Reconstruction control device and method for aircraft airfoil damage

Abstract

The invention discloses a reconstruction control device and method for aircraft airfoil damage. The device comprises an attitude control loop and an angular rate control loop. The attitude control loop serves as an outer loop of the reconstruction control device, an attitude control instruction serves as output, the actual attitude of the aircraft serves as feedback quantity, the expected dynamic variable quantity of the attitude loop of the aircraft is formed after attitude control, and then the control target of the angular rate loop is obtained through inversion calculation; the angular rate loop serves as an inner loop of the reconfiguration control device, a control target generated by the attitude control loop serves as input, expected dynamic variation of the angular rate loop is formed through angular rate control, and self-adaptive reconfiguration control quantity of an aircraft control surface instruction is obtained through a pre-designed wing surface damage reconfiguration control law; the control surface skewness instruction is the control surface skewness instruction of the aircraft. According to the technical scheme provided by the embodiment of the invention, the non-linear disturbance observer compensates the disturbance torque caused by the control surface damage of the aircraft according to the uncertainty caused by the wing surface damage, inhibits the transient state of the aircraft after the wing damage, and meanwhile, carries out self-adaptive compensation to realize the stable and accurate control of the aircraft.

Description

Technical Field

[0001] The present invention relates to, but is not limited to, the field of aviation technology, and in particular to a reconstruction control device and method for aircraft wing surface damage. Background Art

[0002] When the wing of a fixed-wing aircraft is damaged due to unexpected reasons during flight, the aircraft's flight capability will be greatly affected, and the aircraft's aerodynamics and rudder efficiency will undergo significant changes in a short period of time, which will in turn affect the aircraft's attitude and cause the flight path to deviate. In severe cases, the aircraft may even lose control. Therefore, appropriate control measures must be taken to control the aircraft and ensure its flight safety.

[0003] In the existing research on wing surface damage control technology, there is fault-tolerant control of aircraft control surface failure based on adaptive BackStepping control, which realizes aircraft stability control of aircraft rudder failure, and there is also aileron damage reconstruction control based on simple adaptive control, which can achieve good control effect when the control surface fails or is even damaged. Although adaptive control can solve the reconstruction control problem of aircraft control surface failure or damage, its rapid adaptation or high gain can easily cause high-frequency oscillation of the aircraft. Secondly, rapid adaptation is highly sensitive to time delay. In the case of large time delay, there is a phenomenon of human-machine coupling oscillation. Summary of the invention

[0004] Purpose of the present invention: The embodiments of the present invention provide a device and method for reconstructing control of aircraft wing damage to solve the problem of high-frequency oscillation of the aircraft due to the rapid adaptation or high-gain characteristics of existing wing damage control technical solutions, as well as the problem of human-machine coupling oscillation phenomenon in the case of large time delay.

[0005] Technical solution of the present invention: In a first aspect, an embodiment of the present invention provides a reconstruction control device for aircraft wing surface damage, comprising: an attitude control loop and an angular rate control loop;

[0006] The attitude control loop is used as the outer loop of the reconstructed control device, with the attitude control command as the output and the actual attitude of the aircraft as the feedback. After attitude control, the expected dynamic change of the aircraft attitude loop is formed. Then the control target p of the angular rate loop is obtained by inverse calculation: cmd ,q cmd 、r cmd ;

[0007] The angular rate loop is used as the inner loop of the reconstruction control device. The control target generated by the attitude control loop is used as input. The desired dynamic change of the angular rate loop is formed through angular rate control. And through the pre-designed wing damage reconstruction control law, the adaptive reconstruction control quantity of the aircraft control surface instruction is obtained, which is the aircraft control surface deflection instruction δ u .

[0008] Optionally, in the above-mentioned reconstruction control device for aircraft wing surface damage,

[0009] The airfoil damage reconstruction control law is set as follows: the expected dynamic change of the angular rate loop As input, the actual three-axis angular rate of the aircraft is used as feedback, and the disturbance of the three-axis angular acceleration signal of the aircraft with damaged wing surface is combined The adaptive reconstruction control quantity of the aircraft surface command is calculated comprehensively, which is the aircraft rudder surface deflection command δ u .

