A method, device, equipment and storage medium for designing aircraft control parameters

Abstract

This invention provides a method, apparatus, device, and storage medium for designing aircraft control parameters, belonging to the field of unmanned aerial vehicle (UAV) control system design. The method includes: establishing kinematic and dynamic equations; establishing the transfer function of the UAV; determining the transfer function of the subsystems; constructing a control system for the UAV control parameters; adjusting the inverse control parameters and determining the stability of the adjusted control system; adjusting the control system based on the stability assessment, and then determining the UAV control parameters based on the adjusted control system. This enables precise control of the UAV, improving its maneuverability while fully utilizing its system performance, and allowing for multi-faceted adjustments to the control parameters to ensure control system stability, thus further enhancing the UAV's maneuverability.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle control system design, specifically relating to a design method, device, equipment, and storage medium for aircraft control parameters. Background Technology

[0002] Considering their design complexity, most unmanned aerial vehicles (UAVs) currently employ axisymmetric structures. For UAVs with specific mission objectives, maneuverability is one of the key performance parameters. However, in the existing UAV design process, considering the complexity of the control system design, statically stable aerodynamic layouts are adopted from the initial design stage. This ensures the simplicity and reliability of the control system design to a certain extent, but it greatly increases the structural design difficulty of the UAV and results in weaker maneuverability and a limited range of mission objectives. Therefore, in recent years, there has been an increasing amount of research on the design of control systems for statically unstable aircraft.

[0003] In recent years, the design of control parameters for statically unstable unmanned aerial vehicles has mainly included the following categories:

[0004] One type fully considers the complexity of statically unstable control system design. By designing flight trajectory selection parameter feature points, the unmanned aerial vehicle can better avoid statically unstable flight conditions during flight, thereby realizing the control system design. This type of design method avoids the structural design difficulty of the aircraft to a certain extent, but does not fully reflect the maneuverability advantages of the aircraft under this structure, thus limiting the application range of the aircraft.

[0005] Another type is based on the traditional PID design method. However, this type of control system design still belongs to the traditional single-input single-output control system design method. It has obvious advantages for the design of statically stable aircraft control systems, but it is difficult to adapt to the design of statically unstable control systems. In addition, it has high requirements for the performance indicators of the actuators of unmanned aerial vehicles, which greatly increases the design cost of the product.

[0006] Therefore, the control parameters designed based on existing unmanned aerial vehicle (UAV) control parameter design methods still cannot meet the requirements for UAV maneuverability. Summary of the Invention

[0007] To address the problem that the control parameters of unmanned aerial vehicles (UAVs) cannot meet the maneuverability requirements, this invention provides a method, apparatus, device, and storage medium for designing UAV control parameters.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] First, a method for designing aircraft control parameters is provided, the method comprising:

[0010] Kinematic and dynamic equations are established based on the dynamic, aerodynamic, and structural parameters of the unmanned aerial vehicle.

[0011] The dynamic transfer function of the unmanned aerial vehicle (UAV) is established based on the kinematic and dynamic equations; the subsystem transfer function is determined based on the performance of each subsystem of the UAV, wherein the subsystems of the UAV include the navigation system and the actuator.

[0012] The dynamic transfer function is solved to determine the control path transfer function of the unmanned aerial vehicle;

[0013] A control system for the control parameters of an unmanned aerial vehicle is constructed by using subsystem transfer functions and control path transfer functions, and the stability of the control system is adjusted by setting reverse control parameters corresponding to the navigation system, actuators, and control paths respectively.

[0014] If the stability of the control system meets the preset judgment conditions, the control parameters of the unmanned aerial vehicle are determined according to the adjusted control system.

[0015] Optionally, establishing the kinematic and dynamic equations based on the unmanned aerial vehicle's power parameters, aerodynamic parameters, and structural parameters includes:

[0016] Establish a ground coordinate system and a projectile coordinate system;

[0017] Based on the ground coordinate system, the global position of the unmanned aerial vehicle is determined according to its dynamic parameters.

[0018] Based on the projectile coordinate system, the attitude and motion state of the unmanned aerial vehicle are determined according to its dynamic parameters, aerodynamic parameters and structural parameters.

[0019] Based on the global position of the unmanned aerial vehicle (UAV) and its own attitude and motion state, the kinematic and dynamic equations of the UAV are determined.

[0020] Optionally, the preset judgment conditions include preset stability conditions and preset overshoot conditions; adjusting the stability of the control system through multiple reverse control parameters includes:

[0021] Initialize the reverse control parameters;

[0022] The open-loop transfer function and closed-loop transfer function of the control system are determined based on the aforementioned reverse control parameters.

