Attitude control platform for full-aircraft wind tunnel test of elastic model

Abstract

The invention discloses an elastic model full-aircraft wind tunnel test attitude control platform, and the platform comprises the steps: calculating a parameter matrix of a system state-space equation through a state-space equation program panel, and obtaining a state derivative at a next moment; carrying out integral and dimension expansion processing on the state derivative at the next moment to obtain an LQR control law state space model, and processing the LQR control law state space model, the Q matrix and the R matrix by using a control to obtain an LQR control law gain and an LQR control law control quantity; processing an input incremental nonlinear dynamic inverse constant matrix by using a control to obtain an INDI control law state space model, and obtaining an INDI control law control quantity according to an INDI control law; and obtaining a closed-loop system characteristic diagram based on the LQR control law and a closed-loop system characteristic diagram based on the INDI control law based on the control law system performance analysis program panel, and determining a wind tunnel test attitude control result, thereby solving the problem that the implementation effect of a LabVIEW-based analysis control system cannot be realized and the characteristics of the control system cannot be identified and analyzed in the prior art.

Description

Technical Field

[0001] The present application relates to the field of aircraft control technology, and in particular to an attitude control platform for wind tunnel tests of elastic models of full aircraft. Background Art

[0002] In aircraft control system design, with the advancement of lightweight design, especially for aircraft with a high slenderness ratio, traditional rigid-body dynamics models are no longer able to fully describe their dynamic characteristics. While lightweighting improves flight performance, it also raises elasticity issues. Especially during high-speed flight, elastic vibrations of the fuselage significantly impact attitude control. This vibration poses new challenges to the aircraft's dynamic response, requiring control systems with higher precision and stability. Consequently, aircraft control systems face new demands and require the development of novel control methods to account for these elastic effects. To validate these methods, wind tunnel experiments are required to test their performance in actual flight environments. Therefore, specialized attitude control platforms need to be constructed and designed to verify new control methods. Furthermore, with the increasing diversity and complexity of aircraft designs, evaluating the performance of aircraft control systems has become increasingly important. System performance indicators such as stability, control accuracy, and response speed require optimization through advanced control algorithms. In this process, feedback matrix analysis and system characteristic analysis (such as response curves, Bode plots, and Nyquist plots) are important tools for evaluating system performance and provide a theoretical basis for optimizing aircraft control systems.

[0003] Currently, there are relatively few elastic aircraft attitude control platforms, and most of them are designed using MATLAB, while LabVIEW is rarely used. Elastic aircraft attitude control platforms designed using MATLAB are difficult to interact with hardware, and cannot achieve the implementation effect of the control system based on LabVIEW, as well as identify and analyze the characteristics of the control system. Summary of the Invention

[0004] The main purpose of this application is to provide an attitude control platform for wind tunnel tests of elastic models of full-aircraft, aiming to solve the technical problems of attitude control platforms for wind tunnel tests of elastic models of full-aircraft.

[0005] To achieve the above-mentioned purpose, the present application provides an elastic model full-aircraft wind tunnel test attitude control platform, including: a state-space equation program panel based on LabVIEW, an LQR control law control quantity calculation program panel, an INDI gain calculation program panel and a control law system performance analysis program panel; wherein, the state-space equation program panel is used to use a sequential structure to calculate the parameter matrix of the system state-space equation, and based on the parameter matrix, initial conditions and initial control gains, obtain the state derivative at the next moment; the LQR control law control quantity calculation program panel is used to integrate and expand the state derivative at the next moment to obtain the expanded parameter matrix, and use the Construct state-space Model.vi control to process the expanded parameter matrix and the input constant matrix to obtain the LQR control law state-space model, use the Linear QuadraticRegulator.vi control to process the input LQR control law state-space model, and the diagonal real number Q matrix and R matrix to obtain the LQR control law gain, and obtain the LQR control law control quantity according to the state matrix and the LQR control law gain at the next moment; the INDI gain calculation program panel is used to use the Construct state-space The Model.vi control processes the constant matrix of the input incremental nonlinear dynamic inverse to obtain the INDI control law state space model, and uses the Linear QuadraticRegulator.vi control to process the INDI control law state space model and the preset poles to obtain the INDI gain. According to the constant matrix and the INDI gain, the INDI control law control quantity is obtained; the control law system performance analysis program panel is used to obtain the LQR control law closed-loop system characteristic diagram of the aircraft based on the LQR control law control quantity feedback control, draw the INDI control law closed-loop system characteristic diagram of the aircraft based on the INDI control law control quantity feedback control, and determine the wind tunnel test attitude control results based on the LQR control law closed-loop system characteristic diagram and the INDI control law closed-loop system characteristic diagram.

