A reconstruction control device and method for aircraft wing surface damage

Abstract

This invention discloses a reconstruction control device and method for aircraft wing surface damage. The device includes an attitude control loop and an angular rate control loop. The attitude control loop, as the outer loop of the reconstruction control device, takes attitude control commands as output and the actual aircraft attitude as feedback. After attitude control, it forms the desired dynamic change of the aircraft attitude loop, which is then inverted to obtain the control target of the angular rate loop. The angular rate loop, as the inner loop of the reconstruction control device, takes the control target generated by the attitude control loop as input. After angular rate control, it forms the desired dynamic change of the angular rate loop, and through a pre-designed wing surface damage reconstruction control law, it obtains the adaptive reconstruction control quantity of the aircraft control surface commands, which is the aircraft control surface deflection command. The technical solution provided by this invention uses a nonlinear disturbance observer to compensate for the disturbance torque caused by the wing surface damage based on the uncertainty caused by the wing surface damage, suppresses the transients of the aircraft after wing damage, and performs adaptive compensation to achieve stable and precise control of the aircraft.

Description

Technical Field

[0001] This invention relates to, but is not limited to, the field of aerospace technology, and particularly to a reconstruction control device and method for aircraft wing surface damage. Background Technology

[0002] When the wings of a fixed-wing aircraft are damaged due to unforeseen circumstances during flight, the aircraft's flight capability will be significantly affected. The aircraft's aerodynamics and control effects will change dramatically in a short period of time, which will affect the aircraft's attitude, cause deviations in the flight path, and in severe cases, even lead to loss of control. Therefore, it is necessary to take appropriate control measures to control the aircraft and ensure its flight safety.

[0003] In existing research on wing surface damage control technology, there are fault-tolerant controls for aircraft control surface faults based on adaptive backstepping control, which achieves stable control of the aircraft when the rudder is faulty. There are also simple adaptive controls for aileron damage reconstruction control, which can achieve good control effects even when control surfaces are faulty or damaged. While adaptive control can solve the reconstruction control problem of aircraft control surface faults or damage, its rapid adaptation or high gain can easily cause high-frequency oscillations in the aircraft. Furthermore, rapid adaptation is highly sensitive to time delays; under large time delays, human-machine coupled oscillations can occur. Summary of the Invention

[0004] The purpose of this invention is to provide a reconstruction control device and method for aircraft wing surface damage, in order to solve the problems of high-frequency oscillations in aircraft caused by the rapid adaptive or high-gain characteristics of existing wing surface damage control technologies, as well as the problem of human-machine coupling oscillation phenomenon under large time delays.

[0005] The technical solution of the present invention: In a first aspect, the embodiments of the present invention provide a reconstruction control device for aircraft wing surface damage, including: an attitude control loop and an angular rate control loop;

[0006] The attitude control loop serves as the external loop of the reconfiguration control device, using attitude control commands as outputs and the actual aircraft attitude as feedback. After attitude control, it forms the desired dynamic change in the aircraft attitude loop. The control target p of the angular rate loop is then obtained through inverse calculation. cmd q cmd r cmd ;

[0007] The angular rate loop, as the inner loop of the reconfiguration control device, takes the control target generated by the attitude control loop as input and forms the desired dynamic change of the angular rate loop through angular rate control. Then, by using a pre-designed wing surface damage reconstruction control law, the adaptive reconstruction control quantity of the aircraft control surface command is obtained, which is the aircraft control surface deflection command δ. u .

[0008] Optionally, in the aircraft wing surface damage reconstruction control device described above,

[0009] 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, combined with the disturbance amount of the three-axis angular acceleration signal of the damaged wing surface. The adaptive reconfiguration control quantity of the aircraft's surface commands is calculated by comprehensively calculating the aircraft's control surface deflection command δ. u .