[0010] Optionally, in the above-mentioned reconstruction control device for aircraft wing damage,

[0011] The airfoil damage reconstruction control law is:

[0012]

[0013] in, is the aircraft kinematics calculation coefficient matrix, f pqr (x) is the kinematics of the aircraft with damaged wing surfaces Calculate the equation, is the expected dynamic change of the angular rate control loop, It is the disturbance of the three-axis angular acceleration signal of the aircraft with wing damage.

[0014] Optionally, in the above-mentioned reconstruction control device for aircraft wing surface damage,

[0015] The disturbance amount of the three-axis angular acceleration signal of the aircraft with damaged wing surface is: the rudder surface deflection u collected by the rudder surface sensor s The aircraft three-axis angular rate signals p, q, and r collected by the angular rate gyro are taken as input and calculated by the constructed nonlinear disturbance observer.

[0016] In a second aspect, an embodiment of the present invention further provides a method for reconstructing and controlling aircraft wing surface damage, wherein the method for reconstructing and controlling aircraft wing surface damage is performed by using the device for reconstructing and controlling aircraft wing surface damage as described in any one of the above items, and the method comprises:

[0017] Step 1: Receive the rudder deflection u collected by the aircraft rudder sensor s and the aircraft's three-axis angular rates p, q, r;

[0018] Step 2: According to the rudder surface deflection u collected in step 1 sThe disturbance of the three-axis angular acceleration signal of the damaged aircraft is obtained by using the nonlinear disturbance observer.

[0019] Step 3: Receive the aircraft's attitude control command and combine the aircraft's attitude feedback to obtain the expected dynamic change of the aircraft's attitude loop.

[0020] Step 4: According to the expected dynamic change of the attitude loop in step 3 The control target p of the angular rate loop is obtained by inverse calculation cmd ,q cmd 、r cmd ;

[0021] Step 5: According to the control target of the angular rate loop in step 4, the expected dynamic change of the angular rate loop is obtained.

[0022] Step 6: Combine the disturbance of the three-axis angular acceleration signal in step 2 and the expected dynamic change of the angular rate loop in step 5 Based on the pre-designed wing damage reconstruction control law, the adaptive reconstruction control quantity of the aircraft control surface command is calculated, which is the aircraft control surface deflection command δ u .

[0023] Optionally, the reconstruction control method for aircraft wing damage as described above,

[0024] The nonlinear disturbance observer is:

[0025]

[0026] in, represents the disturbance of the three-axis angular acceleration signal of the aircraft with wing damage, l(x) represents the observer gain matrix, U pqr (x) represents the disturbance distribution matrix of the aircraft model after wing damage, f(x) represents the nonlinear term, z is an auxiliary variable, p(x) is a function vector, and the i-th element of p(x) can be selected as p i (x) = l i1 x 1 +l i2 x 2 +…+l ij x j +…+l in x n , where x i represents the i-th state of the aircraft, l ij represents the element in the i-th row and j-th column of the observer gain matrix l(x);

[0027] The nonlinear disturbance observer does not require derivative information of the aircraft's three-axis angular rate signals p, q, and r for estimation.

[0028] Optionally, the above-mentioned reconstruction control method for aircraft wing damage further includes:

[0029] Step 7: Calculate the estimated error e of the disturbance of the three-axis angular acceleration signal of the aircraft with wing damage Δ for:

[0030]

[0031] The dynamic equation of the estimation error formed by simplifying the above equation is:

[0032]

[0033] By calculating the estimated error e of the disturbance of the three-axis angular acceleration signal of the aircraft with wing damage Δ , to the disturbance Prove effectiveness.