[0006] Optionally, the state-space equation program panel includes an LQR control law state-space equation front panel and an INDI state-space equation front panel, and the LQR control law state-space equation front panel and the INDI state-space equation front panel are both used to: input preset data in the formula node to calculate the parameter matrix of the system state-space equation; input the instruction matrix composed of angles and heights, the initial constant matrix, the parameter matrix, the initial control quantity and the initial expanded-dimensional state matrix in the state-space equation program panel to obtain the true state matrix, and calculate the state derivative at the next moment based on the true state matrix and the system state-space equation, and display it on the front panel; wherein the initial state matrix, initial constant matrix and initial control quantity after expansion are all zero matrices.

[0007] Optionally, the platform also includes an animation display program panel, an altitude and pitch coordinate conversion program panel and an animation display front panel; wherein the animation display program panel is used to: draw the aircraft fixing rod based on the drawing multiple curves control; draw the aircraft and various aircraft components under the initial coordinates in the drawing multiple curves control and display them in the animation display front panel, wherein the various aircraft components include: aircraft wings, aircraft servos and aircraft servo shafts; the altitude and pitch coordinate conversion program panel is used to process the input altitude and pitch angle based on the altitude and pitch coordinate transformation algorithm, and the drawn aircraft and various aircraft components to obtain an aircraft animation diagram according to changes in altitude and pitch angle; the animation display front panel is used to display the aircraft animation diagram.

[0008] Optionally, it also includes: an integrator program panel, which is used to use the integral control to process the state derivative of the next moment to obtain the LQR control law parameter matrix and the INDI control law parameter matrix; an expansion program panel, which is used to: use the initialization array control to create an LQR control law all-zero array, and use the array to real number conversion control to convert the LQR control law all-zero array into an LQR control law all-zero matrix; use the create matrix control to add the LQR control law parameter matrix and the LQR control law all-zero matrix by column to obtain the expanded LQR control law parameter matrix, and display the expanded LQR control law parameter matrix in the expansion front panel; in the expansion program panel, use the initialization array control to create an INDI control law all-zero array, and use the array to real number conversion control to convert the INDI control law all-zero array into an INDI control law all-zero matrix; use the create matrix control to add the INDI control law parameter matrix and the INDI control law all-zero matrix by column to obtain the expanded INDI control law parameter matrix, and display the expanded INDI control law parameter matrix in the expansion front panel.

[0009] Optionally, the LQR control law control quantity calculation program panel is used to: use the matrix input control to read the next moment state matrix after dimension expansion; use the read sub-matrix control to read the first two rows of the next moment state matrix to obtain angle instructions and height instructions respectively; read all remaining rows of the next moment state matrix to obtain the current true state of the system; use the matrix input control to read the gain matrix, use the read sub-matrix control to read the first two columns of the expanded gain matrix, and obtain the LQR control law sub-matrix based on the multiplication result of the inverted first two columns and the first two rows of the next moment state matrix; use the read sub-matrix control to read the remaining columns of the expanded gain matrix, and obtain the INDI control law sub-matrix based on the multiplication result of the inverted remaining columns and the remaining rows of the state matrix, and obtain the LQR control law control quantity based on the added LQR control law sub-matrix and the INDI control law sub-matrix.

[0010] Optionally, the INDI gain calculation program panel is used to: in the INDI gain calculation program panel, obtain the sub-matrix control based on preset rules to obtain the index elements in the constant matrix, and process the INDI gain and index elements based on preset control law operation rules to obtain the INDI control law control quantity.

[0011] Optionally, it also includes: an LQR control law system performance analysis program panel, which is used to: process the LQR control law state space model through the Convert toTransfer Function Model.vi control to obtain the LQR control law transfer function model, and draw the state diagram of the open-loop state space equation and the open-loop transfer function based on the LQR control law transfer function model; create the LQR control law constant matrix and the INDI control law constant matrix as diagonal real number matrices by creating special matrix controls; input the diagonal real number matrices into the Root Locus.vi control, the Pole-Zero Map.vi control and the image drawing program respectively to obtain the open-loop height, open-loop pitch angle, root locus and zero-pole diagram; the LQR control law system performance analysis front panel is used to display the open-loop height, open-loop pitch angle, root locus and zero-pole diagram.

[0012] Optionally, the control law system performance analysis program panel is used to: create the Q matrix and the R matrix as diagonal real matrices by creating special matrix controls, and input the diagonal real matrices into the Linear QuadraticRegulator.vi control to obtain the LQR control law controller gain; input the LQR control law controller gain and the LQR control law controller gain into Regulator.vi to obtain the LQR control law closed-loop state space model; use the SPLIT2 subfunction to process the LQR control law closed-loop state space model to obtain each LQR control law output model, wherein each LQR control law output model includes: an altitude state space model, a pitch angle state space model, a complete state space model and a transfer function; use an image drawing program to process each LQR control law output model to obtain an LQR control law closed-loop system characteristic diagram.

