Overload control method based on acceleration information parameter adjustment

Abstract

The invention discloses an overload control method based on acceleration information parameter adjustment, and belongs to the field of aircraft stability control, and the method comprises the steps: (1) in a flight airspace, fitting parameter adjustment rules of a pitching channel and a yaw channel by taking a small synthesis overload state as a reference; (2) calculating a synthetic overload according to the acceleration; and (3) combining the parameter adjusting rules of the pitching channel and the yaw channel, synthesizing overload according to the flight speed of the aircraft, and adjusting the control parameters of the pitching channel and the yaw channel. According to the method, in a relatively small flight airspace, namely, the height change is small, the overload instruction is limited within a certain range, and under the condition that parameter adjustment cannot be carried out due to lack of synthetic attack angle information or large synthetic attack angle error, the pitching bias loop control parameters can be set through the acceleration information, and the control quality under different overload instructions is improved.

Description

Technical Field

[0001] The invention relates to an overload control method based on acceleration information parameter adjustment, belonging to the field of aircraft stability control. Background Art

[0002] The stability control system is an important component of the aircraft. During the flight, its function is to effectively suppress interference and respond to overload commands.

[0003] As the synthetic angle of attack changes, the static stability and rudder effect of the missile body usually change significantly. At present, synthetic angle of attack adjustment has become a conventional means to ensure the stable flight of the aircraft. However, for some aircraft, the synthetic angle of attack information error is large, which makes it impossible to use the control parameters during adjustment, making it difficult to ensure the stability and dynamic performance of the aircraft at different angles of attack. Summary of the invention

[0004] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and provide an overload control method based on acceleration information parameter adjustment, which is suitable for situations where the flight airspace is relatively small (altitude changes are small, and overload instructions are limited to a certain range) and the error of the synthetic angle of attack information is too large or missing. By adjusting the pitch loop control parameters, the control quality under different overload instructions is improved.

[0005] The technical solution of the present invention is: in a first aspect, an overload control method based on acceleration information parameter adjustment is provided, comprising:

[0006] In the flight airspace, the parameter adjustment rules of the pitch channel and yaw channel are fitted based on the small synthetic overload state;

[0007] Calculate the resultant overload based on the acceleration;

[0008] Combine the pitch channel and yaw channel parameter adjustment rules, and adjust the control parameters of the pitch channel and yaw channel according to the flight speed and synthetic overload of the aircraft;

[0009] The small synthetic overload refers to a synthetic overload of 5g to 10g, wherein g represents the acceleration due to gravity.

[0010] Preferably, the parameter adjustment rules of the pitch channel and the yaw channel are fitted based on the flight speed and the flight pressure, specifically:

[0011] K sf0 =a 1 q+a 2 V m +a 3

[0012] K i0 =b 1 q+b 2 Vm +b 3

[0013]

[0014] Among them, K sf0 is the damping loop control parameter under small synthetic overload of pitch channel, K i0 is the main circuit control parameter under the synthetic overload of the pitch channel, K g0 is the control parameter of the composite loop under small synthetic overload of the pitch channel, K a0 is the overload loop control parameter under small synthetic overload of pitch channel, which is used to simulate and verify K sf0 , K i0 , K g0 Correctness of parameter adjustment rules; V m is the flight speed, q is the flight pressure, g is the gravitational acceleration; a 1 、a 2 、a 3 , b 1 , b 2 , b 3 、c 1 、c 2 、c 3 is the coefficient of the fitting formula, and the pitch channel is a general term for the pitch channel and the yaw channel.

[0015] Preferably, the corresponding relationship between the synthetic overload N and the acceleration is:

[0016]

[0017] Among them, A y is the pitch channel acceleration, A z is the yaw channel acceleration, and g is the gravity acceleration.

[0018] Preferably, adjusting the control parameters of the pitch channel and the yaw channel includes: the control parameter K of the damping loop of the pitch and yaw channels sf , the main loop control parameter K of the pitch channel i , the control parameter K of the composite loop of the pitch channel g , pitch channel overload loop control parameter K a , specifically:

[0019] K sf =K sf0 ×k 1

[0020] K g =K g0 ×k 2

[0021] K i =Ki0 ×k 3

[0022]

[0023] Where: K sf0 is the control parameter of the damping circuit under small synthetic overload of the pitch channel, K i0 is the main circuit control parameter under small synthetic overload of pitch channel, K g0 is the control parameter of the composite loop under small synthetic overload of the pitch channel, k 1 =f 1 (N,V m ), k 2 =f 2 (N,V m ), k 3 =f 3 (N,V m );Wherein, V m is the flight speed, N is the synthetic overload, and the pitch channel is a general term for the pitch channel and the yaw channel.