[0010] Optionally, in the aircraft wing surface damage reconstruction control device described above,

[0011] The wing surface damage reconstruction control law is:

[0012]

[0013] in, To calculate the coefficient matrix for aircraft kinematics, f pqr (x) represents the kinematics of the aircraft under wing damage. Calculate the equation. Let be the desired dynamic change of the angular rate control loop. This represents the disturbance amount of the three-axis angular acceleration signal of the aircraft with wing surface damage.

[0014] Optionally, in the aircraft wing surface damage reconstruction control device described above,

[0015] The disturbance amount of the three-axis angular acceleration signal of the aircraft with damaged wing surfaces For: the rudder surface deflection u collected by the rudder surface sensor s The aircraft's three-axis angular rate signals p, q, and r, collected by the angular rate gyroscope, are used as inputs and calculated by a constructed nonlinear disturbance observer.

[0016] Secondly, embodiments of the present invention also provide a method for reconstructing aircraft wing surface damage, wherein the method is executed using an aircraft wing surface damage reconstruction control device as described in any of the preceding claims, the method comprising:

[0017] Step 1: Receive the control surface deflection u collected by the aircraft control surface sensors. s And the aircraft's three-axis angular rates p, q, r;

[0018] Step 2, based on the rudder surface deflection u collected in Step 1 sThe perturbation quantity of the three-axis angular rate signals p, q, and r of the aircraft is obtained using a nonlinear perturbation observer to acquire the three-axis angular acceleration signals of the damaged aircraft.

[0019] Step 3: Receive the aircraft attitude control commands and combine them with the aircraft attitude feedback to obtain the desired dynamic change of the aircraft attitude loop.

[0020] Step 4, based on 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: Based on the control objective of the angular rate loop in Step 4, obtain the expected dynamic change of the angular rate loop.

[0022] Step 6: Combine the disturbance of the triaxial angular acceleration signal in Step 2 with the expected dynamic change of the angular rate loop in Step 5. Based on the pre-designed wing surface 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 aircraft wing surface damage reconstruction control method described above,

[0024] The nonlinear perturbation observer is:

[0025]

[0026] in, The perturbation of the three-axis angular acceleration signal of the aircraft with wing damage is represented by l(x), which represents the observer gain matrix, and U... pqr f(x) represents the disturbance distribution matrix of the aircraft model after wing damage, f(x) represents the nonlinear term, z is an auxiliary variable, and p(x) is a function vector. The i-th element of p(x) can be chosen as p i (x)=l i1 x1+l i2 x2+…+l ij x j +…+l in x n , where x i Let l represent the i-th state of the aircraft. ij This 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 the derivative information of the aircraft's three-axis angular rate signals p, q, and r for estimation.

[0028] Optionally, the aircraft wing surface damage reconstruction control method described above further includes:

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

[0030]

[0031] After simplifying the above equations, the dynamic equation for the estimation error is as follows:

[0032]

[0033] The estimation error e is obtained by calculating the disturbance amount of the three-axis angular acceleration signal of the aircraft with wing damage. Δ To deal with the disturbance amount Prove its validity.

[0034] Optionally, in the aircraft wing surface damage reconstruction control method described above, the wing surface damage reconstruction control law is:

[0035]

[0036] in, To calculate the coefficient matrix for aircraft kinematics, f pqr (x) represents the aircraft kinematics under wing damage conditions. Calculate the equation. Let be the desired dynamic change of the angular rate control loop. This represents the disturbance amount of the three-axis angular acceleration signal of the aircraft with wing surface damage.

[0037] Optionally, in the aircraft wing surface damage reconstruction control method described above, the aircraft motion equation under wing surface damage conditions is:

[0038]

[0039] Where p, q, and r are the three-axis angular velocities of the aircraft, and L, M, and N are the three-axis torques in the aircraft system. This represents the disturbance amount of the three-axis angular acceleration signal of an aircraft with damaged wing surfaces.

[0040] Thirdly, embodiments of the present invention also provide 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 surface damage reconstruction control method as described above when executing the executable instructions stored in the memory.