[0034] Optionally, in the above-mentioned reconstruction control method of aircraft wing damage, the wing damage reconstruction control law is:

[0035]

[0036] in, is the aircraft kinematics calculation coefficient matrix, f pqr (x) is the aircraft kinematics when the wing is damaged Calculate the equation, is the expected dynamic change of the angular rate control loop, It is the disturbance of the three-axis angular acceleration signal of the aircraft with wing damage.

[0037] Optionally, in the above-mentioned reconstruction control method for aircraft wing surface damage, the aircraft motion equation of the aircraft when the wing surface is damaged is:

[0038]

[0039] Among them, p, q, and r are the three-axis angular rates of the aircraft, and L, M, and N are the three-axis moments in the aircraft system. is the disturbance of the three-axis angular acceleration signal of the aircraft with damaged wing.

[0040] In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium, including: a memory and a processor;

[0041] The memory is configured to store executable instructions;

[0042] The processor is specifically configured to implement the aircraft wing damage reconstruction control method as described in any one of the above when executing the executable instructions stored in the memory.

[0043] The beneficial effects of the present invention are as follows: the embodiment of the present invention provides a reconstruction control device and method for aircraft wing surface damage, which regards the aircraft wing surface damage as the interference of the aircraft, estimates the uncertainty of the aircraft wing surface damage by constructing a nonlinear disturbance observer, specifically estimates the disturbance amount of the three-axis angular acceleration signal of the aircraft with damaged wing surface, and estimates the expected dynamic change amount of the angular velocity loop generated by the aircraft attitude loop and the angular velocity loop based on the attitude control instruction of the aircraft. The pre-designed wing damage reconstruction control law is used to calculate the adaptive reconstruction control quantity of the aircraft control surface command, which is the aircraft control surface deflection command δ u In the technical solution provided by the embodiment of the present invention, nonlinear dynamic inverse control is combined with a nonlinear disturbance observer to design a wing damage reconstruction control law, which compensates for the disturbance and transient response caused by the aircraft wing damage, can quickly perform adaptive and reconstruction control, reduce the transient response of the aircraft's attitude after wing damage, and solve the high-frequency oscillation caused by high gain, thereby achieving stable control after the aircraft wing damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0045] Figure 1 A schematic diagram of the principle of a reconstruction control device for aircraft wing damage provided by an embodiment of the present invention;

[0046] Figure 2 This is a schematic diagram of the aircraft state obtained by using the dynamic inverse control method for 5% wing damage;

[0047] Figure 3 A schematic diagram of the aircraft state quantity obtained by performing reconstruction control on an aircraft with wing surface damage of 5% using the reconstruction control method provided by an embodiment of the present invention;

[0048] Figure 4 Schematic diagram of aircraft state quantity obtained by dynamic inverse control method for 10% wing damage;

[0049] Figure 5 A schematic diagram of aircraft state quantities obtained by performing reconstruction control on an aircraft with wing surface damage of 10% using the reconstruction control method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the present invention more clear, the embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other arbitrarily without conflict.

[0051] The above background technology has explained the importance of implementing control measures when the wing surface of a fixed-wing aircraft is damaged, and the control methods provided by the existing wing damage control technology. Although adaptive control can solve the reconstruction control problem of aircraft control surface failure or damage, its rapid adaptation or high gain can easily cause high-frequency oscillation of the aircraft. Secondly, rapid adaptation is highly sensitive to time delay. When the time delay is large, there is a phenomenon of human-machine coupling oscillation.

[0052] In order to solve the above-mentioned shortcomings of the existing wing damage control technology, the embodiment of the present invention provides a reconstruction control device and method for aircraft wing damage, so as to achieve stable control of the aircraft's attitude when the aircraft wing is damaged and ensure the safety of the aircraft.

[0053] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0054] Figure 1 A schematic diagram of the principle of a reconstruction control device for aircraft wing surface damage provided in an embodiment of the present invention; the reconstruction control device for aircraft wing surface damage provided in an embodiment of the present invention includes: an attitude control loop and an angular rate control loop.

