Adaptive thrust vectoring control method for aircraft based on attitude measurement

Abstract

The present application belongs to the field of aircraft control technology, and provides an aircraft adaptive thrust vectoring control method based on attitude measurement, which comprises the following steps: S1, measuring the pitch angle rate, pitch angle and speed pitch angle of the aircraft; S2, solving the pitch angle error signal and the pitch angle error integral signal; S3, solving the error related term adaptive signal; S4, solving the angle rate related term adaptive signal; S5, realizing the vectoring control according to the aircraft thrust vectoring pitch total control signal. The present application constructs an equivalent control term model through aerodynamic coefficients, combines each total signal to form a thrust vectoring total control signal, realizes the tracking and regulation of the expected pitch angle of the aircraft, adjusts the control gain parameters through real-time compensation of the speed pitch angle and the pitch angle flight control parameters, makes the aircraft adapt to the changes of the environment and aerodynamic parameters, so that the aircraft control system can dynamically compensate the interference factors in real time, and the control precision and stability of the aircraft are improved.

Description

Technical Field

[0001] This invention belongs to the field of aircraft attitude control technology, specifically relating to an adaptive thrust steering control method for aircraft based on attitude measurement. Background Technology

[0002] Aircraft, especially irregularly shaped aircraft, have attracted much attention due to their unique aerodynamic shape. Their control is also more difficult than that of conventional aircraft. In particular, the control of elliptical and disc-shaped aircraft often adopts redundant control configurations. On the one hand, this reduces the difficulty of control; on the other hand, the redundant configuration can ensure that the entire system remains stable even when a single control is unstable.

[0003] Existing aircraft control concepts are based on simultaneously considering two dimensions: torque stability and vertical force stability in the pitch channel, which introduces a degree of complexity. Furthermore, traditional aircraft typically employ a composite control system combining thrust steering and mass-moment control, with one system responsible for force balancing and the other for torque balancing and matching. However, considering special circumstances, such as a failure in the mass-moment control system, thrust steering control alone can still support basic stable flight. Therefore, it is necessary to propose an adaptive thrust steering control method for aircraft based on attitude measurement. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides an adaptive thrust steering control method for aircraft based on attitude measurement. By measuring the speed, pitch angle, pitch angle, and pitch rate, the method adaptively compensates for uncertainties related to the pitch angle, pitch angle, pitch rate, and pitch error hinge based on the pitch error and pitch rate. Then, it constructs an equivalent control term using model aerodynamic coefficients and combines the pitch rate, pitch error, pitch error integral, and adaptive signal to form the total thrust steering control quantity. This enables the aircraft to track and control the desired pitch angle, thereby improving the control accuracy and stability of the aircraft.

[0005] This invention provides an adaptive thrust steering control method for aircraft based on attitude measurement, which includes the following steps:

[0006] S1. Measure the pitch rate ω of the aircraft. z Pitch angle And velocity pitch angle θ;

[0007] S2. Install a thrust steering device at the axial tail end along the flight direction of the aircraft. The thrust pitch angle of the thrust steering device is ξ, and the desired pitch angle of the aircraft is set as... With the pitch angle ω of the aircraft z By comparison, the pitch angle error e is obtained, and by integration, the integral of the aircraft's pitch angle error s1 is obtained, specifically:

[0008]

[0009] S3, solving error correlation term adaptive signal;

[0010] S4, solving angular rate correlation term adaptive signal:

[0011] S5, solving aircraft thrust steering pitch total control signal, realizing steering control, its sub-steps include:

[0012] S51, according to the speed pitch angle θ and the pitch angle of the aircraft, and the aerodynamic parameters of the aircraft, designing the thrust steering equivalent control signal f e of the aircraft:

[0013]

[0014] In the formula, a 24 , a z are the aerodynamic parameters of the aircraft, both are constants;

[0015] The expression of the dynamic control model in the aircraft pitch channel control is:

[0016] Δu=K1Δα+K1Δq

[0017] In the formula, Δu is the control input signal of the elevator, Δα is the pitch angle deviation, Δq is the pitch angle velocity deviation, K1, K1 are control gains;

[0018] After receiving the pitch angle error e and the pitch angle rate ω z , the speed pitch angle θ and the pitch angle of the flight control parameters are compensated, the control gain parameters are adjusted to make the aircraft adapt to the changes of the environment and the aerodynamic parameters, so that the aircraft control system can dynamically compensate the interference factors in real time;

[0019] S52, superimposing the pitch angle error e, the pitch angle error integral s1, and the pitch angle rate ω z , the error correlation term adaptive signal f c , and the angular rate correlation term adaptive signal f d , forming the thrust steering pitch total control signal of the aircraft, and transmitting to the thrust steering device, controlling the thrust pitch swing angle of the engine to be equal to the thrust steering pitch total control signal of the aircraft, specifically:

[0020] ξ a =-l1ω z -l2e-l3s1+f c +f d -f e;

[0021] wherein ξ a is the total control signal of the thrust deflection pitch; l1, l2, l3 are control parameters, all being constants;

[0022] The equivalent control term is constructed by model aerodynamic coefficients, and the total control signal of the thrust deflection is composed of the pitch angle rate and the pitch angle error, the pitch angle error integral, and the adaptive signal, so as to realize the regulation and control of the aircraft to the expected pitch angle.

[0023] Preferably, the step S3 comprises the following sub-steps:

[0024] S31, according to the pitch angle error e and the speed pitch angle θ, solving the adaptive growth rate c of the error and speed pitch angle hinge factor 1d , and integrating to obtain the adaptive signal c1 of the error and speed pitch angle hinge;

[0025]

[0026] c1(n+1)=c1(n)+c 1d T

[0027] wherein k1 and k2 are constant parameters for adjusting the growth rate of the adaptive signal of the error and speed pitch angle hinge, ε1 is a constant parameter for softening the angle signal, and T is a constant integral parameter;

[0028] S32, according to the pitch angle error e and the pitch angle solving the adaptive growth rate c of the error and pitch angle hinge factor 2d , and integrating to obtain the adaptive signal c2 of the error and pitch angle hinge:

[0029]

[0030] c2(n+1)=c2(n)+c 2d T

[0031] wherein k3 and k4 are constant parameters for adjusting the growth rate of the adaptive signal of the error and pitch angle hinge;

[0032] S33, according to the pitch angle error e and the pitch angle rate ω z , solving the adaptive growth rate c of the error and pitch angle rate hinge factor 3d , and integrating to obtain the adaptive signal c3 of the error and pitch angle rate hinge:

[0033]

[0034] c3(n+1)=c3(n)+c 3d T

[0035] where k5 and k6 are constant parameters for adjusting the growth rate of the error and pitch rate hinge adaptive signal, and ε2 is a constant parameter;

[0036] S34, solving the error factor adaptive growth rate c according to the pitch angle error e 4d and integrating to obtain the error factor adaptive signal c4;

[0037]

[0038] c4(n+1) = c4(n) + c 4d T

[0039] where k7 and k8 are constant parameters for adjusting the growth rate of the error factor adaptive signal;

[0040] S35, signal superposition and comprehensive summary to obtain the error correlation term adaptive signal f c :

[0041]

[0042] Preferably, the step S4 comprises the following sub-steps:

[0043] S41, solving the angular rate and speed pitch angle hinge factor adaptive growth rate c according to the pitch angle rate ω z and the speed pitch angle θ; 5d and integrating to obtain the angular rate and speed pitch angle hinge adaptive signal c5:

[0044]

[0045] c5(n+1) = c5(n) + c 5d T

[0046] where d1 and d2 are constant parameters for adjusting the growth rate of the angular rate and speed pitch angle hinge adaptive signal;