[0043] The beneficial effects of this invention are as follows: This invention provides a reconstruction control device and method for aircraft wing surface damage. It treats wing surface damage as a disturbance to the aircraft, estimates the uncertainty of the wing surface damage by constructing a nonlinear disturbance observer, specifically estimating the disturbance amount of the three-axis angular acceleration signal of the damaged aircraft, and, based on the aircraft's attitude control commands, calculates the expected dynamic change of the angular rate loop generated by the aircraft attitude loop and angular rate loop. Using a pre-designed wing surface damage reconstruction control law, the adaptive reconstruction control quantity for the aircraft control surface command is calculated, which is the aircraft control surface deflection command δ. u The technical solution provided in this invention combines nonlinear dynamic inverse control with a nonlinear disturbance observer to design a wing damage reconstruction control law. This law compensates for the disturbances and transient responses caused by wing damage, enabling rapid adaptive and reconstruction control, reducing the transient response of the aircraft's attitude after wing damage, and solving the high-frequency oscillations caused by high gain, thus achieving stable control after wing damage. Attached Figure Description

[0044] The accompanying drawings are provided to further understand the technical solutions of the present invention and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of the present invention and do not constitute a limitation on the technical solutions of the present invention.

[0045] 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;

[0046] Figure 2 A schematic diagram of the aircraft state variables obtained by using dynamic inverse control for 5% wing surface damage.

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

[0048] Figure 4 A schematic diagram of the aircraft state variables obtained by using dynamic inverse control for 10% wing surface damage;

[0049] Figure 5 A schematic diagram of the aircraft state variables obtained by performing reconstruction control on an aircraft with wing damage of 10% using the reconstruction control method provided in this embodiment of the invention. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

[0051] As explained in the background section, it is important to implement control measures when the wing surface of a fixed-wing aircraft is damaged. Among the control methods provided by existing wing surface damage control technologies, adaptive control can solve the problem of reconfiguration control for aircraft control surface failures or damage. However, its rapid adaptation or high gain can easily cause high-frequency oscillations in the aircraft. Furthermore, rapid adaptation is highly sensitive to time delay, and when the time delay is large, there is a phenomenon of human-machine coupling oscillation.

[0052] To address the shortcomings of existing wing damage control technologies, this invention provides a reconstruction control device and method for aircraft wing damage, enabling stable attitude control during wing damage and ensuring aircraft safety.

[0053] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0054] Figure 1 This is a schematic diagram 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 serves as the external loop of the reconfiguration control device, using attitude control commands as outputs and the actual aircraft attitude as feedback. After attitude control, it forms the desired dynamic change of the aircraft attitude loop. The control target p of the angular rate loop is then obtained through inverse calculation. cmd q cmd r cmd .

[0056] The angular rate loop, as the inner loop of the reconfiguration control device, takes the control target generated by the attitude control loop as input and forms the desired dynamic change of the angular rate loop through angular rate control. Then, by using a pre-designed wing surface damage reconstruction control law, the adaptive reconstruction control quantity of the aircraft control surface command is obtained, which is the aircraft control surface deflection command δ. u .

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

[0058] In one implementation of this invention, such as Figure 1 The control principle within the dashed box, the airfoil 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, combined with the disturbance amount of the three-axis angular acceleration signal of the damaged wing surface. The adaptive reconfiguration control quantity of the aircraft's surface commands is calculated by comprehensively calculating the aircraft's control surface deflection command δ. u .

[0059] In a specific implementation of this invention, the wing surface damage reconstruction control law can be designed as follows:

[0060]

[0061] in, To calculate the coefficient matrix for aircraft kinematics, f pqr (x) represents the kinematics of the aircraft under wing damage. Calculate the equation. Let be the desired dynamic change of the angular rate control loop. This represents the disturbance amount of the three-axis angular acceleration signal of the aircraft with wing surface damage.

