A method and apparatus for aircraft resonance suppression based on distributed gyroscopes

Abstract

The application discloses a kind of based on distributed gyro's aircraft resonance suppression method and device, it is related to aircraft attitude control field, comprising the following steps: aircraft data is obtained by multiple gyro sensors, and resonance motion model is established according to the aircraft data;According to the resonance motion model, determine elastic angular rate transfer function;According to aircraft resonance amplitude-frequency characteristic, determine filter transfer function, and establish aircraft transfer function according to the elastic angular rate transfer function and filter transfer function;According to the aircraft transfer function result, compare with margin preset value to determine whether to meet the demand of suppressing aircraft resonance or not.This method can reduce the influence of aircraft resonance motion on attitude control system, greatly improve the stability of amplitude-frequency characteristic of attitude control system in resonance motion environment, reduce the design pressure of attitude control system, and has important engineering practical value.

Description

Technical Field

[0001] This application relates to the field of aircraft attitude control, specifically to an aircraft resonance suppression method and device based on a distributed gyroscope. Background Technology

[0002] Aircraft have a certain aspect ratio. During flight, in addition to the six-free motion of rigid bodies, the stiffness cannot be infinitely large, so the vibration of the elastic body, i.e., the aircraft resonance, must be considered. On the one hand, elastic deformation will cause significant changes in the aerodynamic characteristics of the aircraft, and even cause structural material fatigue and disintegration. On the other hand, more seriously, the aircraft resonance can be detected by sensors such as gyroscopes and meters. The stability of the attitude control system after the introduction of this interference signal is greatly reduced, the system's ability to suppress high-frequency noise is reduced, and the output signal will cause the servo mechanism to generate jitter of the corresponding frequency. In severe cases, the deflection rate will reach the limit, thus making it unable to track the effective signal, causing the aircraft attitude to diverge.

[0003] Currently, there are some studies on aircraft resonance suppression methods both domestically and internationally, mainly divided into two aspects: one is to establish an accurate aircraft resonance motion model, simulate the resonance generated by the aircraft during flight through numerical simulation, and design filters to filter out vibrations of corresponding frequencies to ensure the stability of the attitude control system; the other is to perform spectral analysis on the elastic resonance angular rate collected by sensors such as gyroscopes to determine its vibration frequency, and design time-varying elastic filters to severely attenuate the resonance angular rate entering the control closed loop, thus avoiding a significant impact on the attitude control system.

[0004] However, both of the above methods have certain limitations. The first type of modeling is complex, and the real flight environment is quite complex, so the modeling is bound to have deviations, which will greatly reduce the filtering effect of the designed filter. The second type of method has better results, but the difficulty lies in identifying the current frequency in real time, which requires high computing power from the aircraft's onboard computer and has limitations in its use.

[0005] The aircraft resonance suppression method based on distributed gyroscopes proposed in this invention does not require high precision in elastic modeling and has a small computational load. By using distributed gyroscopes and utilizing the inherent characteristics of resonance to reduce the vibration amplitude, the design pressure of elastic filters is reduced, and the stability of the attitude control system is increased. Summary of the Invention

[0006] This application provides a method, apparatus, device, and computer-readable storage medium for suppressing aircraft resonance based on a distributed gyroscope, which can solve the technical problems existing in the prior art.

[0007] In a first aspect, embodiments of this application provide a method for suppressing aircraft resonance based on a distributed gyroscope, the method comprising: The aircraft data is acquired by multiple gyroscope sensors, and a resonant motion model is established based on the aircraft data. Determine the elastic angular velocity transfer function based on the resonant motion model; The filter transfer function is determined based on the resonant amplitude-frequency characteristics of the aircraft, and the aircraft transfer function is established based on the elastic angular rate transfer function and the filter transfer function. Based on the aircraft transfer function results, a comparison is made with the margin preset value to determine whether the requirement to suppress aircraft resonance is met.