[0023] The open-loop stability of the control system is determined according to a preset stability condition, and the closed-loop stability of the control system is determined according to a preset overshoot condition.

[0024] If the open-loop stability does not meet the preset stability condition, or the closed-loop stability does not meet the preset overshoot condition, the reverse control parameters are adjusted until the control system meets the preset judgment condition.

[0025] Optionally, the open-loop transfer function G3(s) is:

[0026]

[0027] Among them, K ω K θ and K P For the reverse control parameters, G1(s) and G2(s) are the transfer functions of the navigation system and the actuator, respectively, and n y (s) is the control variable. Let δ be the pitch angular velocity. z (s) is the pitch channel rudder command, and s is the reference area;

[0028] The closed-loop transfer function is:

[0029]

[0030] Optionally, if the open-loop stability does not meet the preset stability condition, adjusting the reverse control parameters includes:

[0031] The value of the first reverse control parameter is reduced, and the second and third reverse control parameters are updated based on the adjusted first reverse control parameter and the control system.

[0032] Determine the gain margin and phase margin of the open-loop transfer function, and determine the open-loop stability of the control system based on the gain margin, phase margin, and preset stability judgment conditions for the gain margin and phase margin.

[0033] The reverse control parameters are cyclically adjusted until the open-loop transfer function satisfies open-loop stability.

[0034] Optionally, if the closed-loop stability does not meet the preset overshoot condition, adjusting the reverse control parameters includes:

[0035] Increase the value of the first reverse control parameter, and update the second and third reverse control parameters based on the adjusted first reverse control parameter and the control system;

[0036] Determine the overshoot of the closed-loop transfer function, and determine the closed-loop stability of the control system based on the overshoot and a preset overshoot condition;

[0037] The reverse control parameters are cyclically adjusted until the closed-loop transfer function satisfies closed-loop stability.

[0038] Secondly, a device for designing aircraft control parameters is provided, the device comprising:

[0039] A module is established to create kinematic and dynamic equations based on the dynamic, aerodynamic, and structural parameters of the unmanned aerial vehicle (UAV); to create the dynamic transfer function of the UAV based on the kinematic and dynamic equations; to determine the subsystem transfer function based on the performance of each subsystem of the UAV, wherein the subsystems of the UAV include a navigation system and an actuator; and to solve the dynamic transfer function to determine the control path transfer function of the UAV.

[0040] The adjustment module is used to construct a control system for the control parameters of the unmanned aerial vehicle through the subsystem transfer function and the control path transfer function, and to set the inverse control parameters corresponding to the navigation system, actuator and control path respectively to adjust the stability of the control system.

[0041] The determination module is used to determine the control parameters of the unmanned aerial vehicle based on the adjusted control system, provided that the stability of the control system meets the preset judgment conditions.

[0042] Additionally, a computer-readable storage medium is provided, which stores a computer program that, when executed by a processor, implements the aforementioned method for designing aircraft control parameters.

[0043] Finally, a computer device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the aforementioned method for designing aircraft control parameters.

[0044] The design method for aircraft control parameters provided by this invention has the following beneficial effects:

[0045] By constructing transfer functions from the kinematic and dynamic equations of the unmanned aerial vehicle (UAV), and determining the transfer functions of each subsystem based on their performance, a control system is constructed using these transfer functions and subsystem transfer functions. This approach fully considers the kinematic and dynamic information of the UAV and the performance of each subsystem, enabling accurate understanding of the UAV's current state and facilitating its maneuverability. Furthermore, based on the UAV's current state and system performance, a control system for the UAV is built, allowing for precise control. While ensuring the stability of the control system's current state, the system's performance is fully utilized, and control parameters are adjusted in multiple directions to improve the UAV's maneuverability. Attached Figure Description

[0046] To more clearly illustrate the embodiments and design schemes of the present invention, the accompanying drawings required for this embodiment will be briefly described below. The drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a flowchart illustrating the design method for aircraft control parameters according to an exemplary embodiment of the present invention.

[0048] Figure 2 This is a schematic diagram of a control system provided by the present invention according to an exemplary embodiment.

[0049] Figure 3 This is a flowchart illustrating the design method for aircraft control parameters according to another exemplary embodiment of the present invention.

[0050] Figure 4 This is a block diagram of a device for designing aircraft control parameters according to an exemplary embodiment of the present invention. Detailed Implementation

[0051] To enable those skilled in the art to better understand and implement the technical solutions of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and should not be construed as limiting the scope of protection of the present invention.