[0047] S42, solving the angular rate and pitch angle hinge factor adaptive growth rate c according to the pitch angle rate ω z and the pitch angle ; 6d and integrating to obtain the angular rate and pitch angle hinge adaptive signal c6:

[0048]

[0049] c6(n+1) = c6(n) + c 6d T;

[0050] Where d3 and d4 are constant parameters for adjusting the angular rate and the pitch angle hinge adaptive signal growth rate;

[0051] S43, according to the pitch angle rate ω z , the angular rate factor adaptive growth rate c 7d is solved, and the angular rate factor adaptive signal c7 is integrated to obtain:

[0052]

[0053] c7(n+1) = c7(n) + c 7d T

[0054] Where d5 and d6 are constant parameters for adjusting the pitch angle rate adaptive signal growth rate;

[0055] S44, according to the pitch angle rate ω z and the pitch angle error c 1d , the angular rate and the pitch angle error hinge adaptive growth rate c 8d is solved, and the angular rate and the pitch angle error hinge adaptive signal c8 is integrated to obtain:

[0056]

[0057] c8(n+1) = c8(n) + c 8d T

[0058] Where d7 and d8 are constant parameters for adjusting the angular rate and the pitch angle error hinge adaptive signal growth rate;

[0059] S45, signal superposition and comprehensive summary, to obtain the angular rate related item adaptive signal f d :

[0060]

[0061] It can be preferred that first, the speed pitch angle θ, the pitch angle θ and the pitch angle rate ω z are measured, and then the pitch angle error e and the pitch angle rate ω z are respectively obtained according to the pitch angle error e and the pitch angle rate ω z , and the pitch angle error e hinge related uncertainty is adaptively compensated, and the angular and angular rate related adaptive signals are respectively obtained, and then the equivalent control item is constructed through the model aerodynamic coefficient construction, and the dynamics of the pitch angle rate ω z is designed by inversion, and combined with the pitch angle rate ω z and the pitch angle error e, the pitch angle error integral s1, and the adaptive signal f dThe total control amount of the thrust vectoring is composed to realize the tracking and regulation of the desired pitch angle of the aircraft.

[0062] It is preferred that the adaptive control of the thrust vectoring of the aircraft is realized by measuring the pitch angle rate ω z , the pitch angle and the speed-pitch angle θ.

[0063] The error and speed-pitch angle hinged adaptive signal c1 is:

[0064] c1 = ∫(k1 e + k2 e)dt

[0065] The error and pitch angle hinged adaptive signal c2 is:

[0066] c2 = ∫(k3 e + k4 θ)dt

[0067] The angle rate and speed-pitch angle hinged adaptive signal c5 is:

[0068] c5 = ∫(k5 θ + k6 θv)dt

[0069] The total control signal ξ a of the thrust vectoring pitch is:

[0070] ξ a = k7 e + k8 ∫edt + k9 e + adaptive signal

[0071] In the formula, k1, k2, k3, k4, k5 and k6 are adjustment parameters, and k7, k8, k9 are control gain parameters.

[0072] Compared with the prior art, the present application has the following advantages:

[0073] 1. The adaptive thrust vectoring control method of the aircraft based on attitude measurement,

[0074] 1. The speed-pitch angle, the pitch angle, the pitch angle rate and the pitch angle error are adaptively compensated according to the pitch angle error signal and the pitch angle rate signal, and the adaptive signals related to the angle and the angle rate are obtained, so that the whole control system can adapt to the changes of the environment and the aerodynamic parameters.

[0075] 2. The adaptive thrust vectoring control method of the aircraft based on attitude measurement, the equivalent control term is constructed by the model aerodynamic coefficient, the known structure information of the model is reasonably and effectively utilized, and the unknown part and the interference part can be adaptively compensated.

[0076] 3. The aircraft adaptive thrust vectoring control method based on attitude measurement of the present application adopts the matching mode of error integral, proportion and pitch angle rate, does not need the auxiliary of mass distance control, and can still ensure the stable flight of the aircraft alone when the mass distance control system fails.