[0013] Optionally, the INDI control law system performance analysis program panel is also used to: input the INDI gain and the INDI control law state space model into Regulator.vi to obtain the INDI control law closed-loop state space model; use the SPLIT2 sub-function to process the INDI control law closed-loop state space model to obtain each INDI control law output model, wherein each INDI control law output model includes: an altitude state space model, a pitch angle state space model, a complete state space model and a transfer function.

[0014] Optionally, the platform also includes: a hysteresis matrix stability analysis program panel, used to: determine the transfer function matrix of the LQR control law open-loop transfer function at a specified frequency based on the LQR control law gain and parameter matrix; determine the LQR control law hysteresis matrix based on the transfer function matrix and the LQR control law gain; based on the LQR control law hysteresis matrix, input the LQR control law hysteresis matrix into the SVD Decomposition.vi control to obtain singular values; and obtain a minimum singular value curve, amplitude margin and phase margin based on the singular values.

[0015] An elastic model full-aircraft wind tunnel test attitude control platform proposed in an embodiment of the present application uses a state-space equation program panel to use a sequential structure to calculate the parameter matrix of the system state-space equation, and obtain the state derivative at the next moment based on the parameter matrix, initial conditions and initial control gains; an LQR control law control quantity calculation program panel is used to integrate and expand the state derivative at the next moment to obtain the expanded parameter matrix, and use the Construct state-spaceModel.vi control to process the expanded parameter matrix and the input constant matrix to obtain the LQR control law state-space model, and use the Linear Quadratic Regulator.vi control to process the input LQR control law state-space model, as well as the diagonally realized Q matrix and R matrix to obtain the LQR control law gain, and obtain the LQR control law control quantity according to the next moment state matrix and the LQR control law gain; an INDI gain calculation program panel is used to use the Construct state-spaceModel.vi control to process the input constant matrix of the incremental nonlinear dynamic inverse to obtain the INDI control law state-space model, and use the Linear Quadratic Regulator.vi control to process the input The Regulator.vi control processes the INDI control law state space model and preset poles to obtain the INDI gain, and obtains the INDI control law control quantity based on the constant matrix and the INDI gain; the control law system performance analysis program panel is used to draw the LQR control law closed-loop system characteristic diagram of the aircraft based on the LQR control law control quantity feedback control, and to determine the wind tunnel test attitude control results based on the LQR control law closed-loop system characteristic diagram and the INDI control law closed-loop system characteristic diagram, which solves the problem that the existing technology cannot achieve the implementation effect of the control system analysis based on LabVIEW, and identify and analyze the characteristics of the control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A flow chart illustrating an embodiment of an attitude control platform for a full-aircraft wind tunnel test of an elastic model provided by this application;

[0017] Figure 2 A flow chart of the LQR control law control program provided for an embodiment of the elastic model full-aircraft wind tunnel test attitude control platform of this application;

[0018] Figure 3 A front panel diagram of the LQR control law state space equation provided in one embodiment of the elastic model full-aircraft wind tunnel test attitude control platform of this application;

[0019] Figure 4 A schematic diagram of the LQR control law state space equation program panel provided for an embodiment of the elastic model full-aircraft wind tunnel test attitude control platform of this application;

[0020] Figure 5 An INDI control program flow chart for an embodiment of the elastic model full-aircraft wind tunnel test attitude control platform provided in this application;

[0021] Figure 6 The INDI state space equation front panel provided for an embodiment of the elastic model full-aircraft wind tunnel test attitude control platform of this application;

[0022] Figure 7 An INDI state space equation program flow chart for an embodiment of the elastic model full-aircraft wind tunnel test attitude control platform provided in this application;

[0023] Figure 8 A schematic diagram of the INDI control calculation front panel provided for an embodiment of the elastic model full-aircraft wind tunnel test attitude control platform of this application;

[0024] Figure 9 A schematic diagram of the INDI control calculation program panel provided for an embodiment of the elastic model full-aircraft wind tunnel test attitude control platform of this application;

[0025] Figure 10 Schematic diagram of the A and B expanded front panels provided for an embodiment of the attitude control platform for the full-aircraft wind tunnel test of the elastic model of this application;

[0026] Figure 11 Schematic diagram of the A and B dimension expansion program panels provided for an embodiment of the elastic model full-aircraft wind tunnel test attitude control platform of this application;

[0027] Figure 12 A schematic diagram of the front panel of an animation display provided for an embodiment of the attitude control platform for the full-aircraft wind tunnel test of an elastic model of the present application;

