the desired control force; F is the acquired joystick force signal; K4 is the gain coefficient.

[0024] Furthermore, the instruction conversion method used is the SVPWM method, and its expression is:

[0025]

[0026] Among them, U q This represents the q-axis voltage value and the closed-loop motor command U. c Force feedback motor command U f sum;

[0027] U d The voltage value is d-axis, and a d-axis current loop control strategy is adopted, where ACR is the current loop controller; i d The detected motor d-axis current.

[0028] The present invention also discloses a dual-closed-loop active lever control system, including a data acquisition unit, a human sensing model, a virtual sensor model, a control tracking model, a force compensation control model, and a motor drive model;

[0029] The human sensing model, virtual sensor model, control tracking model, and motor drive model are connected in sequence;

[0030] The force compensation control model is set at the front end of the motor drive model. It is used to introduce the force signal collected by the force sensor into the front end of the motor drive model as the control command of the motor drive model.

[0031] The data acquisition unit is used to acquire aircraft status information, control stick position signals, and stick force signals;

[0032] The human-sensing model is used to calculate the desired control force based on aircraft status information and joystick position signals.

[0033] The virtual sensor model is used to obtain a virtual sensing signal by combining the desired control force with the joystick force signal through force closed-loop control.

[0034] The control tracking model is used to combine virtual sensor signals and joystick position signals through position closed-loop control and output closed-loop motor commands.

[0035] The force compensation control model is used to obtain force feedback motor commands based on the lever force signal after force compensation.

[0036] The motor drive model integrates closed-loop motor commands and force feedback motor commands. After command transformation, it outputs motor drive commands to drive the motor.

[0037] Furthermore, the data acquisition unit includes a position sensor, a force sensor, and a flight control computer; the position sensor is used to acquire the joystick position signal, the force sensor is used to acquire the joystick force signal, and the flight control computer is used to acquire aircraft status information.

[0038] The present invention also discloses a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the dual-closed-loop-based active lever control method.

[0039] The present invention also discloses a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the active lever control method based on dual closed loops.

[0040] Compared with the prior art, the present invention has the following beneficial technical effects:

[0041] This invention discloses a dual-closed-loop active lever control system and method, applicable to any system requiring simultaneous control of displacement and force within a motor system. After the control system receives a force signal, the force signal is directly applied to the motor drive model through a force compensation control model. This allows the motor to quickly follow the force sensed by the sensor, thereby minimizing the "resistance" effect of the motor caused by dynamic displacement changes (displacement lags behind force). This results in a smoother force sensation for the pilot, avoiding a "hard-hit" experience and suppressing the "redundant force effect" of the pilot's hand. Furthermore, considering that displacement is generated by force, a control tracking model is added after the virtual sensor model, enabling dual-closed-loop control of force and position, improving control accuracy and effectiveness. Attached Figure Description

[0042] Figure 1 This is a principle block diagram of a dual closed-loop active lever control method of the present invention;

[0043] Among them, 101 is the human sensing model; 201 is the virtual sensor model; 301 is the control tracking model; 401 is the force compensation control model; and 501 is the motor drive model.

[0044] Figure 2 This is a typical diagram of the active linkage;

[0045] Figure 3 It is a typical active stick force-displacement characteristic model (i.e., human-sensory model), including force-displacement gradient, starting force, soft stop position, etc. that vary with position, and is set accordingly according to model characteristics and flight stage. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the present invention clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention; that is, the described embodiments are only a part of the embodiments of the present invention, and not all of them.

[0047] The components described and illustrated in the accompanying drawings and embodiments of this invention can be arranged and designed in various different configurations. Therefore, the detailed description of the embodiments of the invention provided in the following drawings is not intended to limit the scope of the claimed invention, but merely to illustrate one selected embodiment of the invention. All other embodiments obtained by those skilled in the art based on the accompanying drawings and embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0048] It should be noted that the terms “comprising,” “including,” or any other variations are intended to cover non-exclusive inclusion, such that a process, element, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to the process, element, method, article, or apparatus.

[0049] The features and performance of the present invention will be further described in detail below with reference to embodiments.

[0050] Active control units, also known as active sticks, can be programmed via software to implement variable force-displacement characteristics of the pilot's control system according to different aircraft conditions and pilot requirements, thereby enhancing the pilot's perception capabilities. Their components include... Figure 2 As shown, it includes: force sensors, position sensors, control units, transmission devices, servo motors, and mechanical components. When the pilot manipulates the control stick to achieve longitudinal / lateral movement, the control unit performs control calculations based on flight status information from the flight control computer, stick force information collected by the force sensors, and position information collected by the position sensors, and sends corresponding motor drive commands to drive the motors.