[0077] 4. The aircraft adaptive thrust vectoring control method based on attitude measurement of the present application does not need to consider the dynamic compensation and stability problems of the force stability in the pitch vertical direction and the speed pitch angle, so that the whole system analysis and control logic and process are simple and effective. BRIEF DESCRIPTION OF DRAWINGS

[0078] Figure 1 is the flow chart of the aircraft adaptive thrust vectoring control method based on attitude measurement of the present application;

[0079] Figure 2 is the schematic diagram of the thrust vectoring device of the thrust vectoring control method of the present application;

[0080] Figure 3 is the aircraft pitch angle rate signal curve diagram of the embodiment of the thrust vectoring control method of the present application;

[0081] Figure 4 is the aircraft pitch angle curve diagram of the embodiment of the thrust vectoring control method of the present application;

[0082] Figure 5 is the aircraft speed pitch angle curve diagram of the embodiment of the thrust vectoring control method of the present application;

[0083] Figure 6 is the aircraft pitch angle error signal curve diagram of the embodiment of the thrust vectoring control method of the present application;

[0084] Figure 7 is the aircraft pitch angle error integral signal curve diagram of the embodiment of the thrust vectoring control method of the present application;

[0085] Figure 8 is the aircraft thrust vectoring total control signal curve diagram of the embodiment of the thrust vectoring control method of the present application. DETAILED DESCRIPTION

[0086] In order to make the technical content, structural features, purposes and effects of the present application clear, the following will be described in detail in combination with the drawings of the specification.

[0087] The aircraft adaptive thrust vectoring control method based on attitude measurement of the present application, as shown in Figure 1 , comprises the following steps:

[0088] S1, measuring the pitch angle rate ω of the aircraft z , the pitch angle The velocity pitch angle θ, its variation curve is as follows: Figures 3 to 5 As shown.

[0089] like Figure 4 As shown, the aircraft's pitch angle It rises to the desired value of 10° in about 1 second.

[0090] like Figure 5 As shown, the pitch angle error e converges to 0 in about 1 second;

[0091] S2. Install a thrust steering device at the axial tail end in the direction of flight of the aircraft, such as Figure 2 As shown, this embodiment uses a circular aircraft as an example. The method provided by this invention does not require the shape of the aircraft to be limited to circular, disc-shaped, or elliptical. Its thrust pitch angle is ξ. According to the flight mission, the desired pitch angle of the aircraft is set as... In this embodiment, the desired pitch angle signal of the aircraft is 10°, which is related to the aircraft's pitch angle ω. z By comparison, the pitch angle error e is obtained, and the pitch angle error e curve is shown below. Figure 6 As shown, the pitch angle error integral s1 is obtained by integration, specifically:

[0092]

[0093] S3. Solve for the adaptive signal of the error correlation term, which includes the following sub-steps:

[0094] S31. Based on the pitch angle error e and the velocity pitch angle θ, solve for the adaptive growth rate c of the hinge factor between the error and the velocity pitch angle. 1d And integrate to obtain the error and velocity pitch angle hinge adaptive signal c1;

[0095]

[0096] c1(n+1)=c1(n)+c 1d T

[0097] In the formula, k1 and k2 are constant parameters used to adjust the growth rate of the adaptive signal of the error and pitch angle hinge. In this embodiment, k1 = 0.1, k2 = 0.15, ε1 is a constant parameter used to soften the angle signal, and T is a constant integral parameter.