[0052] This invention proposes a control parameter design method for statically unstable unmanned aerial vehicles (UAVs). It employs an adaptive optimization design method based on modern control principles to design control system parameters under different actuator deflection angles. While ensuring control system stability, it optimizes the speed of control system response and uses a smooth transition approach for control parameters under different rudder deflection conditions. This minimizes the impact of system nonlinearity, thereby significantly reducing the performance requirements of the actuators without altering the original UAV structure, and improving the stability and speed of the control system.

[0053] The technical solutions provided by the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0054] First, this invention provides a method for designing aircraft control parameters, specifically as follows: Figure 1 As shown, it includes the following steps:

[0055] S101. Establish kinematic and dynamic equations based on the power, aerodynamic and structural parameters of the unmanned aerial vehicle.

[0056] Specifically, firstly, a ground coordinate system and a projectile coordinate system are established; secondly, based on the ground coordinate system, the global position of the unmanned aerial vehicle (UAV) is determined according to its dynamic parameters; and based on the projectile coordinate system, the attitude and motion state of the UAV are determined according to its dynamic, aerodynamic, and structural parameters; finally, based on the global position of the UAV and its attitude and motion state, the kinematic and dynamic equations of the UAV are determined.

[0057] Example location, ground coordinate system O d -xyz: Origin of the coordinate system d O is the projection of the projectile's center of mass onto the Earth's surface at the moment of launch. d The x-axis lies in the horizontal plane and points in the direction of the target. d The y-axis is perpendicular to the horizontal plane and points upwards, O d z and xO d The y-coordinates form a right-handed rectangular coordinate system.

[0058] The missile body coordinate system O-xyz: The origin O is located at the missile's center of mass. The axis Ox1 points along the missile axis towards the missile's head. Oy1 is located in the missile's longitudinal plane of symmetry and is perpendicular to Ox1, pointing upwards. Oz1 and x1Oy1 form a right-handed rectangular coordinate system.

[0059] The transformation angles between the ground coordinate system and the projectile coordinate system are: pitch angle θ, yaw angle ψ, and roll angle γ.

[0060] Force analysis based on the overall parameters of the unmanned aerial vehicle:

[0061] The total aerodynamic force is decomposed into axial force F along the projectile system. x1 Normal force F y1 and lateral force F z1 :

[0062]

[0063] Where: Q is the dynamic pressure of the unmanned aerial vehicle, S is the reference area, and C is... A C N C Z These represent the aerodynamic axial force coefficient, normal force coefficient, and lateral force coefficient, respectively; α and β are the angle of attack and sideslip angle, Ma is the Mach number, and δ is the aerodynamic axial force coefficient, normal force coefficient, and lateral force coefficient, respectively; Ma and β are the angles of attack and sideslip angle, respectively; Ma is the Mach number; and δ is the aerodynamic axial force coefficient, normal force coefficient, and lateral force coefficient, respectively. x δ y δ Z These are roll deflection, yaw deflection, and pitch deflection, respectively.

[0064] The component of gravity G in the projectile coordinate system x1 G y1 G z1 for:

[0065]

[0066] Where: m is the mass of the aircraft, and g is the acceleration due to gravity.

[0067] The engine thrust is P.

[0068] The kinematic equations of the center of mass are established as follows:

[0069] The velocity components of the missile in the missile body coordinate system are calculated as follows:

[0070]

[0071] Where: V x1 V y1 V z1 These are the velocity components along each axis of the projectile system;

[0072] Calculation of ballistic inclination angle and ballistic deviation angle:

[0073]

[0074] Among them, V x V y V z These are the velocity components of each axis in the ground coordinate system.

[0075] During flight, in order to achieve its mission objective, the unmanned aerial vehicle needs to change its flight speed V. y1 V z1 Its velocity value changes largely depending on the aerodynamic force F. y1 F z1 Considering that Ma varies relatively little, its aerodynamic force comes from α and δ. z or β, δ y Therefore, the rotational dynamics equations of the unmanned aerial vehicle need to be established as follows:

[0076]

[0077] Where: m x m y m z For aerodynamic roll moment coefficient, yaw moment coefficient, and pitch moment coefficient; ω x ω y ω z This provides three-axis angular velocity output; J x J y J z Let L be the three-axis rotational inertia of the unmanned aerial vehicle (UAV), and L be the length of the UAV.

[0078] The dynamic calculation equations for the unmanned aerial vehicle are as follows:

[0079]

[0080] After completing the kinematic and dynamic modeling of the unmanned aerial vehicle (UAV), a simulation verification model is built based on the mission objective characteristics. At this point, the control system is simplified to a first-order transfer function, and the UAV trajectory is simulated to determine the control system parameters, as shown in the following equation:

[0081]

[0082] Where F yc F zc For control force command, F yc F zc The first-order time constant in response to control force commands.