[0055] like Figure 1 As shown, the attitude control loop is used as the outer loop of the reconstructed control device, with the attitude control command as the output and the actual attitude of the aircraft as the feedback. After attitude control, the expected dynamic change of the aircraft attitude loop is formed. Then the control target p of the angular rate loop is obtained by inverse calculation: cmd ,q cmd 、r cmd .

[0056] The angular rate loop is the inner loop of the reconstructed control device. It takes the control target generated by the attitude control loop as input and forms the expected dynamic change of the angular rate loop through angular rate control. And through the pre-designed wing damage reconstruction control law, the adaptive reconstruction control quantity of the aircraft control surface instruction is obtained, which is the aircraft control surface deflection instruction δ u .

[0057] In the embodiment of the present invention, the control problem of the multi-state (including attitude and three-axis angular rate signals p, q, r) of the aircraft is decomposed into two cascaded reduced-order loop control problems.

[0058] In one implementation of the embodiment of the present invention, Figure 1 The control principle in the virtual box in the figure, the wing damage reconstruction control law is set as: the expected dynamic change of the angular rate loop As input, the actual three-axis angular rate of the aircraft is used as feedback, and the disturbance of the three-axis angular acceleration signal of the aircraft with damaged wing surface is combined The adaptive reconstruction control quantity of the aircraft surface command is calculated comprehensively, which is the aircraft rudder surface deflection command δ u .

[0059] In a specific implementation of the embodiment of the present invention, the airfoil damage reconstruction control law can be designed as follows:

[0060]

[0061] in, is the aircraft kinematics calculation coefficient matrix, f pqr (x) is the kinematics of the aircraft with damaged wing surfaces Calculate the equation, is the expected dynamic change of the angular rate control loop, It is the disturbance of the three-axis angular acceleration signal of the aircraft with wing damage.

[0062] like Figure 1 As shown in the figure, NDO is a constructed nonlinear disturbance observer, which uses the rudder surface deflection u collected by the rudder surface sensor s The three-axis angular rate signals p, q, and r collected by the angular rate gyro are used as inputs. The disturbance of the three-axis angular acceleration signal of the damaged aircraft can be calculated through the nonlinear disturbance observer.

[0063] Based on the reconstruction control device for aircraft wing surface damage provided in the above embodiment, an embodiment of the present invention further provides a reconstruction control method for aircraft wing surface damage. The reconstruction control device provided in the above embodiment is used to execute the reconstruction control method for aircraft wing surface damage. The method includes:

[0064] Step 1: Receive the rudder deflection u collected by the aircraft rudder sensor s and the aircraft's three-axis angular rates p, q, r;

[0065] Step 2: According to the rudder surface deflection u collected in step 1 s The disturbance of the three-axis angular acceleration signal of the damaged aircraft is obtained by using the nonlinear disturbance observer.

[0066] The nonlinear disturbance observer in this step is:

[0067]

[0068] In the formula, represents the disturbance of the three-axis angular acceleration signal of the aircraft with wing damage, l(x) represents the observer gain matrix, U pqr (x) represents the disturbance distribution matrix of the aircraft model after wing damage, f(x) represents the nonlinear term, z is an auxiliary variable, p(x) is a function vector, and the i-th element of p(x) can be selected as p i (x) = l i1 x 1 +l i2 x 2 +…+l ij x j +…+l in x n , where x i represents the i-th state of the aircraft (p, q, r are each a state), l ij Represents the element in the i-th row and j-th column of the observer gain matrix l(x).

[0069] It should be noted that the nonlinear disturbance observer constructed in the embodiment of the present invention does not need the derivative information of the three-axis angular rate signals p, q, and r of the aircraft for estimation; since the derivative information is difficult to obtain directly, the nonlinear disturbance observer constructed in the embodiment of the present invention can more easily obtain the disturbance amount of the three-axis angular acceleration signal of the aircraft with wing damage.