[0051] This invention provides a dual-closed-loop-based active linkage control system, such as... Figure 1 As shown, it includes a data acquisition unit, a human sensing model 101, a virtual sensor model 201, a control tracking model 301, a force compensation control model 401, and a motor drive model 501;

[0052] Human sensing model 101, virtual sensor model 201, control and tracking model 301 and motor drive model 501 are connected in sequence;

[0053] Force compensation control model 401 is set at the front end of motor drive model 501. It is used to introduce the force signal collected by the force sensor into the front end of motor drive model 501 through force compensation control model 401 as the control command of motor drive model 501.

[0054] The data acquisition unit is used to acquire aircraft status information, control stick position signals, and stick force signals;

[0055] Human-sensing model 101 is used to calculate the desired control force based on aircraft status information and joystick position signals.

[0056] Virtual sensor model 201 is used to obtain virtual sensing signals by combining the desired control force with the lever force signal through force closed-loop control.

[0057] The control tracking model 301 is used to combine the virtual sensing signal and the joystick position signal through position closed-loop control and output closed-loop motor commands.

[0058] Force compensation control model 401 is used to obtain force feedback motor commands based on the lever force signal after force compensation.

[0059] The motor drive model 501 is used to integrate closed-loop motor commands and force feedback motor commands. After command transformation, it outputs motor drive commands to drive the motor to move.

[0060] Specifically, the data acquisition unit includes a position sensor, a force sensor, and a flight control computer; the position sensor is used to acquire the joystick position signal, the force sensor is used to acquire the joystick force signal, and the flight control computer is used to acquire aircraft status information.

[0061] The design steps for the control method are as follows:

[0062] S1. Acquire the position signal detected by the joystick position sensor, the joystick force signal detected by the force sensor, and the aircraft status information from the flight control computer or other systems;

[0063] S2. Based on the joystick position signal and aircraft status information, the desired control force is obtained through human 101;

[0064] S3. The desired control force obtained by the human sensing model 101 and the detected lever force signal are passed through the virtual sensor model 201 to obtain virtual sensing signals, including virtual acceleration signals, virtual velocity signals and virtual position signals, etc.

[0065] S4. The virtual signal output by the virtual sensor model 201 and the detected position signal are passed through the control and tracking model 301 to obtain the output closed-loop motor command.

[0066] S5. Based on the obtained lever force signal, the force compensation control model 401 is used to obtain the force feedback motor command based on the lever force.

[0067] S6. The closed-loop motor command obtained from the control tracking model 301 and the force feedback motor command obtained from the force compensation control model 401 are passed through the motor drive model 501 to output the motor drive command.

[0068] The control models of this invention can be set in the following manner:

[0069] (1) Human-sensing model 101 can be used to design the lever force-displacement characteristics of the control device according to the designer's needs, including: starting force, friction force, lever force-displacement gradient, gate, braking, soft stop, hard stop, etc. A typical human-sensing model 101 is as follows: Figure 3 As shown.

[0070] (2) Virtual sensor model 201 can establish a dynamic model from force to virtual acceleration, virtual velocity, and virtual displacement based on the second-order dynamic characteristics of the system. In this example, the nominal second-order system of the motor is assumed to be:

[0071]

[0072] Where J is the equivalent inertia of the system; ζ is the equivalent damping coefficient of the system.

[0073] Thus, the virtual acceleration of the system is obtained:

[0074] Virtual speed:

[0075] Virtual displacement:

[0076] Wherein: F * denoted as ζ, where ζ is the desired control force; F is the acquired joystick force signal; J is the system's equivalent inertia; ζ is the equivalent damping coefficient; and s is the Laplace operator.

[0077] (3) The control tracking model 301 can establish a typical motor displacement tracking strategy with a three-loop control of position, velocity, and acceleration based on the second-order dynamic characteristics of the system; this example gives a typical proportional control method:

[0078]

[0079] Where Θ is the rod displacement signal measured by the position sensor; K1, K2, and K3 are the control gains for position, velocity, and acceleration, respectively; U c To control the output commands of the tracking model 301.

[0080] (4) The force compensation control model 401 can establish direct feedback from the output force to the motor control based on the proportional gain characteristics, thereby reducing the motor's "impedance" characteristics. This example provides a typical control method:

[0081] U f =K4(F * -F)

[0082] Among them, F *is the desired control force; F is the acquired lever force signal; K4 is the gain coefficient.

[0083] (5) The motor drive model 501 can establish the transformation from input voltage to motor drive command according to the typical vector pulse width modulation method. This example gives a typical SVPWM method:

[0084]

[0085] Where the q-axis voltage value U q The sum of the outputs of model 301 and model 401; the d-axis voltage value is U. d This is a traditional d-axis current loop control strategy, where ACR is the current loop controller; i d The detected motor d-axis current.