[0083] S102. Establish the dynamic transfer function of the unmanned aerial vehicle (UAV) based on the kinematic and dynamic equations; determine the subsystem transfer function based on the performance of each subsystem of the UAV; solve the dynamic transfer function to determine the control path transfer function of the UAV.

[0084] The unmanned aerial vehicle's subsystems include a navigation system and an actuator.

[0085] Specifically, to construct the dynamic transfer function, the kinematic and dynamic equations are first linearized to establish a state-space model. This is typically done by performing small perturbation analysis near a certain equilibrium point of the unmanned aerial vehicle (UAV) to obtain approximate linear system parameters. Secondly, based on the state-space model, the dynamic transfer function of the UAV can be established.

[0086] Considering the axisymmetric nature of the unmanned aerial vehicle (UAV), the dynamic transfer function design can focus solely on the longitudinal path control parameters within the UAV's control path. The control system design is based on the aforementioned kinematic and dynamic equations. For nonlinear systems, "small perturbation linearization" and "parameter fixation" are used to solve the longitudinal motion transfer function of the UAV. The solution method for the longitudinal motion transfer function is as follows:

[0087] Calculation method for the equations of a longitudinal motion control system:

[0088]

[0089] in:

[0090] The aerodynamic torque coefficient m z For ω z The reciprocal of.

[0091] The aerodynamic torque coefficient m z The reciprocal of α.

[0092] The aerodynamic torque coefficient m z For δ z The reciprocal of.

[0093] It is the reciprocal of the aerodynamic coefficient with respect to α.

[0094] aerodynamic coefficients with respect to δ z The reciprocal of.

[0095] The transfer function of the longitudinal channel of an unmanned aerial vehicle is calculated as follows:

[0096]

[0097] The transfer functions of each component under different performance conditions were confirmed, and the control system block diagram was constructed. The transfer functions of each subsystem are as follows:

[0098] Navigation system transfer function:

[0099] Wherein: T Navi This is the equivalent second-order time constant of the navigation system.

[0100] Actuator transfer function:

[0101] Wherein: T Act It is the equivalent second-order time constant of the actuator system.

[0102] S103. A control system for the control parameters of the unmanned aerial vehicle is constructed by using the subsystem transfer function and the control path transfer function, and the stability of the control system is adjusted by setting the reverse control parameters corresponding to the navigation system, the actuator and the control path respectively.

[0103] This control system characterizes the process of changing the control parameters of the unmanned aerial vehicle.

[0104] Specifically, a control system is constructed based on the influence of the control path transfer function, the subsystem transfer function, and the corresponding three retrograde control parameters on the unmanned aerial vehicle's control parameters. This control system is specifically as follows: Figure 2 As shown.

[0105] After the control system is built, its stability needs to be adjusted.

[0106] Specifically, the stability of the control system is first assessed, and adjustments are made based on the assessment results. The stability assessment is based on the stability of its open-loop and closed-loop transfer functions; therefore, the preset assessment conditions include a preset stability condition corresponding to the open-loop transfer function and a preset overshoot condition corresponding to the closed-loop transfer function. The specific steps are as follows: Initialize the retrograde control parameters; determine the open-loop and closed-loop transfer functions of the control system based on the retrograde control parameters; determine the open-loop stability of the control system according to the preset stability conditions, and determine the closed-loop stability of the control system according to the preset overshoot condition; if the open-loop stability does not meet the preset stability condition, or the closed-loop stability does not meet the preset overshoot condition, adjust the retrograde control parameters until the control system meets the preset assessment conditions.

[0107] In this step, the control parameters are designed and initialized. Based on the characteristics of statically unstable unmanned aerial vehicles, their transfer function... If the system itself is unstable, then the single parameter K ω The resulting inner loop is an unstable system, and K needs to be adjusted. ω K θ Conduct an overall design, taking K into account P When choosing appropriate conditions, the stability of the control system design will not be affected. The parameter initialization design is as follows:

[0108]

[0109] Where ω c These are design parameters.

[0110] In one embodiment, the value of the first retrograde control parameter is reduced, and the second and third retrograde control parameters are updated based on the adjusted first retrograde control parameter and the control system. After the retrograde control parameter is updated, the open-loop transfer equation of the control system is determined. The gain margin and phase margin of the open-loop transfer equation are determined, and the open-loop stability of the control system is determined based on the gain margin, phase margin, and preset stability judgment conditions for the gain margin and phase margin. The retrograde control parameter is cyclically adjusted until the open-loop transfer function satisfies the open-loop stability.