[0024] Preferably, in a specific application, K is adjusted according to speed and synthetic overload. sf , K i , K g 1 to 3 parameters;

[0025] k 1 =f 1 (N,V m ), k 2 =f 2 (N,V m ), k 3 =f 3 (N,V m ) represents k 1 , k 2 , k 3 It varies with the synthetic overload and flight speed and can be represented by a piecewise function.

[0026] Preferably, k 1 The calculation formula is:

[0027]

[0028] d 1 d 2 , k 10 V is the intermediate variable used for parameter adjustment. m11 、V m21 is the speed of parameter adjustment; N 0 、N 1 It is the overload threshold value of the parameter adjustment.

[0029] Preferably, k 2 The calculation formula is:

[0030]

[0031] e 1 、e 2 , k 20 V is the intermediate variable used for parameter adjustment. m12 、V m22 is the speed of parameter adjustment, N 0 、N 1 To adjust the overload threshold.

[0032] Preferably, k 3 The calculation formula is:

[0033]

[0034]

[0035] f 1 、f 2 , k 30 V is the intermediate variable used for parameter adjustment. m13 、V m23 is the speed of parameter adjustment, N 0 、N 1 It is the overload threshold value of the parameter adjustment.

[0036] In a second aspect, a terminal device is provided, including:

[0037] a memory for storing instructions executed by at least one processor;

[0038] The processor is used to execute instructions stored in the memory to implement the overload control method based on acceleration information parameter adjustment as described above.

[0039] According to a third aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions. When the computer instructions are executed on a computer, the computer executes the overload control method based on acceleration information parameter adjustment as described above.

[0040] Compared with the prior art, the present invention has the following advantages:

[0041] When the synthetic angle of attack information is unavailable, acceleration information is introduced to adjust the parameters to ensure control stability and control quality under different overload commands. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a control principle block diagram of the pitch channel of the present invention;

[0043] Figure 2This is a control principle block diagram of the yaw channel of the present invention. DETAILED DESCRIPTION

[0044] The present invention provides an overload control method based on acceleration information parameter adjustment, comprising the following steps:

[0045] Step 1: In the flight airspace, based on the small synthetic overload state, the speed and dynamic pressure are used to fit the pitch loop parameter adjustment rules;

[0046] Step 2: Calculate the synthetic overload based on the acceleration;

[0047] Step 3: Adaptively adjust the control parameters of the pitch channel according to the speed and synthetic overload.

[0048] The above-mentioned overload control method based on acceleration information parameter adjustment, wherein, in the step one, the small synthetic overload state is taken as a reference, and the speed and dynamic pressure are used to fit the pitch channel parameter adjustment law. The small synthetic overload state specifically refers to the situation where the synthetic overload is less than a certain range, generally within 5 to 10g.

[0049] In the above-mentioned overload control method based on acceleration information parameter adjustment, in the step 1, the pitch loop adopts the speed and dynamic pressure fitting pitch channel parameter adjustment law according to the dynamic performance and stability margin requirements under small synthetic overload, which can be expressed as:

[0050] K sf0 =a 1 q+a 2 V m +a 3

[0051] K i0 =b 1 q+b 2 V m +b 3

[0052]

[0053] In the formula, K sf0 is the control parameter of the damping circuit under small synthetic overload of the pitch channel, K i0 is the control parameter of the main channel under small synthetic overload of the pitch channel, K g0 is the control parameter of the composite loop under small synthetic overload of the pitch channel, K a0 is the overload loop control parameter under small synthetic overload of pitch channel, V m is the flight speed, q is the flight pressure, and g is the gravitational acceleration. 1 、a 2 、a 3 , b 1 , b 2 , b3 、c 1 、c 2 、c 3 is the coefficient of the fitting formula. a0 The calculation is necessary for simulation verification of K sf0 , K i0 , K g0 The correctness of the parameter adjustment rules.

[0054] In the above-mentioned overload control method based on acceleration information parameter adjustment, in the step 2, the synthetic overload is calculated according to the acceleration, and the formula of the synthetic overload N is as follows:

[0055]

[0056] In the formula, A y is the pitch channel acceleration, A z is the yaw channel acceleration, and g is the gravity acceleration.

[0057] In the above-mentioned overload control method based on acceleration information parameter adjustment, in the step three, the pitch channel control parameters are adaptively adjusted according to the speed and the synthetic overload, specifically:

[0058] k 1 =f 1 (N,V m )

[0059] k 2 =f 2 (N,V m )

[0060] k 3 =f 3 (N,V m )

[0061] K sf =K sf0 ×k 1

[0062] K g =K g0 ×k 2

[0063] K i =K i0 ×k 3

[0064]

[0065] In the formula, K sf is the control parameter of the damping loop of the pitch channel, K i is the control parameter of the main loop of the pitch channel, Kg is the control parameter of the composite loop of the pitch channel, K a is the control parameter of the pitch channel overload loop, K sf0 , K i0 , K g0 is the control parameter for small synthetic overload, V m is the flight speed, N is the synthetic overload, k n =f n (N,V m ) represents k n It changes with the composite overload and speed. In specific applications, adjust K according to speed and composite overload sf , K i , K g There are 1 to 3 parameters in the table, but not all of them need to be adjusted.