[0070] Step 3: Receive the aircraft's attitude control command and combine the aircraft's attitude feedback to obtain the expected dynamic change of the aircraft's attitude loop.

[0071] The expected dynamic change of the aircraft attitude loop is:

[0072]

[0073] design in is the gain matrix of the attitude control loop, is the control error of the attitude control loop, and the calculation formula is as follows:

[0074]

[0075] In the formula, φ ref ,θ ref , ref Indicates the three-axis attitude angle control command, φ m ,θ m , m Indicates the three-axis attitude angle measurement value of the aircraft.

[0076] Step 4: According to the expected dynamic change of the attitude loop in step 3 The control target p of the angular rate loop is obtained by inverse calculation cmd ,q cmd 、r cmd ;

[0077] Step 5: According to the control target of the angular rate loop in step 4, the expected dynamic change of the angular rate loop is obtained.

[0078] In this step, the expected dynamic change of the angular rate control loop is

[0079] design in is the gain matrix of the angular rate control loop, is the control error of the angular rate control loop, and the calculation formula is as follows:

[0080]

[0081] In the formula, p ref ,q ref 、r ref Indicates the three-axis angular rate control command, p m ,q m 、r m Represents the three-axis angular rate measurement of the aircraft.

[0082] Step 6: Combine the disturbance of the three-axis angular acceleration signal in step 2 and the expected dynamic change of the angular rate loop in step 5 Based on the pre-designed wing damage reconstruction control law, the adaptive reconstruction control quantity of the aircraft control surface command is calculated, which is the aircraft control surface deflection command δ u =[δ a δ e δ r ];

[0083] In one implementation of the embodiment of the present invention, the airfoil damage reconstruction control law is:

[0084]

[0085] in, is the aircraft kinematics calculation coefficient matrix, f pqr (x) is the aircraft kinematics when the wing is damaged Calculate the equation, is the expected dynamic change of the angular rate control loop, is the disturbance of the three-axis angular acceleration signal of the aircraft with wing damage; To calculate the inverse.

[0086] Among them, the aircraft motion equation when the wing surface is damaged is:

[0087]

[0088] Among them, p, q, and r are the three-axis angular rates of the aircraft, and L, M, and N are the three-axis moments in the aircraft system. is the disturbance of the three-axis angular acceleration signal of the aircraft with damaged wing.

[0089] A further embodiment of the present invention provides a reconstruction control method for aircraft wing damage, further comprising:

[0090] Step 7: Calculate the estimated error e of the disturbance of the three-axis angular acceleration signal of the aircraft with wing damage Δ for:

[0091]

[0092] The dynamic equation of the estimation error formed by simplifying the above equation is:

[0093]

[0094] By calculating the estimated error e of the disturbance of the three-axis angular acceleration signal of the aircraft with wing damage Δ , to the disturbance The smaller the value is, the higher the accuracy of the estimation is.

[0095] In the existing control research on aircraft wing damage, adaptive control or high gain still inevitably has the problem of high-frequency oscillation and high sensitivity to delay of the aircraft. The embodiment of the present invention provides a reconstruction control device and method for aircraft wing damage, which regards the damage to the aircraft wing as the interference of the aircraft, estimates the uncertainty of the damage to the aircraft wing by constructing a nonlinear disturbance observer, and specifically estimates the disturbance of the three-axis angular acceleration signal of the aircraft with damaged wing surface. Based on the attitude control command of the aircraft, the expected dynamic change of the angular velocity loop generated by the aircraft attitude loop and the angular velocity loop is calculated. The pre-designed wing damage reconstruction control law is used to calculate the adaptive reconstruction control quantity of the aircraft control surface command, which is the aircraft control surface deflection command δ u In the technical solution provided by the embodiment of the present invention, nonlinear dynamic inverse control is combined with a nonlinear disturbance observer to design a wing damage reconstruction control law, which compensates for the disturbance and transient response caused by the aircraft wing damage, can quickly perform adaptive and reconstruction control, reduce the transient response of the aircraft's attitude after wing damage, and solve the high-frequency oscillation caused by high gain, thereby achieving stable control after the aircraft wing damage.