[0098] S32, Based on the pitch angle error e and the pitch angle The solution error and the adaptive growth rate c of the pitch hinge factor 2d And integrate to obtain the error and pitch angle hinge adaptive signal c2:

[0099]

[0100] c2(n + 1) = c2(n) + c 2d T

[0101] where k3 and k4 are constant parameters for adjusting the adaptive growth rate of the error and pitch angle hinge factor, in this embodiment k3 = 0.18 and k4 = 0.25;

[0102] S33, according to the pitch angle error e and the pitch angle rate ω z , solve the adaptive growth rate c of the error and pitch angle rate hinge factor 3d , and integrate to obtain the adaptive signal c3 of the error and pitch angle rate hinge:

[0103]

[0104] c3(n + 1) = c3(n) + c 3d T

[0105] where k5 and k6 are constant parameters for adjusting the adaptive growth rate of the error and pitch angle rate hinge, in this embodiment k5 = 0.35 and k6 = 0.05, and ε2 is a constant parameter;

[0106] S34, according to the pitch angle error e, solve the adaptive growth rate c of the error factor 4d , and integrate to obtain the adaptive signal c4 of the error factor;

[0107]

[0108] c4(n + 1) = c4(n) + c 4d T

[0109] where k7 and k8 are constant parameters for adjusting the adaptive growth rate of the error factor, in this embodiment k7 = 0.03 and k8 = 0.08.

[0110] S35, signal superposition and comprehensive summary, to obtain the adaptive signal f of the error related term c :

[0111]

[0112] S4, solve the adaptive signal of the angle rate related term, which includes the following sub-steps:

[0113] S41, according to the pitch angle rate ω z and the speed pitch angle θ, solve the adaptive growth rate c of the angle rate and speed pitch angle hinge factor 5d , and integrate to obtain the adaptive signal c5 of the angle rate and speed pitch angle hinge:

[0114]

[0115] c5(n+1) = c5(n) + c 5d T

[0116] where d1 and d2 are constant parameters for adjusting the adaptive growth rate of the angular rate and the pitch angle hinge, in this embodiment d1 = 0.25 and d2 = 0.13.

[0117] S42, according to the pitch angle rate ω z and the pitch angle error c solving the adaptive growth rate c 6d of the angular rate and the pitch angle hinge factor, and integrating to obtain the adaptive signal c6 of the angular rate and the pitch angle hinge:

[0118]

[0119] c6(n+1) = c6(n) + c 6d T

[0120] where d3 and d4 are constant parameters for adjusting the adaptive growth rate of the angular rate and the pitch angle hinge, in this embodiment d3 = 0.6 and d4 = 0.04.

[0121] S43, according to the pitch angle rate ω z solving the adaptive growth rate c 7d of the angular rate factor, and integrating to obtain the adaptive signal c7 of the angular rate factor:

[0122]

[0123] c7(n+1) = c7(n) + c 7d T

[0124] where d5 and d6 are constant parameters for adjusting the adaptive growth rate of the pitch angle rate, in this embodiment d5 = 0.33 and d6 = 0.02.

[0125] S44, according to the pitch angle rate ω z and the pitch angle error c 1d solving the adaptive growth rate c 8d of the angular rate and the pitch angle error hinge, and integrating to obtain the adaptive signal c8 of the angular rate and the pitch angle error hinge:

[0126]

[0127] c8(n+1) = c8(n) + c 8d T

[0128] Wherein, d7 and d8 are constant parameters, used for adjusting the angular rate and the pitch angle error hinge adaptive signal growth rate, in this embodiment, d7 = 0.05, d8 = 0.1.

[0129] S45, signal superposition and comprehensive summary, get angular rate related item adaptive signal f d :

[0130]

[0131] S5, solving the aircraft thrust steering pitch total control signal, realizing steering control, its sub-steps include:

[0132] S51, according to the speed pitch angle θ and the pitch angle of the aircraft, and the aerodynamic parameters of the aircraft, designing the thrust steering equivalent control signal f e :

[0133]

[0134] Wherein, a 24 , a z are the aerodynamic parameters of the aircraft, both are constants, in this embodiment, according to the wind tunnel test results of its shape size, a 24 = 829, a z = -12.89.