[0066] In the above-mentioned overload control method based on acceleration information parameter adjustment, in step 3, the pitch channel control parameters are adaptively adjusted according to the speed and the synthetic overload, and the k used is 1 , k 2 , k 3 , the specific calculation formula can be expressed as:

[0067]

[0068] Where, d 1 d 2 、e 1 、e 2 、f 1 、f 2 , k 10 , k 20 , k 30 V is the intermediate variable used for parameter adjustment. m11 、V m12 、V m13 、V m21 、V m22 、V m23 、N 0 、N 1 The speed and overload threshold for parameter adjustment. The specific speed and overload branch number can be increased or decreased.

[0069] Example:

[0070] The following is a further detailed description of an overload control method based on acceleration information parameter adjustment of the present invention in conjunction with the accompanying drawings.

[0071] Taking a certain aircraft as an example to illustrate this method, the control principle diagram of the pitch channel can be shown as follows: Figure 1-Figure 2 As shown, K sf is the control parameter of the damping loop of the pitch channel, Ki is the control parameter of the main loop of the pitch channel, K g is the control parameter of the composite loop of the pitch channel, K a It is the control parameter of the pitch channel overload loop. The specific steps are described below:

[0072] 1. In the flight airspace, take 10g synthetic overload as the benchmark and design the pitch loop parameter adjustment rules according to speed and dynamic pressure;

[0073] K sf0 =a 1 q+a 2 V m +a 3

[0074] K i0 =b 1 q+b 2 V m +b 3

[0075]

[0076] In the formula, K sf0 is the control parameter of the damping circuit under small synthetic overload of the pitch channel, K i0 is the main circuit control parameter under small synthetic overload of pitch channel, K g0 is the control parameter of the composite loop under small synthetic overload of the pitch channel, K a0 a is the control parameter of the overload loop under small synthetic overload of the pitch channel, Vm is the flight speed, and q is the flight pressure. 1 、a 2 、a 3 , b 1 , b 2 , b 3 、c 1 、c 2 、c 3 are the coefficients of the fitting formula.

[0077] 2. Calculate the synthetic overload based on acceleration, specifically:

[0078]

[0079] In the formula, A y is the pitch channel acceleration, A z is the yaw channel acceleration, and g is the gravity acceleration.

[0080] 3. Adaptively adjust the pitch channel control parameters according to speed and synthetic overload, specifically:

[0081]

[0082]

[0083] k 2 =0.9k 1

[0084]

[0085] K sf =K sf0 ×k 1

[0086] K g =K g0 ×k 2

[0087] K i =K i0 ×k 3

[0088]

[0089] In the formula, K sf is the control parameter of the damping loop of the pitch channel, K i is the control parameter of the main loop of the pitch channel, K g is the control parameter of the composite loop of the pitch channel, K a is the control parameter of the pitch channel overload loop, K sf0 , K i0 , K g0 is the control parameter for small synthetic overload, V m is the flight speed, N is the synthetic overload, g is the gravitational acceleration, k 1 , k 2 , k 3 is the tuning coefficient, k 0 , k 30 is the intermediate variable used, V m1 , V m2 , V m13 , V m23 It is the speed adjustment threshold.

[0090] The present invention discloses an overload control method based on acceleration information parameter adjustment, which belongs to the field of aircraft stability control. In a relatively small flight airspace (small altitude change, overload command limited to a certain range), when the synthetic angle of attack information is missing or the synthetic angle of attack error is large and cannot be used for parameter adjustment, the pitch channel control parameters are adjusted by acceleration information to improve the control quality under different overload commands. The present invention includes the following steps: (1) In the flight airspace, with a small synthetic overload state as a reference, the pitch channel and yaw channel parameter adjustment rules are fitted; (2) The relationship between the synthetic angle of attack and the change of the aircraft's aerodynamic characteristics is analyzed, and the relationship between the synthetic overload and the change of the aerodynamic characteristics is obtained in combination with step (1); (3) The control parameters of the pitch channel and the yaw channel are adjusted according to the flight speed and synthetic overload of the aircraft.

[0091] In a second aspect, a terminal device is provided, including:

[0092] a memory for storing instructions executed by at least one processor;

[0093] The processor is used to execute instructions stored in the memory to implement the overload control method based on acceleration information parameter adjustment as described above.