[0086] The dual-closed-loop active lever control method of the present invention can be implemented in a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can be implemented as a computer program product 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.

[0087] If the active lever control method based on the dual closed-loop principle of this invention is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable storage medium includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. It should be noted that the content contained in the computer-readable medium can be appropriately added or subtracted according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals. The computer storage medium can be any available medium or data storage device that a computer can access, including but not limited to magnetic storage (e.g., floppy disk, hard disk, magnetic tape, magneto-optical disk (MO)), optical storage (e.g., CD, DVD, BD, HVD), and semiconductor storage (e.g., ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state drive (SSD)).

[0088] In an exemplary embodiment, a computer device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the dual-loop-based active lever control method. The processor may be a central processing unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for controlling an active lever based on a dual closed-loop system, characterized in that, Includes the following processes: Acquire aircraft status information, control stick position signals, and stick force signals; Based on the aircraft status information and the position signal of the control stick, the desired control force is calculated. The desired control force and the joystick force signal are combined through force closed-loop control to obtain a virtual sensing signal; The virtual sensor signal and the joystick position signal are combined and then processed through position closed-loop control to output closed-loop motor commands; Based on the lever force signal, force feedback motor commands based on the lever force are obtained through force compensation; The integrated closed-loop motor command and force feedback motor command are transformed into a motor drive command to drive the motor. The virtual sensing signals include virtual acceleration signals, virtual velocity signals, and virtual position signals; The virtual sensor signal and the joystick position signal are combined through position closed-loop control to output closed-loop motor commands. Specifically, a proportional control method is used, and the expression is as follows: in To acquire the rod position signal; 虚拟 This is a virtual location signal; This is a virtual speed signal. This is a virtual acceleration signal; These are the control gain coefficients for position, velocity, and acceleration, respectively. This is the output closed-loop motor command; The force feedback motor command based on the joystick force signal is obtained through force compensation, and the specific expression is as follows: For desired maneuvering force; To obtain the lever force signal; This is the gain coefficient; This is a force feedback motor command.

2. The active lever control method based on dual closed loops according to claim 1, characterized in that, The expression for calculating the virtual acceleration signal is: ; The expression for calculating the virtual velocity signal is: ; The expression for calculating the virtual position signal is: ; in, For desired maneuvering force; To obtain the lever force signal; The equivalent inertia of the system; This is the equivalent damping coefficient; For the Laplace operator.

3. The active lever control method based on dual closed loops according to claim 1, characterized in that, The instruction conversion method used is the SVPWM method, and the expression is: in, This represents the q-axis voltage value and the closed-loop motor command. Force feedback motor commands sum; The voltage value is d-axis, and a d-axis current loop control strategy is adopted, where ACR is the current loop controller; The detected motor d-axis current.

4. A dual-closed-loop-based active lever control system for implementing the dual-closed-loop-based active lever control method according to any one of claims 1-3, characterized in that, It includes a data acquisition unit, a human sensing model (101), a virtual sensor model (201), a control tracking model (301), a force compensation control model (401), and a motor drive model (501). The human sensing model (101), the virtual sensor model (201), the control tracking model (301), and the motor drive model (501) are connected in sequence; The force compensation control model (401) is set at the front end of the motor drive model (501) to introduce the force signal collected by the force sensor into the front end of the motor drive model (501) through the force compensation control model (401) as the control command of the motor drive model (501); The data acquisition unit is used to acquire aircraft status information, control stick position signals, and stick force signals; The human-sensing model (101) is used to calculate the desired control force based on the aircraft status information and the position signal of the control stick; The virtual sensor model (201) is used to obtain a virtual sensing signal by combining the desired control force with the lever force signal through force closed-loop control. The control tracking model (301) is used to combine the virtual sensing signal and the position signal of the joystick through position closed-loop control and output closed-loop motor command; Force compensation control model (401) is used to obtain force feedback motor commands based on the lever force signal after force compensation; The motor drive model (501) is used to integrate closed-loop motor commands and force feedback motor commands. After command transformation, it outputs motor drive commands to drive the motor to move.

5. The active lever control system based on a dual closed loop according to claim 4, characterized in that, The data acquisition unit includes a position sensor, a force sensor, and a flight control computer; the position sensor is used to acquire the control stick position signal, the force sensor is used to acquire the control stick force signal, and the flight control computer is used to acquire aircraft status information.

6. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the active lever control method based on any one of claims 1 to 3.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the active lever control method based on any one of claims 1 to 3.

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