[0028] Figure 13 A schematic diagram of the altitude-pitch coordinate conversion program panel provided for an embodiment of the attitude control platform for full-aircraft wind tunnel tests of elastic models of this application;

[0029] Figure 14A schematic diagram of a design for a storage-related program provided for an embodiment of the elastic model full-aircraft wind tunnel test attitude control platform of this application;

[0030] Figure 15 A schematic diagram of the saved data format provided for an embodiment of the elastic model full-aircraft wind tunnel test attitude control platform of this application;

[0031] Figure 16 A schematic diagram of the front panel for the performance analysis of the LQR control law system provided in one embodiment of the elastic model full-aircraft wind tunnel test attitude control platform of this application;

[0032] Figure 17 Schematic diagram of the LQR control law system performance analysis program panel provided for an embodiment of the elastic model full-aircraft wind tunnel test attitude control platform of this application;

[0033] Figure 18 Schematic diagram of the front panel of the INDI control law system performance analysis provided for an embodiment of the elastic model full-aircraft wind tunnel test attitude control platform of this application

[0034] Figure 19 Schematic diagram of the INDI control law system performance analysis program panel provided for an embodiment of the elastic model full-aircraft wind tunnel test attitude control platform of this application

[0035] Figure 20 A flow chart of the backlash matrix stability analysis program provided for an embodiment of the elastic model full-aircraft wind tunnel test attitude control platform of this application;

[0036] Figure 21 A schematic diagram of the front panel of the backlash matrix stability analysis provided by an embodiment of the attitude control platform for the full-aircraft wind tunnel test of the elastic model of this application;

[0037] Figure 22 A schematic diagram of the backlash matrix stability analysis program panel provided for an embodiment of the elastic model full-aircraft wind tunnel test attitude control platform of this application;

[0038] Figure 23 A schematic diagram of a serial port module provided for an embodiment of the attitude control platform for a full-aircraft wind tunnel test of an elastic model of this application;

[0039] Figure 24 A schematic diagram of a page jump program panel provided for an embodiment of the elastic model full-aircraft wind tunnel test attitude control platform of this application;

[0040] Figure 25 A schematic diagram of a page jump calling program panel provided for an embodiment of the elastic model full-aircraft wind tunnel test attitude control platform of this application.

[0041] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0042] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0043] LabVIEW stands for Laboratory Virtual Instrument Engineering Workbench. The program consists of three parts: the front panel, the program panel, icons, and connectors. LabVIEW is primarily used for developing virtual instruments, so it features many controls that resemble traditional instrument panels in appearance and function. These controls, such as knobs, buttons, switches, waveform displays, digital displays, and so on, can be easily placed on the front panel, and their color, size, and style can be adjusted. When programming block diagrams with LabVIEW, you don't have to be restricted by the details of conventional programming syntax. Select the desired function block from the function menu, place it in the appropriate location on the panel, and then connect the ports in each block with wires to transfer data between them.

[0044] Currently, there are relatively few attitude control platforms for flexible aircraft, and most platforms are designed using MATLAB, and rarely written using LabVIEW, making it difficult to interact with hardware data. The purpose of the present invention is to provide a set of attitude control platforms for flexible aircraft based on LabVIEW, to carry out research on the design and application of advanced control algorithms for aircraft attitude control systems, and to analyze the implementation effect of the control system and identify and analyze the characteristics of the control system. The present invention can interact with the hardware system to perform qualitative and quantitative analysis of the system performance. Finally, the present invention uses a hysteresis matrix to perform stability analysis on the system, which can provide a more accurate performance analysis of the system.

[0045] Specifically, the present invention can realize attitude control analysis of two control laws: LQR control law (Linear quadratic regulator) and INDI (Incremental Nonlinear Dynamic Inversion). This application can set the initial altitude, initial angle and wind speed of the aircraft by inputting, changing the setting tracking signal to a constant or sine and the control gain. The present invention can demonstrate the attitude of the aircraft in the form of animation, and display the curve of the aircraft altitude angle and the altitude angle value. It can also calculate the tracking time, overshoot, steady-state error, cumulative error, pitch moment and lift based on the curve of the aircraft altitude angle and the altitude angle value. Furthermore, the present invention can also display the control rudder curve, and simultaneously display the angle, speed, acceleration and the corresponding mean, root mean square and maximum value.

[0046] The present invention can analyze the system characteristics of both LQR and INDI control systems. By inputting the initial wind speed and control gain parameters, the present invention can plot response curves, Bode plots, Nywhist plots, zero-pole plots, and root locus plots. Furthermore, by setting the system correlation matrix and the control K matrix, the minimum singular value can be calculated using the hysteresis matrix.