[0008] In some embodiments, establishing a resonant motion model based on the aircraft data includes: According to the formula:

[0009]

[0010] The harmonic motion model Q is obtained. i / M i ,in Let be the i-th order generalized coordinate that varies with time. Let i be the damping ratio of the i-th order. Let be the natural frequency of the i-th order resonance. For the generalized force of order i, Let R be the generalized mass of order i, R be the aerodynamic gradient of the control surface, and W be the mode shape.

[0011] In some embodiments, determining the elastic angular rate transfer function based on the resonant motion model includes: According to the formula:

[0012] The elastic angular velocity transfer function G is obtained. xz ,in and The inherent damping and frequency of the aircraft.

[0013] In some embodiments, determining the filter passband based on the aircraft's resonant amplitude-frequency characteristics includes: According to the formula:

[0014] Obtain the filter transfer function G lb C 1k With D 1k To design the structural parameters of the discretized filtering model.

[0015] In some embodiments, establishing the aircraft transfer function based on the elastic angular rate transfer function and the filter transfer function includes: According to the formula:

[0016] The mathematical transfer function model of the aircraft is obtained, in which , , , For the aircraft's dynamic coefficient; According to the formula:

[0017] Received aircraft transmission letter G dt ,in For transmitting messages to the implementing agency, a standard second-order model can be used instead. For the mathematical transfer function model of the aircraft, For the elastic angular rate transfer function, It is a band-stop filter. For gain.

[0018] In some embodiments, the step of comparing the aircraft transfer function result with a preset margin value to determine whether the requirement to suppress aircraft resonance is met includes: When the requirements for suppressing aircraft resonance are not met, the positions of multiple gyroscope sensors are adjusted, data is reacquired, and the band-stop filter is adjusted based on the data until the aircraft transfer function meets the requirements for suppressing aircraft resonance.

[0019] Secondly, embodiments of this application provide an aircraft resonance suppression device based on a distributed gyroscope, comprising: The data acquisition unit is used to acquire aircraft data through multiple gyro sensors; A computing unit, used to establish a resonant motion model based on the aircraft data; The calculation unit is also used to determine the elastic angular velocity transfer function based on the resonant motion model; The calculation unit is also used to determine the filter transfer function based on the resonant amplitude-frequency characteristics of the aircraft, and to establish the aircraft transfer function based on the elastic angular rate transfer function and the filter transfer function. The determination unit is used to determine whether the requirement to suppress aircraft resonance is met by comparing the aircraft transfer function result with the margin preset value.

[0020] In some embodiments, the computing unit is used for: According to the formula:

[0021]

[0022] The harmonic motion model Q is obtained. i / M i ,in Let be the i-th order generalized coordinate that varies with time. Let i be the damping ratio of the i-th order. Let be the natural frequency of the i-th order resonance. For the generalized force of order i, Let R be the generalized mass of order i, R be the aerodynamic gradient of the control surface, and W be the mode shape.

[0023] Thirdly, a computer device is provided, comprising: a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, it implements the method described in any one of the first aspects.

[0024] Fourthly, a computer-readable storage medium is provided, on which a computer program is stored, wherein when the computer program is executed by a processor, it implements the method described in any one of the first aspects.

[0025] The technical solution provided in this application acquires aircraft data through multiple gyroscope sensors, establishes a resonant motion model based on the aircraft data, determines the elastic angular rate transfer function based on the resonant motion model, determines the filter transfer function based on the aircraft's resonant amplitude-frequency characteristics, and establishes the aircraft transfer function based on the elastic angular rate transfer function and the filter transfer function. The result of the aircraft transfer function is compared with a preset margin value to determine whether the requirement to suppress aircraft resonance is met. This method can reduce the impact of aircraft resonant motion on the attitude control system, greatly improves the stability of the amplitude-frequency characteristics of the attitude control system under resonant motion conditions, reduces the design pressure of the attitude control system, and has significant engineering practical value. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of a method for suppressing aircraft resonance based on a distributed gyroscope, as described in an embodiment of this application. Figure 2 Bode plot of resonant transfer function for aircraft; Figure 3 This is the Bode plot of a broadband resonant filter.