[0096] The following is a schematic illustration of the implementation of the aircraft wing damage reconstruction control device and method provided by the embodiment of the present invention through a specific implementation example.

[0097] Implementation example:

[0098] A conventional layout aircraft is taken as the research object, and the reconstruction control device and method of aircraft wing surface damage proposed in the present invention are used for simulation analysis, and compared with the conventional dynamic inverse control method to verify the effectiveness of the technical solution proposed in the present invention.

[0099] In the aircraft level flight trim state (H = 2000m, V = 150m / s), the aircraft wing damage is set to 5% and 10% respectively, and the control effect is verified by simulation.

[0100] Figure 2 This is a schematic diagram of the aircraft state obtained by using the dynamic inverse control method for 5% wing damage; Figure 3 A schematic diagram of the aircraft state quantity obtained by performing reconstruction control on an aircraft with wing surface damage of 5% using the reconstruction control method provided by an embodiment of the present invention; Figure 4 Schematic diagram of aircraft state quantity obtained by dynamic inverse control method for 10% wing damage; Figure 5 A schematic diagram of aircraft state quantities obtained by performing reconstruction control on an aircraft with wing surface damage of 10% using the reconstruction control method provided by an embodiment of the present invention.

[0101] It can be seen that by adopting the reconstruction control method of aircraft wing damage provided by the embodiment of the invention, for the aircraft wing damage, the uncertainty of the wing damage is estimated according to the nonlinear disturbance observer, that is, the disturbance amount of the three-axis angular acceleration signal of the aircraft with damaged wing is specifically estimated, and the control surface is controlled to compensate, the aircraft reaches a stable state quickly after being damaged, and the transient change of the aircraft is small when damaged.

[0102] Although the embodiments disclosed in the present invention are as above, the contents are only embodiments adopted to facilitate understanding of the present invention and are not intended to limit the present invention. Any technician in the field to which the present invention belongs can make any modifications and changes in the form and details of implementation without departing from the spirit and scope disclosed in the present invention, but the patent protection scope of the present invention shall still be subject to the scope defined in the attached claims.

Claims

1. A reconstruction control device for aircraft wing damage, characterized in that: include: attitude control loop and angular rate control loop; The attitude control loop is used as the outer loop of the reconstructed control device, with the attitude control command as the output and the actual attitude of the aircraft as the feedback. After attitude control, the expected dynamic change of the aircraft attitude loop is formed. Then the control target p of the angular rate loop is obtained by inverse calculation: cmd ,q cmd 、r cmd ; The angular rate loop is used as the inner loop of the reconstruction control device. The control target generated by the attitude control loop is used as input. The desired dynamic change of the angular rate loop is formed through angular rate control. And through the pre-designed wing damage reconstruction control law, the adaptive reconstruction control quantity of the aircraft control surface instruction is obtained, which is the aircraft control surface deflection instruction δ u .

2. The aircraft wing damage reconstruction control device according to claim 1, characterized in that: The airfoil damage reconstruction control law is set as follows: the expected dynamic change of the angular rate loop As input, the actual three-axis angular rate of the aircraft is used as feedback, and the disturbance of the three-axis angular acceleration signal of the aircraft with damaged wing surface is combined The adaptive reconstruction control quantity of the aircraft surface command is calculated comprehensively, which is the aircraft rudder surface deflection command δ u .

3. The aircraft wing damage reconstruction control device according to claim 2, characterized in that: The airfoil damage reconstruction control law is: in, is the aircraft kinematics calculation coefficient matrix, f pqr (x) is the kinematics of the aircraft with damaged wing surfaces Calculate the equation, is the expected dynamic change of the angular rate control loop, It is the disturbance of the three-axis angular acceleration signal of the aircraft with wing damage.