[0047] Furthermore, the present application can also realize data interaction with the hardware platform, and the simulation platform data can be combined with the hardware to conduct experiments through serial port connection. The page interaction method designed by the present invention can be convenient for users to use.

[0048] Reference Figure 1 The elastic model full-aircraft wind tunnel test attitude control platform provided by the LQR control law embodiment of the present application may include:

[0049] LabVIEW-based state space equation program panel 10, LQR control law control quantity calculation program panel 20, INDI gain calculation program panel 30 and control law system performance analysis program panel 40;

[0050] The state space equation program panel 10 can be used to calculate the parameter matrix of the system state space equation using a sequential structure, and obtain the state derivative at the next moment based on the parameter matrix, initial conditions and initial control gains;

[0051] In one embodiment of the present application, the state-space equation program panel 10 includes: a state-space equation front panel and a state-space equation program panel;

[0052] The State-Space Equations front panel can be used to:

[0053] Enter the preset data in the formula node to calculate the parameter matrix of the system state space equation;

[0054] The State-Space Equation Programming Panel can be used to:

[0055] Input the command matrix composed of angles and heights, the initial constant matrix, the parameter matrix, the initial control variables, and the initial expanded-dimensional state matrix to obtain the true state matrix. Based on the true state matrix and the system state space equation, the state derivative at the next moment is calculated and displayed on the front panel.

[0056] Among them, the initial state matrix, initial constant matrix and initial control quantity after dimension expansion are all zero matrices.

[0057] Specifically, the system state space equation is expressed according to Design and expand the state matrix x by height error and angle error, that is, X=[ht -hα t -αx] T This part can realize the input of the state matrix X at the last moment, the wind speed v at the last moment, the control amount u at the last moment, the instruction matrix x composed of the input angle and height at the last moment t , output parameter matrix A, parameter matrix B, lift L, pitch moment M, and the state derivative at the next moment The subroutine of the above process is labeled "MODEL".

[0058] It should be noted that the front panel display of the state-space equation of the LQR control law is roughly the same as the front panel display of the state-space equation of the INDI control law. Here, the front panel of the state-space equation of the LQR control law is called the front panel of the LQR control law state-space equation, and the front panel of the state-space equation of the INDI control law is called the front panel of the INDI state-space equation.

[0059] refer to Figure 2 and Figure 3 , Figure 2 This is the flow chart of the LQR control law control program. Figure 3 This is the front panel for the LQR control law state-space equations. First, calculate the matrices A, B, and Q in the front panel. The front panel accepts inputs g and v through the Formula Node. The Formula Node calculates the elements of the A, B, and Q matrices based on the formulas entered. The Build Matrix control converts the matrix elements into row vectors. Then, the row vectors are fed back into the Build Matrix control to output the A, B, and Q matrices.

[0060] In the LQR control law state space equation program panel, construct the state space equation and calculate the lift L and pitch moment M. The constructed state space equation program panel can be referred to Figure 4 The "input control" of the state space equation program panel receives the input of the initial angle and height matrix x t , initial constant matrix C, initial control amount u, initial state matrix x. The "Get Submatrix" control receives the set reading behavior: 2 to the end, to read the second to the last row of the state matrix x, that is, the system's true state matrix x is X 2-5 The state matrix X is the expanded state matrix, and its 0th to 1st rows are the input angle and height instructions x. t The "attribute node" receives the A, B, and Q matrices to calculate the instruction error, that is, x t -CX 2-5 , and calculate the state derivative at the next moment, that is, The "Property Node" also inputs the command error and the next moment state derivative into the "Create Matrix" control to create a new matrix, thereby expanding the dimension of the state equation and outputting the expanded matrix X.

[0061] In the LQR control law, the program panel of the LQR control law state space equation of this application can also output lift L and pitch moment M. The initial control quantity u is set to read rows and columns as 0 through the "Get Matrix Element Control", the matrix is ​​converted into elements and input into the "Formula Node", the wind speed v is input into the "Formula Node", the angle theta and angular velocity dtheta in the parametric equation are input through the "Get Matrix Element Control", and the reading behavior is set to 2 and 3, the reading column is 0, and after reading, it is input into the "Formula Node". Finally, the lift L and pitch moment M are calculated according to the written formula to analyze the aircraft state.

[0062] refer to Figure 5 , Figure 5 For the INDI control program flow chart, a sequential structure is selected for the design of the program panel for the NDI state-space equation. First, in the INDI state-space equation front panel, the parameter matrices A, B, and Q are calculated. Gravitational acceleration g and wind speed v are input into the "Formula Node" through the input controls. The "Formula Node" calculates the elements of the A, B, and Q matrices based on the written formulas. The matrix elements are input into the component and output as a row vector matrix through the "Create Matrix Control". The row vector is then input into the "Create Matrix" control again to output the parameter matrices A, B, and Q.