[0027] Figure 4 Bode plot of the aircraft body model.

[0028] Figure 5 Bode plot for an aircraft with resonant angular rate feedback.

[0029] Figure 6 Bode plot of the resonant transfer function at the resonance suppression point of the aircraft.

[0030] Figure 7 The Bode plot of the aircraft after adopting the resonance suppression method.

[0031] Figure 8This is a schematic diagram of an aircraft resonance suppression device based on a distributed gyroscope, as described in an embodiment of this application. Figure 9 This is a schematic diagram of the structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0032] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0033] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0034] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0035] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0036] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0037] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0038] In one aspect, embodiments of this application provide a method for suppressing aircraft resonance based on a distributed gyroscope.

[0039] In one embodiment, reference is made to Figure 1 , Figure 1 This is a flowchart illustrating a first embodiment of aircraft resonance suppression based on a distributed gyroscope, as described in this application. Figure 1 As shown, the aircraft resonance suppression method based on distributed gyroscopes includes: S1. Acquire aircraft data through multiple gyroscope sensors, and establish a resonant motion model based on the aircraft data; S2. Determine the elastic angular velocity transfer function based on the resonant motion model; S3. Determine the filter transfer function based on the resonant amplitude-frequency characteristics of the aircraft, and establish the aircraft transfer function based on the elastic angular rate transfer function and the filter transfer function. S4. Based on the aircraft transfer function result, compare it with the margin preset value to determine whether the requirement to suppress aircraft resonance is met.

[0040] In some embodiments, establishing a resonant motion model based on the aircraft data includes: According to the formula:

[0041] Since the resonant motion of the aircraft can be considered to be generated by the excitation of a generalized force, and considering that the deflection of the servo mechanism is the main factor in the control of the generalized force, it can be simplified to the following form.

[0042] The harmonic motion model Q is obtained. i / M i ,in Let be the i-th order generalized coordinate that varies with time. Let i be the damping ratio of the i-th order. Let be the natural frequency of the i-th order resonance. For the generalized force of order i, Let R be the generalized mass of order i, R be the aerodynamic gradient of the control surface, and W be the mode shape.

[0043] It is worth noting that the mathematical model of aircraft resonance motion is established based on the structural characteristics of the aircraft itself. The core of the aircraft resonance motion is the deflection of the control servo mechanism, which causes resonance.

[0044] In some embodiments, determining the elastic angular rate transfer function based on the resonant motion model includes: According to the formula:

[0045] The elastic angular velocity transfer function G is obtained. xz ,in and The inherent damping and frequency of the aircraft.

[0046] In some embodiments, determining the filter passband based on the aircraft's resonant amplitude-frequency characteristics includes: According to the formula:

[0047] Obtain the filter transfer function G lb C 1k With D 1k To design the structural parameters of the discretized filtering model.

[0048] In some embodiments, establishing the aircraft transfer function based on the elastic angular rate transfer function and the filter transfer function includes: According to the formula:

[0049] The mathematical transfer function model of the aircraft is obtained, in which , , , For the aircraft's dynamic coefficient; According to the formula:

[0050] Received aircraft transmission letter G dt ,in For transmitting messages to the implementing agency, a standard second-order model can be used instead. For the mathematical transfer function model of the aircraft, For the elastic angular rate transfer function, It is a band-stop filter. For gain.

[0051] It is worth noting that the natural frequency, damping characteristics, and other data of an aircraft are determined by its structural stiffness and connection method. Due to the structural characteristics of the aircraft, gyroscopes are generally distributed in the control cabin, close to the tip of the missile. Therefore, after obtaining the mode shape and mode shape slope at different positions of the aircraft, the point with the smallest mode shape slope is selected as the placement position of other gyroscopes. The angular rate of the control feedback uses the data of the gyroscope at the position with the smallest mode shape slope, and the original control cabin gyroscope data is used for navigation and guidance calculations.