4. The aircraft wing damage reconstruction control device according to claim 2 or 3, characterized in that: The disturbance amount of the three-axis angular acceleration signal of the aircraft with damaged wing surface is: the rudder surface deflection u collected by the rudder surface sensor s The aircraft three-axis angular rate signals p, q, and r collected by the angular rate gyro are taken as input and calculated by the constructed nonlinear disturbance observer.

5. A reconstruction control method for aircraft wing damage, characterized in that: The reconstruction control method of aircraft wing surface damage is performed by using the reconstruction control device of aircraft wing surface damage according to any one of claims 1 to 4, and the method comprises: Step 1: Receive the rudder deflection u collected by the aircraft rudder sensor s and the aircraft's three-axis angular rates p, q, r; Step 2: According to the rudder surface deflection u collected in step 1 s The disturbance of the three-axis angular acceleration signal of the damaged aircraft is obtained by using the nonlinear disturbance observer. Step 3: Receive the aircraft's attitude control command and combine the aircraft's attitude feedback to obtain the expected dynamic change of the aircraft's attitude loop. Step 4: According to the expected dynamic change of the attitude loop in step 3 The control target p of the angular rate loop is obtained by inverse calculation cmd ,q cmd 、r cmd ; Step 5: According to the control target of the angular rate loop in step 4, the expected dynamic change of the angular rate loop is obtained. Step 6: Combine the disturbance of the three-axis angular acceleration signal in step 2 and the expected dynamic change of the angular rate loop in step 5 Based on the pre-designed wing damage reconstruction control law, the adaptive reconstruction control quantity of the aircraft control surface command is calculated, which is the aircraft control surface deflection command δ u .

6. The reconstruction control method of aircraft wing damage according to claim 5, characterized in that: The nonlinear disturbance observer is: in, represents the disturbance of the three-axis angular acceleration signal of the aircraft with wing damage, l(x) represents the observer gain matrix, U pqr (x) represents the disturbance distribution matrix of the aircraft model after wing damage, f(x) represents the nonlinear term, z is an auxiliary variable, p(x) is a function vector, and the i-th element of p(x) can be selected as p i (x) = l i1 x1+l i2 x2+…+l ij x j +…+l in x n , where x i represents the i-th state of the aircraft, l ij represents the element in the i-th row and j-th column of the observer gain matrix l(x); The nonlinear disturbance observer does not require derivative information of the aircraft's three-axis angular rate signals p, q, and r for estimation.

7. The reconstruction control method of aircraft wing damage according to claim 5, characterized in that: Also includes: Step 7, calculate the estimated error e of the disturbance of the three-axis angular acceleration signal of the aircraft with wing damage Δ for: The dynamic equation of the estimation error formed by simplifying the above equation is: By calculating the estimated error e of the disturbance of the three-axis angular acceleration signal of the aircraft with wing damage Δ , to the disturbance Prove validity.

8. The reconstruction control method for aircraft wing damage according to any one of claims 5 to 7, characterized in that: The airfoil damage reconstruction control law is: in, is the aircraft kinematics calculation coefficient matrix, f pqr (x) is the aircraft kinematics when the wing is damaged Calculate the equation, is the expected dynamic change of the angular rate control loop, It is the disturbance of the three-axis angular acceleration signal of the aircraft with wing damage.

9. The reconstruction control method of aircraft wing damage according to claim 8, characterized in that: The aircraft motion equation of the aircraft when the wing surface is damaged is: Among them, p, q, and r are the three-axis angular rates of the aircraft, and L, M, and N are the three-axis moments in the aircraft system. is the disturbance of the three-axis angular acceleration signal of the aircraft with damaged wing.

10. A computer-readable storage medium, characterized in that: include: Memory and processor; The memory is configured to store executable instructions; The processor is specifically configured to implement the aircraft wing damage reconstruction control method according to any one of claims 5 to 9 when executing the executable instructions stored in the memory.

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