[0063] Then, construct the state space equation in the state space equation program panel of INDI and calculate the lift L and pitch moment M. Input the system's true state matrix x and control variable u through the "input control". Output the A, B, and Q matrices calculated by the LQR control law frame through the "property node". Calculate the state derivative at the next moment, that is, Output the state derivative at the next moment as Among them, the state space equation program panel of INDI is as follows Figure 7 As shown, the front panel of the INDI state space equation is as follows Figure 6 shown.

[0064] Finally, After the integrator operation, the state matrix x of the next moment is obtained, and the state matrix x corresponding to the data line is animated and displayed. The INDI gain K of the INDI control law is calculated. The INDI gain K is multiplied by the state matrix x to obtain the control variable u, which is then fed back into the system state equation to complete the system closed loop. The control variable u is then processed and displayed.

[0065] In the INDI control law, the program panel for the NDI state-space equations in this application also outputs lift L and pitch moment M. The control variable u is converted into matrix elements using the "Get Matrix Element Control" and input into the "Formula Node." The x2 and x4 values ​​in the actual state matrix are read using the "Get Matrix Element Control," set to index lines 1 and 3, and index columns 0. After reading, they are input into the "Formula Node," and the lift L and pitch moment M are calculated based on the written formulas for analyzing the aircraft's state.

[0066] The LQR control law control quantity calculation program panel 20 can be used to integrate and expand the state derivatives at the next moment to obtain the expanded parameter matrix, and use the Construct state-space Model.vi control to process the expanded parameter matrix and the input constant matrix to obtain the LQR control law state space model, and use the Linear QuadraticRegulator.vi control to process the input LQR control law state space model, as well as the diagonal real number Q matrix and R matrix to obtain the LQR control law gain, and according to the state matrix and LQR control law gain at the next moment, the LQR control law control quantity is obtained.

[0067] The LQR control law control variable calculation program panel 20 can be specifically used for:

[0068] Use the matrix input control to read the state matrix at the next moment after dimension expansion;

[0069] Use the read sub-matrix control to read the first two rows of the state matrix at the next moment to obtain the angle command and height command respectively;

[0070] Read all the remaining rows of the state matrix at the next moment to get the current true state of the system;

[0071] Use the matrix input control to read the gain matrix, use the read submatrix control to read the first two columns of the expanded gain matrix, and obtain the LQR control law submatrix based on the multiplication result of the inverted first two columns and the first two rows of the state matrix at the next moment;

[0072] The remaining columns of the expanded gain matrix are read using the read submatrix control, and the INDI control law submatrix is ​​obtained based on the multiplication result of the inverted remaining columns and all the remaining rows of the state matrix. The LQR control law control quantity is obtained based on the added LQR control law submatrix and the INDI control law submatrix.

[0073] Specifically, the LQR control law gain calculation part calls Construct state-spaceModel.vi and Linear Quadratic Regulator.vi in ​​the LabVIEW library. Construct state-space Model.vi can construct the state equation model, and Linear Quadratic Regulator.vi can calculate the LQR control law gain K based on the state space equation and the set Q and R matrices.

[0074] refer to Figure 2-Figure 4 The LQR control law control variable calculation program panel 20 uses the state-space equation outputs A, B, and C to input the matrix expansion subroutine (AUG) to obtain the expanded parameter matrices A and B. These matrices are then input into Construct state-spaceModel.vi to build the state-space model. The LQR control law coefficient matrices Q and R are created as diagonal real matrices using the "Create Special Matrix" control and input into Linear Quadratic Regulator.vi. Simultaneously, the state-space model is input into LinearQuadratic Regulator.vi to obtain the LQR control law gain K.

[0075] The LQR control law control variable calculation program panel 20 calculates the LQR control law control variable u based on the state matrix X and the LQR control law gain K, u = -KX, and then feeds it back into the system state equation to complete the system closed loop. The subroutine is labeled "U_LQR Control Law."

[0076] refer to Figure 7 During actual execution, the LQR control law control quantity calculation program panel 20 reads the expanded-dimensional instructions and state matrix X through the matrix input control. The "Get Submatrix" control reads the elements of rows 0 to 1 of the state matrix X, i.e., the angle height and degree instructions. The elements of rows 2 to 1, i.e., the actual system state, are read. The expanded-dimensional gain matrix K is read through the matrix input control. The "Get Submatrix" control reads the elements of columns 0 to 1 and columns 2 to 1 of the K matrix, respectively. The elements of columns 0 to 1 of the K matrix are negated (-x) and multiplied by the elements of rows 0 to 1 of the state matrix X. The elements of columns 2 to 1 of the K matrix are negated (-x) and multiplied by the elements of rows 2 to 1 of the state matrix X. The two are added together to obtain the LQR control law control quantity u, and the elements of columns 2 to 1 of the K matrix are output.