[0052] In some embodiments, the step of comparing the aircraft transfer function result with a preset margin value to determine whether the requirement to suppress aircraft resonance is met includes: When the requirements for suppressing aircraft resonance are not met, the positions of multiple gyroscope sensors are adjusted, data is reacquired, and the band-stop filter is adjusted based on the data until the aircraft transfer function meets the requirements for suppressing aircraft resonance.

[0053] The method provided in this application acquires aircraft data through multiple gyro sensors, establishes a resonant motion model based on the aircraft data, determines the elastic angular rate transfer function based on the resonant motion model, determines the filter transfer function based on the aircraft's resonant amplitude-frequency characteristics, establishes the aircraft transfer function based on the elastic angular rate transfer function and the filter transfer function, and compares the result of the aircraft transfer function with a preset margin value to determine whether the requirement to suppress aircraft resonance is met. This method can reduce the impact of aircraft resonant motion on the attitude control system, greatly improve the stability of the amplitude-frequency characteristics of the attitude control system under resonant motion environment, reduce the design pressure of the attitude control system, and has important engineering practical value.

[0054] The effectiveness of the method provided by the present invention will be illustrated below by examples.

[0055] Assuming an aircraft uses a dual-gyroscope configuration, its characteristic parameters are as follows: ; ; ; ; ; ; ; ; The physical quantities in the above formula have all been explained above, and will not be repeated here. It is important to emphasize that vibration... The values ​​represent the mode slopes at the control compartment and the point where the mode slope is minimum, respectively.

[0056] Based on the aircraft's structure and mass distribution characteristics, data such as the aircraft's resonant natural frequency and damping ratio are obtained. In this example, the data has already been calculated and given directly. The current elastic resonant transfer function model is shown below.

[0057]

[0058] Its Bode diagram is attached. Figure 2 As shown, the amplitude-frequency curve exhibits a "peak" at the natural frequency of 90 rad. This characteristic will cause instability in the closed-loop attitude control system at this high frequency band. Therefore, it is necessary to design a corresponding band-stop filter. The designed filter model is shown below.

[0059]

[0060] The Bode plot of the designed filter is attached. Figure 3 As shown, assuming the aircraft's transfer function cutoff frequency is 20 rad / s, the above filter will lose 9° of phase at that frequency.

[0061] Based on the provided dynamic coefficients, the transfer function for the rigid body motion model of the aircraft can be calculated as shown below. Its Bode plot is attached. Figure 4 As shown.

[0062]

[0063] The transfer function model of the servo motor is established as follows:

[0064] The aircraft model can then be established, and the amplitude and phase characteristic curves of the aircraft are shown in the appendix. Figure 5 It is obvious that in the high-frequency range, the entire amplitude-frequency curve is raised due to the presence of resonance, resulting in a significant increase in the system cutoff frequency, and the system is unstable at the resonant frequency.

[0065] Based on the aircraft's resonance characteristics, the point with the minimum mode slope was selected as the gyroscope's distribution location. At this point, the mode slope is significantly reduced compared to the original control cabin. The Bode plot of the resonance transfer function using the point with the minimum mode slope is attached. Figure 6 As shown.

[0066] The amplitude and phase characteristic curves of the aircraft, obtained by using the signal collected by the gyroscope at the point of minimum mode slope as feedback, are shown in the attached figure. Figure 7 As shown, the system's cutoff frequency is close to the body frequency, and both the phase and amplitude margins are good, confirming the effectiveness of the method proposed in this invention.

[0067] Secondly, embodiments of this application also provide an aircraft resonance suppression device based on a distributed gyroscope.