[0111] For example, considering that the actuator is the final step and the part most relevant to the dynamics and kinematics model, the stability of its output command determines the stability of the system's control system. Therefore, it is necessary to calculate the open-loop control margin at the actuator disconnection point under updated control parameters. The calculation method is as follows:

[0112] The open-loop transfer equation at the actuator disconnection point is:

[0113]

[0114] The gain margin and phase margin of the G3(s) transfer function are calculated using the margin function in MATLAB software programming. The calculation method is as follows:

[0115] [Gm1,Pm,~,~]=margin(G3(s))

[0116] Gm = 20 * log10(Gm1).

[0117] Where: Pm is the phase margin of the open-loop control system, and Gm is the gain margin of the open-loop control system.

[0118] The stability of the open-loop control system at the actuator disconnection point was compared, and the stability threshold range was set as follows: the amplitude margin of the open-loop control system is <8dB; the phase margin is <55°.

[0119] If the stability calculation results simultaneously satisfy the above conditions, then the process for the control parameter K is complete. ω K θ The optimization process; otherwise, update the design parameter ω. c =ω c After adding 0.1, K is recalculated. ω K θ Design and repeat the steps above.

[0120] In another embodiment, the value of the first retrograde control parameter is increased, and the second and third retrograde control parameters are updated based on the adjusted first retrograde control parameter and the control system. After the retrograde control parameter is updated, the transfer function of the closed-loop control system is determined. The overshoot of the time-domain performance index of the transfer function of the closed-loop control system is determined, and the closed-loop stability of the control system is determined based on the overshoot and the preset overshoot condition. The retrograde control parameter is cyclically adjusted until the closed-loop transfer function satisfies the closed-loop stability.

[0121] Control parameter K P When designing, it is necessary to perform time-domain performance analysis of the closed-loop control system. The analysis method is as follows:

[0122] Calculate the transfer function of the closed-loop control system:

[0123]

[0124] Using the step function in MATLAB software programming, the transfer function G of the closed-loop control system is analyzed. n (s) The time-domain performance index overshoot is calculated as follows:

[0125]

[0126] in For the overshoot of the closed-loop control system, y BC It is the output value under a step signal.

[0127] In this step, if the overshoot threshold of the closed-loop control system is set to be 8% and the overshoot calculation result is not greater than 8%, then the optimal parameter design of the control system is completed. Otherwise, the closed-loop stability judgment in the above steps is repeated until the overshoot threshold setting requirement is met.

[0128] S104. If the stability of the control system meets the preset judgment conditions, determine the control parameters of the unmanned aerial vehicle based on the adjusted control system.

[0129] In this step, if the stability calculation results simultaneously meet the preset judgment conditions, then the process for the control parameter K is complete. ω , The optimization process is then used to determine the control parameters of the unmanned aerial vehicle (UAV) based on the optimized inverse control parameters; otherwise, the design parameters ω are updated. c =ω c After adding 0.1, K is recalculated. ω K θ Design and repeat the open-loop stability determination process in step S103 above.

[0130] Using the above method, a transfer function is constructed through the kinematic and dynamic equations of the unmanned aerial vehicle (UAV), and the transfer function of each subsystem is determined based on its performance. Then, a control system is constructed using the transfer functions and subsystem transfer functions. This approach fully considers the kinematic and dynamic information of the UAV and the performance of each subsystem, accurately grasping the current state of the UAV and facilitating its maneuverability. Furthermore, a control system for the UAV is constructed based on its current state and system performance, enabling precise control. While ensuring the stability of the control system's current state, it fully utilizes the UAV's system performance, allowing for multi-directional adjustments to control parameters and improving the UAV's maneuverability.

[0131] Based on the above steps, the present invention also provides an embodiment, specifically as follows: Figure 3 As shown.

[0132] Step S1: Determine the basic coordinate system for the control system design and its transformation relationships, as shown below:

[0133] Ground coordinate system O d -xyz: Origin of the coordinate system d O is the projection of the projectile's center of mass onto the Earth's surface at the moment of launch. d The x-axis lies in the horizontal plane and points in the direction of the target. dThe y-axis is perpendicular to the horizontal plane and points upwards, O d z and xO d The y-coordinates form a right-handed rectangular coordinate system.

[0134] The missile body coordinate system O-xyz: The origin O is located at the missile's center of mass. The axis Ox1 points along the missile axis towards the missile's head. Oy1 is located in the missile's longitudinal plane of symmetry and is perpendicular to Ox1, pointing upwards. Oz1 and x1Oy1 form a right-handed rectangular coordinate system.