[0077] The INDI gain calculation program panel 30 can be used to process the constant matrix of the input incremental nonlinear dynamic inverse using the Construct state-space Model.vi control to obtain the INDI control law state-space model, process the INDI control law state-space model and preset poles using the LinearQuadratic Regulator.vi control to obtain the INDI gain, and obtain the control variable of the INDI control law based on the constant matrix and the INDI gain;

[0078] In one embodiment of the present application, the INDI gain calculation program panel 30 can be used to:

[0079] The sub-matrix control is obtained based on a preset rule to obtain the index element in the constant matrix, and the INDI gain and the index element are processed based on a preset control law operation rule to obtain the control amount of the INDI control law.

[0080] In the specific implementation process, refer to Figure 8-Figure 9 In the INDI gain calculation program panel 30, in the INDI control law, first, set the initial parameters, then the initial parameters will be sent to the system state space equation, and the state derivative at the next moment will be obtained after calculation. And parameter matrices A and B. After the integrator operation, the state matrix x of the next moment is obtained, the corresponding data of the state matrix x is displayed, and it is processed and animated. The INDI control law is calculated to obtain the INDI gain. The INDI gain is multiplied by the state matrix X to obtain the INDI control law control variable, which is then fed back into the system state equation to complete the system closed loop. The INDI control law control variable is then processed and displayed. Figure 8 Front panel for INDI gain calculation. Figure 9 This is the panel diagram of the INDI gain calculation program.

[0081] According to A, B, x, Before calculating the INDI control law to obtain the INDI gain, the parameter matrix needs to be expanded.

[0082] In one embodiment of the present application, the elastic model full-aircraft wind tunnel test attitude control platform may further include an integrator program panel 80 and an expansion program panel 90, wherein the integrator program panel 80 may be used to process the state derivative at the next moment using the integration control to obtain the LQR control law parameter matrix and the INDI control law parameter matrix; the expansion program panel 90 may be used to: create an LQR control law all-zero array using the initialization array control, and convert the LQR control law all-zero array into an LQR control law all-zero matrix using the array to real number conversion control; and convert the LQR control law parameter matrix and the LQR control law parameter matrix into an LQR control law all-zero matrix using the create matrix control. After the all-zero matrix of the INDI control law is added column by column, the expanded LQR control law parameter matrix is ​​obtained, and the expanded LQR control law parameter matrix is ​​displayed in the expanded front panel; in the expanded program panel, the INDI control law all-zero array is created using the initialize array control, and the INDI control law all-zero array is converted into the INDI control law all-zero matrix using the array to real number conversion control; after the INDI control law parameter matrix and the INDI control law all-zero matrix are added column by column using the create matrix control, the expanded INDI control law parameter matrix is ​​obtained, and the expanded INDI control law parameter matrix is ​​displayed in the expanded front panel.

[0083] In the actual implementation process, refer to Figure 10 and Figure 11 , Figure 10 Expand the front panel for A and B, Figure 11 The A and B expansion program panel 90 allows you to input parameter matrices A and B and output the corresponding matrices after expansion. The program design for expanding parameter matrices A and B is shown in the figure below. The subroutine is labeled "AUG."

[0084] In the dimension expansion program panel 90, an array with 2 rows and 2 columns of 0 elements is created using the "Initialize Array" control. The array is converted to a matrix using the "Array to Real Number Conversion" control. After inputting the C matrix, it is negated (-x). The two matrices are added and created by columns using the "Create Matrix" control. An array with 4 rows and 2 columns of 0 elements is created using the "Initialize Array" control. The array is converted to a matrix using the "Array to Real Number Conversion" control. After inputting the A matrix, the two matrices are added and created by columns using the "Create Matrix" control. The two matrices created above are added by rows using the "Create Matrix" control to create the expanded dimension A matrix A_aug.

[0085] The dimension expansion program panel 90 creates a 2-row, 1-column array with 0 elements through the "Initialize Array" control, converts the array into a matrix through the "Array to Real Number Conversion" control, and after inputting the B matrix, adds the two matrices by column through the "Create Matrix" control to create the expanded dimension B matrix B_aug.