[0094] According to a third aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions. When the computer instructions are executed on a computer, the computer executes the overload control method based on acceleration information parameter adjustment as described above.

[0095] The contents not described in detail in the specification of the present invention belong to the prior art known to the professional and technical personnel in this field.

Claims

1. An overload control method based on acceleration information parameter adjustment, characterized in that include: In the flight airspace, the parameter adjustment rules of the pitch channel and yaw channel are fitted based on the small synthetic overload state; Calculate the resultant overload based on the acceleration; Combine the pitch channel and yaw channel parameter adjustment rules, and adjust the control parameters of the pitch channel and yaw channel according to the flight speed and synthetic overload of the aircraft; The small synthetic overload refers to a synthetic overload of 5g to 10g, wherein g represents the acceleration due to gravity.

2. The overload control method based on acceleration information parameter adjustment according to claim 1 is characterized in that: The parameter adjustment rules of the pitch channel and yaw channel are fitted based on the flight speed and flight pressure, specifically: <h2 style=";text-align:left;direction:ltr">K<h2 style=";text-align:left;direction:ltr"> sf0 <h2 style=";text-align:left;direction:ltr"> =a1q+a2V<h2 style=";text-align:left;direction:ltr"> m <h2 style=";text-align:left;direction:ltr"> +a3 K i0 =b1q+b2V m +b3 Among them, K sf0 is the damping loop control parameter under small synthetic overload of pitch channel, K i0 is the main circuit control parameter under the synthetic overload of the pitch channel, K g0 is the control parameter of the composite loop under small synthetic overload of the pitch channel, K a0 is the overload loop control parameter under small synthetic overload of pitch channel, which is used to simulate and verify K sf0 , K i0 , K g0 Correctness of parameter adjustment rules; V m is the flight speed, q is the flight pressure, g is the gravitational acceleration; a1, a2, a3, b1, b2, b3, c1, c2, c3 are the coefficients of the fitting formula, and the pitch channel is a general term for the pitch channel and the yaw channel.

3. The overload control method based on acceleration information parameter adjustment according to claim 1 is characterized in that: The corresponding relationship between synthetic overload N and acceleration: Among them, A y is the pitch channel acceleration, A z is the yaw channel acceleration, and g is the gravity acceleration.

4. The overload control method based on acceleration information parameter adjustment according to claim 1 is characterized in that: Adjust the control parameters of the pitch channel and yaw channel, including: the control parameter K of the pitch channel damping loop sf , the main loop control parameter K of the pitch channel i , the control parameter K of the composite loop of the pitch channel g , pitch channel overload loop control parameter K a , specifically: K sf =K sf0 ×k1 K g =K g0 ×k2 K i =K i0 ×k3 Where: K sf0 is the control parameter of the damping circuit under small synthetic overload of the pitch channel, K i0 is the main circuit control parameter under small synthetic overload of pitch channel, K g0 is the control parameter of the composite loop under the small synthetic overload of the pitch channel, k1=f1(N,V m ), k2=f2(N,V m ), k3=f3(N,V m );Wherein, V m is the flight speed, N is the synthetic overload, and the pitch channel is a general term for the pitch channel and the yaw channel.

5. The overload control method based on acceleration information parameter adjustment according to claim 4 is characterized in that: In specific applications, adjust K according to speed and synthetic overload. sf , K i , K g 1 to 3 parameters; k1=f1(N,V m )、k2=f2(N,V m )、k3=f3(N,V m ) indicates that k1, k2, and k3 vary with the resultant overload and flight speed, and can be represented by a piecewise function.

6. The overload control method based on acceleration information parameter adjustment according to claim 5 is characterized in that: The calculation formula of k1 is: d1, d2, k 10 V is the intermediate variable used for parameter adjustment. m11 、V m21 is the speed of parameter adjustment; N0 and N1 are the overload threshold values ​​of parameter adjustment.

7. The overload control method based on acceleration information parameter adjustment according to claim 5 is characterized in that: The calculation formula of k2 is: e1, e2, k 20 V is the intermediate variable used for parameter adjustment. m12 、V m22 is the speed of parameter adjustment, N0 and N1 are the parameter adjustment overload threshold values.

8. The overload control method based on acceleration information parameter adjustment according to claim 5 is characterized in that: The calculation formula of k3 is: f1, f2, k 30 V is the intermediate variable used for parameter adjustment. m13 、V m23 is the speed of parameter adjustment, N0 and N1 are the overload threshold values ​​of parameter adjustment.

9. A terminal device, characterized in that: include: a memory for storing instructions executed by at least one processor; A processor, configured to execute instructions stored in a memory to implement a method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a computer, the computer is enabled to execute the method according to any one of claims 1 to 8.

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