[0135] The expression of the dynamic control model in the aircraft pitch channel control is:

[0136] Δu = K1Δα + K1Δq

[0137] Wherein, Δu is the control input signal of the elevator, Δα is the pitch angle deviation, Δq is the pitch angle velocity deviation, K1, K1 is the control gain.

[0138] After receiving the pitch angle error e and the pitch angle rate ω z in step S5, the speed pitch angle θ, the pitch angle of the flight control parameters are compensated, the gain parameters are adjusted to make the aircraft adapt to the environment and aerodynamic parameter changes, so that the aircraft control system can compensate the interference factors in real time.

[0139] S52, superimposing the pitch angle error e, the pitch angle error integral s1, and the pitch angle rate ω z , the error related item adaptive signal f c and the angular rate related item adaptive signal f d , forming the thrust steering pitch total control signal of the aircraft, and transmitting to the thrust steering device, controlling the thrust pitch swing angle of the engine to be equal to the thrust steering pitch total control signal of the aircraft, specifically:

[0140] ξ a = -l1ω z -l2e-l3s1+f c +f d -f e ;

[0141] wherein, ξ a is the total control signal of the thrust vectoring and pitching; l1, l2, l3 are control parameters, all of which are constants, in the embodiment, l1=0.5, l2=1.5, and l3=0.1.

[0142] The total control signal of the thrust vectoring and pitching is obtained, the aircraft tracks the desired pitching angle, and the pitching channel control task is completed.

[0143] The adaptive control of the thrust vectoring of the aircraft is realized by measuring the pitching angle rate ω z , the pitching angle , and the speed pitching angle θ, and specifically:

[0144] The error and speed pitching angle hinged adaptive signal c1 is:

[0145] c1 = ∫(k1e+k2e)dt

[0146] The error and pitching angle hinged adaptive signal c2 is:

[0147] c2 = ∫(k3e+k4θ)dt

[0148] The angle rate and speed pitching angle hinged adaptive signal c5 is:

[0149] c5 = ∫(k5θ+k6θv)dt

[0150] The total control signal of the thrust vectoring and pitching ξ a is:

[0151] ξ a =k7e+k8∫edt+k9e+adaptive signal

[0152] wherein, k1, k2, k3, k4, k5, and k6 are adjustment parameters, and k7, k8, and k9 are control gain parameters.

[0153] First, the speed pitching angle θ, the pitching angle , and the pitching angle rate ω z are measured, and then the pitching angle error e and the pitching angle rate ω z are respectively used to control the speed pitching angle θ, the pitching angle , and the pitching angle rate ω zand the pitch angle error e, the pitch angle error integral s1 and the adaptive signal f z The dynamics of the pitch channel is designed by backstepping method, and combined with the pitch rate ω z and the pitch angle error e, the pitch angle error integral s1 and the adaptive signal f d The total control signal of the thrust vectoring is composed of the above signals, and the control task of the pitch channel is accomplished.

[0154] As shown in Figure 8 the total control signal of the thrust vectoring is smooth and stable at 0, and the maximum value of the whole process is not more than 4, and there is no obvious chattering and jitter, and the control signal can meet the engineering requirements, and the response of the whole system has very good smoothness and rapidity.

[0155] The adaptive thrust vectoring control method of the aircraft based on the attitude measurement can adaptively compensate the velocity pitch angle, the pitch angle, the angular rate and the pitch angle error according to the pitch angle error signal and the pitch rate signal, construct the equivalent control term through the model aerodynamic coefficient, combine the pitch rate and the pitch angle error, the pitch angle error integral and the adaptive signal to form the total control signal of the thrust vectoring, and realize the regulation and control of the aircraft to the expected pitch angle.

[0156] Moreover, according to the specific characteristics and flight task requirements of the aircraft, the flight control parameters are adjusted, the adaptive control is optimized, different flight requirements in each stage are adapted, the control signal can accumulate error information, the control strategy is gradually adjusted in the long-term flight process to adapt to the change trend of the aircraft attitude, and when facing external interference, the integral term can continuously act to make the aircraft restore to the expected flight state.