[0135] The transformation angles between the ground coordinate system and the missile body coordinate system are: pitch angle θ, yaw angle ψ, and roll angle γ; next, the parameters of the unmanned aerial vehicle required for the design control system are determined, as shown in Table 1:

[0136] Table 1 Overall Parameters of the Unmanned Aerial Vehicle

[0137] Serial Number parameter symbol 1 Axial force coefficient <![CDATA[C A ]]> 2 Normal force coefficient <![CDATA[C N ]]> 3 Lateral force coefficient <![CDATA[C Z ]]> 4 Pitch moment coefficient <![CDATA[m z ]]> 5 Yaw moment coefficient <![CDATA[m y ]]> 6 Rolling torque coefficient <![CDATA[m x ]]> 7 Thrust data <![CDATA[P t ]]> 8 Moment of inertia of unmanned aerial vehicles JxJyJz 9 Aerodynamic reference area of ​​unmanned aerial vehicles S 10 Aerodynamic reference length of unmanned aerial vehicles L

[0138] Then, the input data parameters of the unmanned aerial vehicle are used to build a dynamic model, as shown in the following equation:

[0139]

[0140] in:

[0141] ω x ω y ω z It provides three-axis angular velocity output;

[0142] Establish the kinematic equations of the unmanned aerial vehicle:

[0143]

[0144] Q = 0.5 * ρ * V 2

[0145] Where: ρ is the atmospheric density.

[0146] Simultaneously, a simplified first-order transfer function model of the control system is established for controlling the normal and lateral forces. The simplified equations are as follows:

[0147]

[0148] Finally, based on the mission objectives and the above equations, a ballistic model is established to determine the design parameters of the control system. Generally, the following requirements must be met:

[0149] Control system frequency domain gain margin: ≥6dB;

[0150] Control system frequency domain phase margin: ≥50°;

[0151] Overshoot of control system step response: ≤5%;

[0152] The rise time of the step response of the control system is ≤0.8s.

[0153] Step S2: Calculate and determine the transfer function of the unmanned aerial vehicle (UAV), and build the UAV transfer function model. Considering the axisymmetric properties of the UAV, the control system design can focus on the longitudinal channel control parameters. For nonlinear systems, “small disturbance linearization” and “parameter solidification” are used to solve the UAV transfer function. For the specific solution process, see the corresponding steps in the previous embodiment.

[0154] In this invention, the values ​​of each parameter in the transfer function are shown in Table 2.

[0155] Table 2. Coefficient values ​​in the transfer function of unmanned aerial vehicles.

[0156] Serial Number parameter Parameter value 1 <![CDATA[a1]]> 2.5 2 <![CDATA[a2]]> -60 3 <![CDATA[a3]]> 50 4 <![CDATA[a4]]> 0.4 5 <![CDATA[a5]]> 0.02

[0157] Step S3: Based on the performance of each subsystem on the unmanned aerial vehicle, confirm the transfer function of each component and construct the control system block diagram. The structural design block diagram of the control system is shown in Figure 2, and the performance indicators of each subsystem are shown in Table 3. The transfer functions of each subsystem are as follows:

[0158] Navigation system transfer function:

[0159] Wherein: T Navi This is the equivalent second-order time constant of the navigation system.

[0160] Actuator transfer function:

[0161] Wherein: T Act It is the equivalent second-order time constant of the actuator system.

[0162] Table 3. Coefficient values ​​in the transfer function of unmanned aerial vehicles.

[0163] Serial Number parameter Parameter value 1 equivalent second-order time constant of navigation system 0.004s 2 Equivalent second-order time constant of the actuator 0.01s

[0164] Step S4: According to Figure 2 The control structure block diagram shown is illustrated below, along with the initialization of the reverse control parameters. The parameter initialization values ​​are as follows:

[0165]

[0166] Where: ω c The initial value is designed to be 5 in this embodiment of the invention.

[0167] Step S5: According to Figure 2The control structure design block diagram is used to calculate the stability of the control system at the actuator disconnection point. The calculation method is as follows:

[0168] The open-loop transfer equation at the actuator disconnection point is:

[0169]

[0170] The gain margin and phase margin of the G3(s) transfer function are calculated using the margin function in MATLAB software programming. The calculation method is as follows:

[0171] [Gm1,Pm,~,~]=margin(G3(s))

[0172] Gm = 20 * log10(Gm1).

[0173] Where: Pm is the phase margin of the open-loop control system, and Gm is the gain margin of the open-loop control system;

[0174] Step S6: Judge the stability results of the control system calculated in Step 5, and set the stability threshold range judgment conditions as follows:

[0175] The open-loop control system has an amplitude margin of <8dB and a phase margin of <55°.

[0176] If the stability calculation results simultaneously satisfy the above conditions, then the process for the control parameter K is complete. ω K θ The optimization process; otherwise, update the design parameter ω. c =ω c After adding 0.1, K is recalculated. ω K θ Design and repeat steps 5 and 6.