[0062] like Figure 1 As shown, NDO is a constructed nonlinear disturbance observer, using the rudder surface deflection u collected by the rudder surface sensor. s Using the aircraft's three-axis angular rate signals p, q, and r acquired by the angular rate gyroscope as input, the disturbance amount of the three-axis angular acceleration signal of the damaged aircraft can be calculated through a nonlinear disturbance observer.

[0063] Based on the aircraft wing surface damage reconstruction control device provided in the above embodiments, this invention also provides an aircraft wing surface damage reconstruction control method. The reconstruction control device provided in the above embodiments is used to execute the aircraft wing surface damage reconstruction control method, which includes:

[0064] Step 1: Receive the control surface deflection u collected by the aircraft control surface sensors. s And the aircraft's three-axis angular rates p, q, r;

[0065] Step 2, based on the rudder surface deflection u collected in Step 1 s The perturbation quantity of the three-axis angular rate signals p, q, and r of the aircraft is obtained using a nonlinear perturbation observer to acquire the three-axis angular acceleration signals of the damaged aircraft.

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

[0067]

[0068] In the formula, The perturbation of the three-axis angular acceleration signal of the aircraft with wing damage is represented by l(x), which represents the observer gain matrix, and U... pqr f(x) represents the disturbance distribution matrix of the aircraft model after wing damage, f(x) represents the nonlinear term, z is an auxiliary variable, and p(x) is a function vector. The i-th element of p(x) can be chosen as p i (x)=l i1 x1+l i2 x2+…+l ij x j +…+l in x n , where x i Let l represent the i-th state of the aircraft (p, q, r are states respectively). ij This 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 this embodiment of the invention does not require the derivative information of the aircraft's three-axis angular rate signals p, q, and r for estimation. Since derivative information is difficult to obtain directly, the nonlinear disturbance observer constructed in this embodiment of the 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 attitude control commands and combine them with the aircraft attitude feedback to obtain the desired dynamic change of the aircraft attitude loop.

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

[0072]

[0073] design in Let be the gain matrix of the attitude control loop. The control error of the attitude control loop is calculated using the following formula:

[0074]

[0075] In the formula, φ ref θ ref ψ ref This represents the three-axis attitude angle control command, φ m θ m ψ m This represents the measured values ​​of the aircraft's three-axis attitude angles.

[0076] Step 4, based on 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: Based on the control objective of the angular rate loop in Step 4, obtain the expected dynamic change of the angular rate loop.

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

[0079] design in Here is the gain matrix of the angular rate control loop. The control error of the angular rate control loop is calculated using the following formula:

[0080]

[0081] In the formula, p ref q ref r ref This indicates a three-axis angular rate control command, p m q m r m This represents the measured values ​​of the aircraft's three-axis angular rates.

[0082] Step 6: Combine the disturbance of the triaxial angular acceleration signal in Step 2 with the expected dynamic change of the angular rate loop in Step 5. Based on the pre-designed wing surface 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 this invention, the wing surface damage reconstruction control law is as follows:

[0084]

[0085] in, To calculate the coefficient matrix for aircraft kinematics, f pqr (x) represents the aircraft kinematics under wing damage conditions. Calculate the equation. Let be the desired dynamic change of the angular rate control loop. This represents the disturbance amount of the three-axis angular acceleration signal of the aircraft due to wing surface damage. To perform inverse computation.

[0086] The equation of motion for the aircraft when the wing surface is damaged is as follows:

[0087]

[0088] Where p, q, and r are the three-axis angular velocities of the aircraft, and L, M, and N are the three-axis torques in the aircraft system. This represents the disturbance amount of the three-axis angular acceleration signal of an aircraft with damaged wing surfaces.

[0089] A further embodiment of the aircraft wing surface damage reconstruction control method provided by the present invention further includes:

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

[0091]

[0092] After simplifying the above equations, the dynamic equation for the estimation error is as follows:

[0093]

[0094] The estimation error e is obtained by calculating the disturbance amount of the three-axis angular acceleration signal of the aircraft with wing damage. Δ To deal with the disturbance amount To prove validity, the smaller the value, the higher the accuracy of the estimate.