[0157] The above-described embodiments are only preferred embodiments of the present application, and do not limit the scope of the present application, and various modifications and improvements of the technical solutions of the present application made by those skilled in the art without departing from the design spirit of the present application shall fall within the protection scope of the present application.

Claims

1. A method for adaptive thrust vectoring control of an aircraft based on attitude measurements, characterized in that, It comprises the following steps: S1, measuring a pitch rate ω of the aircraft z , a pitch angle and a speed pitch angle θ; S2, installing a thrust deflection device at the axial tail of the aircraft in the direction of flight, the thrust pitch swing angle of the thrust deflection device is ξ, and the expected pitch angle of the aircraft is set as The pitch angle ω of the aircraft z The pitch angle error e is obtained by comparison, and the pitch angle error integral s1 of the aircraft is obtained by integration, specifically: S3, solving the error correlation term adaptive signal; S4, solving the angular rate correlation term adaptive signal: S5, solving the aircraft thrust steering pitch total control signal, realizing steering control, which comprises the following sub-steps: S51, designing a thrust vectoring equivalent control signal f of the aircraft according to the speed pitch angle θ and the pitch angle of the aircraft and the aerodynamic parameters of the aircraft e : where a 24 , a z are aerodynamic parameters of the aircraft, both are constants; The expression of the dynamic control model in the aircraft pitch channel control is: Δu=K1Δα+K1Δq In the formula, Δu is the control input signal of the elevator, Δα is the pitch angle deviation, Δq is the pitch angle velocity deviation, K1 and K1 are control gains; Receiving the pitch angle error e and the pitch angle rate ω z Afterwards, the velocity pitch angle θ, the pitch angle The flight control parameters are compensated, the aircraft is adapted to the environment and the aerodynamic parameter changes by adjusting the control gain parameters, so that the aircraft control system can dynamically compensate the interference factors in real time. S52, superimposing the pitch angle error e, the pitch angle error integral s1, and the pitch angle rate ω z , the error correlation term adaptive signal f c , the angular rate correlation term adaptive signal f d , forming the aircraft thrust steering pitch total control signal, and transmitting to the thrust steering device, controlling the engine thrust pitch swing angle equal to the aircraft thrust steering pitch total control signal ξ a , specifically: ξ a = -l1ω z -l2e-l3s1+f c +f d -f e ; In the formula, l1, l2 and l3 are control parameters, all of which are constants; An equivalent control term is constructed through model aerodynamic coefficients, and a thrust steering total control signal is composed of the pitch angle rate and the pitch angle error, the pitch angle error integral, and the adaptive signal, so as to realize the regulation and control of the aircraft on the expected pitch angle.