[0068] In one embodiment, reference is made to Figure 8 , Figure 8 This is a functional module diagram of an embodiment of an aircraft resonance suppression device based on a distributed gyroscope, as described in this application. Figure 8 As shown, the aircraft resonance suppression device based on distributed gyroscopes includes: The data acquisition unit is used to acquire aircraft data through multiple gyro sensors; A computing unit, used to establish a resonant motion model based on the aircraft data; The calculation unit is also used to determine the elastic angular velocity transfer function based on the resonant motion model; The calculation unit is also used to determine the filter transfer function based on the resonant amplitude-frequency characteristics of the aircraft, and to establish the aircraft transfer function based on the elastic angular rate transfer function and the filter transfer function. The determination unit is used to determine whether the requirement to suppress aircraft resonance is met by comparing the aircraft transfer function result with the margin preset value.

[0069] In some embodiments, the computing unit is used for: According to the formula:

[0070]

[0071] The harmonic motion model Q is obtained. i / M i ,in Let be the i-th order generalized coordinate that varies with time. Let i be the damping ratio of the i-th order. Let be the natural frequency of the i-th order resonance. For the generalized force of order i, Let R be the generalized mass of order i, R be the aerodynamic gradient of the control surface, and W be the mode shape.

[0072] In some embodiments, the computing unit is further configured to: According to the formula:

[0073] The elastic angular velocity transfer function G is obtained. xz ,in and The inherent damping and frequency of the aircraft.

[0074] In some embodiments, the computing unit is further configured to: According to the formula:

[0075] Obtain the filter transfer function G lb C 1k With D1k To design the structural parameters of the discretized filtering model.

[0076] In some embodiments, the computing unit is further configured to: According to the formula:

[0077] The mathematical transfer function model of the aircraft is obtained, in which , , , For the aircraft's dynamic coefficient; According to the formula:

[0078] Received aircraft transmission letter G dt ,in For transmitting messages to the implementing agency, a standard second-order model can be used instead. For the mathematical transfer function model of the aircraft, For the elastic angular rate transfer function, It is a band-stop filter. For gain.

[0079] In some embodiments, the determination unit is used to: When the requirements for suppressing aircraft resonance are not met, the positions of multiple gyroscope sensors are adjusted, data is reacquired, and the band-stop filter is adjusted based on the data until the aircraft transfer function meets the requirements for suppressing aircraft resonance.

[0080] The functions of each module in the above-mentioned aircraft resonance suppression device based on distributed gyroscope correspond to the steps in the above-mentioned aircraft resonance suppression method based on distributed gyroscope. Their functions and implementation processes will not be described in detail here.

[0081] Thirdly, embodiments of this application provide a computer device, which may be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0082] Reference Figure 9 , Figure 9 This is a schematic diagram of the hardware structure of a computer device involved in an embodiment of this application. In this embodiment, the computer device may include a processor, a memory, a communication interface, and a communication bus.

[0083] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0084] Communication interfaces include input / output (I / O) interfaces, physical interfaces, and logical interfaces used to interconnect components within a computer device, as well as interfaces used to interconnect the computer device with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0085] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0086] The processor can be a general-purpose processor, which can call programs stored in memory and execute the aircraft resonance suppression method based on distributed gyroscopes provided in this application. For example, the general-purpose processor can be a central processing unit (CPU). The methods executed when the computer program is called can be referred to in the various embodiments of the aircraft resonance suppression method based on distributed gyroscopes in this application, and will not be repeated here.

[0087] Those skilled in the art will understand that Figure 9 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0088] Fourthly, embodiments of this application also provide a readable storage medium.

[0089] The present application has a program stored on a readable storage medium, wherein when the program is executed by a processor, it implements the steps of the aircraft resonance suppression method based on a distributed gyroscope as described above.

[0090] The method implemented when the program is executed can be referred to in various embodiments of the aircraft resonance suppression method based on distributed gyroscopes in this application, and will not be repeated here.