[0095] Existing research on control systems for aircraft wing surface damage, including adaptive control and high-gain systems, still inevitably suffers from high-frequency oscillations and high time-delay sensitivity issues. This invention provides a reconstructed control device and method for aircraft wing surface damage. It treats wing surface damage as a disturbance to the aircraft, estimates the uncertainty of the damage by constructing a nonlinear disturbance observer, specifically estimating the disturbance in the three-axis angular acceleration signals of the damaged aircraft. Based on the aircraft's attitude control commands, it calculates the expected dynamic change of the angular rate loop generated by the aircraft attitude loop and angular rate loop. Using a pre-designed wing surface damage reconstruction control law, the adaptive reconstruction control quantity for the aircraft control surface command is calculated, which is the aircraft control surface deflection command δ. u The technical solution provided in this invention combines nonlinear dynamic inverse control with a nonlinear disturbance observer to design a wing damage reconstruction control law. This law compensates for the disturbances and transient responses caused by wing damage, enabling rapid adaptive and reconstruction control, reducing the transient response of the aircraft's attitude after wing damage, and solving the high-frequency oscillations caused by high gain, thus achieving stable control after wing damage.

[0096] The following is a specific implementation example illustrating the implementation of the aircraft wing surface damage reconstruction control device and method provided in this invention.

[0097] Implementation example:

[0098] Taking a conventionally laid-out aircraft as the research object, the reconstruction control device and method for aircraft wing surface damage proposed in this invention are used for simulation analysis, and compared with conventional dynamic inverse control methods to verify the effectiveness of the technical solution proposed in this invention.

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

[0100] Figure 2 A schematic diagram of the aircraft state variables obtained by using dynamic inverse control for 5% wing surface damage. Figure 3 A schematic diagram of the aircraft state variables obtained by performing reconstruction control on an aircraft with wing damage of 5% using the reconstruction control method provided in this embodiment of the invention; Figure 4 A schematic diagram of the aircraft state variables obtained by using dynamic inverse control for 10% wing surface damage; Figure 5 A schematic diagram of the aircraft state variables obtained by performing reconstruction control on an aircraft with wing damage of 10% using the reconstruction control method provided in this embodiment of the invention.

[0101] As can be seen, the reconstruction control method for aircraft wing damage provided by the embodiments of the invention, for the aircraft wing damage, performs uncertainty estimation of the wing damage based on the nonlinear disturbance observer, that is, specifically estimates the disturbance amount of the three-axis angular acceleration signal of the aircraft at the damaged wing, and controls the control surfaces to compensate, so that the aircraft quickly reaches a stable state after the damage, and the transient changes of the aircraft at the time of damage are small.

[0102] While the embodiments disclosed in this invention are as described above, they are merely illustrative of the embodiments to facilitate understanding of the invention and are not intended to limit the invention. Any person skilled in the art to which this invention pertains may make any modifications and variations in the form and details of the implementation without departing from the spirit and scope disclosed herein; however, the scope of patent protection for this invention shall still be determined by the scope defined in the appended claims.

Claims

1. A reconstruction control device for aircraft wing surface damage, characterized in that, include: Attitude control loop and angular rate control loop; The attitude control loop, serving as the external loop of the reconfiguration control device, takes attitude control commands as input and the actual aircraft attitude as feedback. After attitude control, it forms the desired dynamic change in the aircraft attitude loop. The control target of the angular rate loop is then obtained through inverse calculation. ; The angular rate loop, as the inner loop of the reconfiguration control device, takes the control target generated by the attitude control loop as input and forms the desired dynamic change of the angular rate loop through angular rate control. Furthermore, by employing a pre-designed wing surface damage reconstruction control law, the adaptive reconstruction control quantity for the aircraft control surface commands is obtained, which is the aircraft control surface deflection command. ; 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, combined with the disturbance amount of the three-axis angular acceleration signal of the damaged wing surface. The adaptive reconfigurable control quantity of the aircraft's surface commands is calculated by comprehensively calculating the aircraft's control surface deflection command. ; The wing surface damage reconstruction control law is: ； in, Calculate the coefficient matrix for aircraft kinematics. Kinematics of an aircraft under wing damage Calculate the equation. Let be the desired dynamic change of the angular rate control loop. This represents the disturbance amount of the three-axis angular acceleration signal of the aircraft with wing surface damage.