2. The attitude measurement based aircraft adaptive thrust vectoring control method of claim 1, wherein, The step S3 comprises the following sub-steps: S31, according to the pitch angle error e and the speed pitch angle θ, solve the pitch angle error and the speed pitch angle hinge factor adaptive growth rate c 1d And integrate the error and the speed pitch angle hinge adaptive signal c1; c1(n+1) = c1(n) + c 1d T In the formula, k1 and k2 are constant parameters for adjusting the growth rate of the error and the velocity pitch angle hinge adaptive signal, ε1 is a constant parameter for softening the angle signal, and T is a constant integral parameter; S32, the pitch angle error e is obtained according to the pitch angle error e and the pitch angle Solving the error and pitch angle hinge factor adaptive growth rate c 2d And integral error and pitch angle hinge adaptive signal c2: c2(n+1) = c2(n) + c 2d T In the formula, k3 and k4 are constant parameters for adjusting the growth rate of the error and the pitch angle hinge adaptive signal; S33, the pitch angle error e and the pitch angle rate ω z , solve the error and pitch angle rate hinge factor adaptive growth rate c 3d , and integrate the error and pitch angle rate hinge adaptive signal c3: c3(n+1) = c3(n) + c 3d T In the formula, k5 and k6 are constant parameters for adjusting the growth rate of the error and the pitch angle rate hinge adaptive signal, and ε2 is a constant parameter; S34, based on the pitch angle error e, solve the error factor adaptive growth rate c 4d And integral error factor adaptive signal c4; c4(n+1) = c4(n) + c 4d T In the formula, k7 and k8 are constant parameters for adjusting the growth rate of the error factor adaptive signal; S35, signal superposition and comprehensive summary, get error correlation term adaptive signal f c : 。 3. The attitude measurement based aircraft adaptive thrust vectoring control method of claim 1, wherein, The step S4 comprises the following sub-steps: S41、According to the pitch angle rate ω z And the speed pitch angle θ, solve the angular rate and the speed pitch angle hinge factor adaptive growth rate c 5d And integrate to get the angular rate and the speed pitch angle hinge adaptive signal c5: c5(n+1) = c5(n) + c 5d T In the formula, d1 and d2 are constant parameters for adjusting the growth rate of the angular rate and the velocity pitch angle hinge adaptive signal; S42, the pitch angle rate ω z with the pitch angle solving the angular rate and pitch angle hinge factor adaptive growth rate c 6d and integrating to get the angular rate and pitch angle hinge adaptive signal c6: c6(n+1) = c6(n) + c 6d T; In the formula, d3 and d4 are constant parameters for adjusting the growth rate of the angular rate and the pitch angle hinge adaptive signal; S43, the pitch angle rate ω z solving the angle rate factor adaptive growth rate c 7d and integrating to get the angle rate factor adaptive signal c7: c7(n+1) = c7(n) + c 7d T In the formula, d5 and d6 are constant parameters for adjusting the growth rate of the pitch angle rate adaptive signal; S44, the pitch angle rate ω z with the pitch angle error c 1d , the angular rate and pitch angle error c 8d , and integrating to get the angular rate and pitch angle error c8: c8(n+1) = c8(n) + c 8d T In the formula, d7 and d8 are constant parameters for adjusting the growth rate of the angular rate and the pitch angle error hinge adaptive signal; S45, signal superposition and comprehensive summary, get angular rate related item adaptive signal f d : 。 4. The attitude measurement based aircraft adaptive thrust vectoring control method of claim 1, wherein, The adaptive control of the aircraft thrust deflection is implemented by measuring the pitch angle rate ω z , the pitch angle and the speed pitch inclination θ, in particular: The error and velocity pitch angle hinge adaptive signal c1 is: c1=∫(k1e+k2e)dt The error and pitch angle hinge adaptive signal c2 is: c2=∫(k3e+k4θ)dt The angular rate and velocity pitch angle hinge adaptive signal c5 is: c5=∫(k5θ+k6θv)dt Thrust deflection pitch collective control signal ξ a is: ξ a = k7e + k8∫edt + k9e + adaptive signal In the formula, k1, k2, k3, k4, k5 and k6 are adjustment parameters, and k7, k8 and k9 are control gain parameters.

5. The attitude measurement based aircraft adaptive thrust vectoring control method of claim 4, wherein, By measuring the velocity pitch angle θ and pitch angle With pitch rate ω z Then, based on the pitch angle error e and the pitch rate ω respectively z For velocity pitch angle θ, pitch angle Pitch rate ω z Adaptive compensation is performed for uncertainties related to the pitch angle error e-hinge, obtaining adaptive signals related to angle and angular rate respectively. Then, an equivalent control term is constructed through the model aerodynamic coefficients, and finally, the pitch angular rate ω is used. z The dynamic characteristics of the system are designed using inversion and combined with the pitch rate ω. z And pitch angle error e, pitch angle error integral s1, adaptive signal f d It forms the overall thrust steering control variable, enabling the aircraft to track and control the desired pitch angle.

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