[0177] For example, K can be reduced P Values ​​on the order of magnitude, perform K ω K θ Update.

[0178] Step S7: Perform the control parameter K in this invention example. P The design requires time-domain performance analysis of the closed-loop control system. The analysis method is as follows:

[0179] Calculate the transfer function of the closed-loop control system:

[0180]

[0181] Using the step function in MATLAB software programming, the transfer function G of the closed-loop control system is analyzed. n(s) The overshoot of the time-domain performance index is calculated as follows:

[0182] y BC =step(G n )

[0183]

[0184] in This refers to the overshoot of the closed-loop control system.

[0185] Step S8: In step 8 of the present invention, the overshoot threshold of the closed-loop control system is set to 8%. If the overshoot calculation result in step 7 is not greater than 8%, the optimal parameter design of the control system is completed. Otherwise, steps 7 and 8 are repeated until the overshoot threshold setting requirement is met.

[0186] For example, by repeating steps 7 and 8, K can be increased. P This improves the system's speed and solves the time-domain performance of the control system.

[0187] The control parameters are calculated using the method described in this invention, and the calculation results are shown below:

[0188]

[0189] Based on the design results of the control parameters, the stability analysis of the unmanned aerial vehicle control system shows that its frequency domain amplitude margin is 12dB and its phase margin is 59.8°. At the same time, the analysis of the time domain index of the control system shows that the overshoot of the control system is 2% and the rise time is 0.665s.

[0190] Secondly, the present invention also provides a device for designing aircraft control parameters, such as... Figure 4 Shown, including:

[0191] Module 401 is used to establish kinematic and dynamic equations based on the power, aerodynamic, and structural parameters of the unmanned aerial vehicle (UAV); establish the longitudinal motion transfer function of the UAV based on the kinematic and dynamic equations; determine the subsystem transfer function based on the performance of each subsystem of the UAV, wherein the subsystems of the UAV include a navigation system and an actuator; and solve the longitudinal motion transfer function to determine the control path transfer function of the UAV.

[0192] The adjustment module 402 is used to construct a control system for the control parameters of the unmanned aerial vehicle through the subsystem transfer function and the control path transfer function, and to set the reverse control parameters corresponding to the navigation system, the actuator and the control path respectively to adjust the stability of the control system.

[0193] The determination module 403 is used to determine the control parameters of the unmanned aerial vehicle based on the adjusted control system when the stability of the control system meets the preset judgment conditions.

[0194] Using the aforementioned device, a transfer function is constructed based on the kinematic and dynamic equations of the unmanned aerial vehicle (UAV), and the transfer function of each subsystem is determined according to its performance. A control system is then constructed using the transfer functions and subsystem transfer functions, fully considering the kinematic and dynamic information of the UAV and the performance of each subsystem. This allows for accurate understanding of the UAV's current state, facilitating its maneuverability. Furthermore, a control system for the UAV is built based on its current state and system performance, enabling precise control. While ensuring the stability of the control system's current state, the system's performance is fully utilized, and control parameters are adjusted in multiple directions to improve the UAV's maneuverability.

[0195] The present invention also provides a computer-readable storage medium storing a computer program that can be used to execute the above-described... Figure 1 The steps of the design method for the provided aircraft control parameters.

[0196] This invention also provides a computer device. At the hardware level, the computer device includes a processor, an internal bus, a network interface, memory, and non-volatile memory, and may also include other hardware required for various operations. The processor reads the corresponding computer program from the non-volatile memory into memory and then executes it to achieve the above-mentioned functions. Figure 1 The steps of the design method for the provided aircraft control parameters.

[0197] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied 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.