[0091] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0092] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0093] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for suppressing aircraft resonance based on distributed gyroscopes, characterized in that, The method includes: The aircraft data is acquired by multiple gyroscope sensors, and a resonant motion model is established based on the aircraft data. The step of establishing a resonant motion model based on the aircraft data includes: According to the formula: The harmonic motion model Q is obtained. i / M i ,in Let i be the damping ratio of the i-th order. Let be the natural frequency of the i-th order resonance. For the generalized force of order i, Let be the generalized mass of order i; Determine the elastic angular velocity transfer function based on the resonant motion model; Determining the elastic angular velocity transfer function based on the resonant motion model includes: According to the formula: The elastic angular velocity transfer function G is obtained. xz ,in and The inherent damping and frequency of the aircraft; The filter transfer function is determined based on the resonant amplitude-frequency characteristics of the aircraft, and the aircraft transfer function is established based on the elastic angular rate transfer function and the filter transfer function. The determination of the filter passband based on the resonant amplitude-frequency characteristics of the aircraft includes: According to the formula: Obtain the filter transfer function G lb C 1k With D 1k To design the structural parameters of the discretized filtering model; The step of establishing the aircraft transfer function based on the elastic angular rate transfer function and the filter transfer function includes: According to the formula: The mathematical transfer function model of the aircraft is obtained, in which , , , m 3 represents the aircraft's dynamic coefficient; According to the formula: Received aircraft transmission letter G dt ,in For transmitting messages to the implementing agency, a standard second-order model can be used instead. For the mathematical transfer function model of the aircraft, For the elastic angular rate transfer function, It is a band-stop filter. For gain; Based on the aircraft transfer function results, a comparison is made with the margin preset value to determine whether the requirement to suppress aircraft resonance is met.

2. The aircraft resonance suppression method based on distributed gyroscopes as described in claim 1, characterized in that, The step of comparing the aircraft transfer function result with a preset margin value to determine whether the requirement for suppressing aircraft resonance is met includes: When the requirements for suppressing aircraft resonance are not met, the positions of multiple gyroscope sensors are adjusted, data is reacquired, and the band-stop filter is adjusted based on the data until the aircraft transfer function meets the requirements for suppressing aircraft resonance.

3. A device for suppressing aircraft resonance based on a distributed gyroscope, characterized in that, include: The data acquisition unit is used to acquire aircraft data through multiple gyro sensors; A computing unit, used to establish a resonant motion model based on the aircraft data; The step of establishing a resonant motion model based on the aircraft data includes: According to the formula: The harmonic motion model Q is obtained. i / M i ,in Let i be the damping ratio of the i-th order. Let be the natural frequency of the i-th order resonance. For the generalized force of order i, Let be the generalized mass of order i; The calculation unit is also used to determine the elastic angular velocity transfer function based on the resonant motion model; Determining the elastic angular velocity transfer function based on the resonant motion model includes: According to the formula: The elastic angular velocity transfer function G is obtained. xz ,in and The inherent damping and frequency of the aircraft; The calculation unit is also used to determine the filter transfer function based on the resonant amplitude-frequency characteristics of the aircraft, and to establish the aircraft transfer function based on the elastic angular rate transfer function and the filter transfer function. The determination of the filter passband based on the resonant amplitude-frequency characteristics of the aircraft includes: According to the formula: Obtain the filter transfer function G lb C 1k With D 1k To design the structural parameters of the discretized filtering model; The step of establishing the aircraft transfer function based on the elastic angular rate transfer function and the filter transfer function includes: According to the formula: The mathematical transfer function model of the aircraft is obtained, in which , , , m 3 represents the aircraft's dynamic coefficient; According to the formula: Received aircraft transmission letter G dt ,in For transmitting messages to the implementing agency, a standard second-order model can be used instead. For the mathematical transfer function model of the aircraft, For the elastic angular rate transfer function, It is a band-stop filter. For gain; The determination unit is used to determine whether the requirement to suppress aircraft resonance is met by comparing the aircraft transfer function result with the margin preset value.

4. A computer device, characterized in that, The computer device includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein the computer program, when executed by the processor, performs the steps as described in any one of claims 1 to 2.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 2.

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