2. The aircraft wing surface damage reconstruction control device according to claim 1, characterized in that, The disturbance amount of the three-axis angular acceleration signal of the aircraft with damaged wing surfaces For: Control surface deflection collected by control surface sensors The three-axis angular rate signals of the aircraft were acquired by the angular rate gyroscope. , , It is calculated as input by a constructed nonlinear perturbation observer.

3. A method for reconstructing and controlling damage to aircraft wing surfaces, characterized in that, The aircraft wing surface damage reconstruction control method is executed using the aircraft wing surface damage reconstruction control device as described in any one of claims 1 to 2, the method comprising: Step 1: Receive the control surface deflection data collected by the aircraft control surface sensors. and the aircraft's three-axis angular rate , , ; Step 2, based on the rudder surface deflection collected in Step 1 and aircraft three-axis angular rate signal , , The disturbance quantity is obtained by using a nonlinear disturbance observer to acquire the three-axis angular acceleration signals of the damaged wing surface. ; Step 3: Receive the aircraft attitude control commands and combine them with the aircraft attitude feedback to obtain the desired dynamic change of the aircraft attitude loop. ; Step 4, based on the expected dynamic change of the attitude loop in Step 3. The control target of the angular rate loop is obtained by inverse calculation. ; Step 5: Based on the control objective of the angular rate loop in Step 4, obtain the expected dynamic change of the angular rate loop. ; Step 6: Combine the disturbance of the triaxial angular acceleration signal in Step 2 with the expected dynamic change of the angular rate loop in Step 5. Based on the pre-designed wing surface 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. .

4. The method for reconstructing and controlling aircraft wing surface damage according to claim 3, characterized in that, The nonlinear perturbation observer is: ； in, This represents the amount of disturbance in the three-axis angular acceleration signal of an aircraft with wing surface damage. Represents the observer gain matrix. This represents the perturbation distribution matrix of the aircraft model after wing surface damage. Represents nonlinear terms, It is an auxiliary variable. It is a function vector. The Each element can be selected as ,in Indicates the aircraft's A state, Represents the observer gain matrix The Line 1 Column elements; The nonlinear disturbance observer does not require aircraft three-axis angular rate signals. , , The derivative information is used for estimation.

5. The aircraft wing surface damage reconstruction control method according to claim 3, characterized in that, Also includes: Step 7: Calculate the estimation error of the disturbance in the three-axis angular acceleration signal of the aircraft with wing damage. for: ； After simplifying the above equations, the dynamic equation for the estimation error is as follows: ； The estimation error of the disturbance in the three-axis angular acceleration signal of the aircraft with wing damage is calculated by... To deal with the disturbance amount Prove its validity.

6. The method for reconstructing and controlling aircraft wing surface damage according to any one of claims 3 to 5, characterized in that, The wing surface damage reconstruction control law is: ； in, Calculate the coefficient matrix for aircraft kinematics. Aircraft kinematics under wing damage conditions Calculate the equation. Let be the desired dynamic change of the angular rate control loop. This represents the disturbance amount of the three-axis angular acceleration signal of the aircraft with wing surface damage.

7. The method for reconstructing and controlling aircraft wing surface damage according to claim 6, characterized in that, The equation of motion for the aircraft under wing damage is as follows: ； in The three-axis angular rate of the aircraft. For the triaxial torque in the machine system, This represents the disturbance amount of the three-axis angular acceleration signal of an aircraft with damaged wing surfaces.

8. 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 surface damage reconstruction control method as described in any one of claims 3 to 7 when executing the executable instructions stored in the memory.

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