[0198] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0199] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0200] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0201] It should be noted that the above-described specific embodiments enable those skilled in the art to more fully understand the present invention, but do not limit the present invention in any way. Therefore, although the present invention has been described in detail in this specification, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the present invention; and all technical solutions and improvements that do not depart from the spirit and scope of the present invention are covered within the protection scope of the patent of the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A method for designing aircraft control parameters, characterized in that, The method includes: Kinematic and dynamic equations are established based on the dynamic, aerodynamic, and structural parameters of the unmanned aerial vehicle. The dynamic transfer function of the unmanned aerial vehicle (UAV) is established based on the kinematic and dynamic equations; the subsystem transfer function is determined based on the performance of each subsystem of the UAV, wherein the subsystems of the UAV include the navigation system and the actuator. The dynamic transfer function is solved to determine the control path transfer function of the unmanned aerial vehicle; A control system for the control parameters of an unmanned aerial vehicle is constructed by using subsystem transfer functions and control path transfer functions, and the stability of the control system is adjusted by setting reverse control parameters corresponding to the navigation system, actuators, and control paths respectively. If the stability of the control system meets the preset judgment conditions, the control parameters of the unmanned aerial vehicle are determined according to the adjusted control system. The preset judgment conditions include preset stability conditions and preset overshoot conditions; the stability adjustment of the control system through multiple reverse control parameters includes: Initialize the reverse control parameters; The open-loop transfer function and closed-loop transfer function of the control system are determined based on the aforementioned reverse control parameters. The open-loop stability of the control system is determined according to a preset stability condition, and the closed-loop stability of the control system is determined according to a preset overshoot condition. If the open-loop stability does not meet the preset stability condition, or the closed-loop stability does not meet the preset overshoot condition, the reverse control parameters are adjusted until the control system meets the preset judgment condition. The open-loop transfer function for: ； in, , and These are the parameters for reverse control. and These are the transfer functions for the navigation system and the transfer functions for the actuators, respectively. To control the quantity, The pitch angular velocity, For pitch control rudder commands. For reference area; The closed-loop transfer function is: 。 2. The method for designing aircraft control parameters according to claim 1, characterized in that, The process of establishing kinematic and dynamic equations based on the dynamic, aerodynamic, and structural parameters of the unmanned aerial vehicle includes: Establish a ground coordinate system and a projectile coordinate system; Based on the ground coordinate system, the global position of the unmanned aerial vehicle is determined according to its dynamic parameters. Based on the projectile coordinate system, the attitude and motion state of the unmanned aerial vehicle are determined according to its dynamic parameters, aerodynamic parameters and structural parameters. Based on the global position of the unmanned aerial vehicle (UAV) and its own attitude and motion state, the kinematic and dynamic equations of the UAV are determined.

3. The method for designing aircraft control parameters according to claim 1, characterized in that, When the open-loop stability does not meet the preset stability condition, adjusting the reverse control parameters includes: The value of the first reverse control parameter is reduced, and the second and third reverse control parameters are updated based on the adjusted first reverse control parameter and the control system. Determine the gain margin and phase margin of the open-loop transfer function, and determine the open-loop stability of the control system based on the gain margin, phase margin, and preset stability judgment conditions for the gain margin and phase margin. The reverse control parameters are cyclically adjusted until the open-loop transfer function satisfies open-loop stability.

4. The method for designing aircraft control parameters according to claim 1, characterized in that, When the closed-loop stability does not meet the preset overshoot condition, adjusting the reverse control parameters includes: Increase the value of the first reverse control parameter, and update the second and third reverse control parameters based on the adjusted first reverse control parameter and the control system; Determine the overshoot of the closed-loop transfer function, and determine the closed-loop stability of the control system based on the overshoot and a preset overshoot condition; The reverse control parameters are cyclically adjusted until the closed-loop transfer function satisfies closed-loop stability.

5. A device for designing aircraft control parameters, characterized in that, The device includes: A module is established to create kinematic and dynamic equations based on the dynamic, aerodynamic, and structural parameters of the unmanned aerial vehicle (UAV); to create the dynamic transfer function of the UAV based on the kinematic and dynamic equations; to determine the subsystem transfer function based on the performance of each subsystem of the UAV, wherein the subsystems of the UAV include a navigation system and an actuator; and to solve the dynamic transfer function to determine the control path transfer function of the UAV. The adjustment module is used to construct a control system for the control parameters of the unmanned aerial vehicle through the subsystem transfer function and the control path transfer function, and to set the inverse control parameters corresponding to the navigation system, actuator and control path respectively to adjust the stability of the control system. The determination module is used to determine the control parameters of the unmanned aerial vehicle (UAV) based on the adjusted control system, provided that the stability of the control system meets preset judgment conditions. The preset judgment conditions include preset stability conditions and preset overshoot conditions. Stability adjustment of the control system through multiple retrograde control parameters includes: Initialize the reverse control parameters; The open-loop transfer function and closed-loop transfer function of the control system are determined based on the aforementioned reverse control parameters. The open-loop stability of the control system is determined according to a preset stability condition, and the closed-loop stability of the control system is determined according to a preset overshoot condition. If the open-loop stability does not meet the preset stability condition, or the closed-loop stability does not meet the preset overshoot condition, the reverse control parameters are adjusted until the control system meets the preset judgment condition. The open-loop transfer function for: ； in, , and These are the parameters for reverse control. and These are the transfer functions for the navigation system and the transfer functions for the actuators, respectively. To control the quantity, The pitch angular velocity, For pitch control rudder commands. For reference area; The closed-loop transfer function is: 。 6. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the method described in any one of claims 1 to 4.

7. A computer device, characterized in that, The method includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method described in any one of claims 1 to 4.

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