[0086] In one embodiment of the present application, the elastic model full-aircraft wind tunnel test attitude control platform provided by the present application may further include: an animation display program panel 50, an altitude pitch coordinate conversion program panel 60 and an animation display front panel 70;

[0087] The animation display program panel 50 can be used to:

[0088] Draw the aircraft's fixed rod based on the Draw Multiple Curves control;

[0089] Draw the aircraft and its components at the initial coordinates in the draw multiple curves control and display them in the animation display front panel 70, wherein the aircraft components include: aircraft wings, aircraft servos, and aircraft servo shafts;

[0090] The altitude-pitch coordinate conversion program panel 60 can be used to process the input altitude and pitch angle based on the altitude-pitch coordinate conversion algorithm, and draw the obtained aircraft and aircraft components to obtain an animated image of the aircraft according to the changes in altitude and pitch angle;

[0091] The animation display front panel 70 can be used to display an animated image of an aircraft.

[0092] In the specific implementation process, After the integrator operation, the state matrix x of the next moment is obtained, and the state matrix x corresponding data is animated. Before the display process, the aircraft animation needs to be drawn, refer to Figure 12 The animation display section of the front panel 70 allows you to input altitude, pitch angle, and servo angle to generate a side view of the aircraft to represent the current state. The animation section is labeled "Animation Display"

[0093] In order to realize the animation changing with the height and pitch angle in real time, the height pitch coordinate conversion program panel 60 is designed. Figure 13As shown. First, the elevation coordinate conversion program panel uses the "Unbundle by Name" control to split the original coordinate point's x and y coordinates. The "Convert to Double-Precision Floating Point" control converts the integer coordinates to double-precision floating-point (DBL) coordinates. The converted double-precision floating-point coordinates are x0 and y0. Next, the quadrant is determined based on the x coordinate to process the elevation angle. x-200 is used to determine whether it is less than 0. If so, the conditional structure decrements π from the elevation angle. If greater than or equal to 0, the conditional structure does not operate on the elevation angle. This yields the processed elevation angle, rotate. Finally, using the "Formula Node" based on the coordinate transformation principle, inputs x0, y0, and rotate are used to output the x and y coordinates, x1 and y1, rotated according to the elevation angle. These x and y coordinates are then converted to 64-bit integers (I64) using the "Convert to 64-bit Integer" control. Finally, x1 and y1 are bundled into a cluster using the "Bundle by Name" control. Using "Unbundle by Name" reads y1 and multiplies the height by 40, scaling it to the animation scale. Since upward is negative in the animation, the inverse (-x) is added to y1. After bundling using the "Bundle by Name" control, the transformed x and y coordinates are output, corresponding to the actual pitch angle and altitude data. Finally, the animation display program panel 50 outputs the dynamic image on the animation display front panel 70.

[0094] It should be noted that after obtaining the dynamic image and data, this application can save the relevant images and data, save the relevant program design diagram and save the data format diagram as shown in the following example. Figure 14-15 shown.

[0095] Specifically, the file save path is set through the "Current Path" and "Split Path" controls, and the DOC subroutine is used to detect whether there is an "LQR Control Law Control" folder in the specified path. If not, it is created. The folder path is the file save location.

[0096] To save the image, use the "Call Node" control, set the file type to BMP, set the target to File, set Always Overwrite to True (T), and set the file name through the "Create Path" control to save the image.

[0097] To save text, first set the file name using the "Create Path" control. Use the "Open / Create / Replace File" control to create or open the specified file, setting the operation to replace or create. Use the "Set File Position" control to set the file writing position to start. Use the "Write to Delimited Spreadsheet" control to write the data to the file, converting all numeric values ​​to strings using the "Number to Decimal String" control. Use the "Create Array" control to format the data and then input it into the "Write to Delimited Spreadsheet" control. Set "Append to File" to True (T) and the delimiter to a space. After all content has been written, use the "Close File" control to close the file, completing the text data saving.

[0098] The control law system performance analysis program panel 40 can be used to draw the LQR control law closed-loop system characteristic diagram of the LQR control law control quantity feedback control aircraft, draw the INDI control law closed-loop system characteristic diagram of the INDI control law control quantity feedback control aircraft, and determine the wind tunnel test attitude control results based on the LQR control law closed-loop system characteristic diagram and the INDI control law closed-loop system characteristic diagram.

[0099] In one embodiment of the present application, the LQR control law system performance analysis program panel 40 can be specifically used to:

[0100] Use the Convert to Transfer Function Model.vi control to process the LQR control law state-space model to obtain the LQR control law transfer function model. Based on the LQR control law transfer function model, draw the open-loop state-space equation and the state diagram of the open-loop transfer function.

[0101] Create LQR control law constant matrix and INDI control law constant matrix as diagonal real matrix by creating special matrix controls;

[0102] Input the diagonal real matrix into the Root Locus.vi control, the Pole-Zero Map.vi control, and the image drawing program to obtain the open-loop height, open-loop pitch angle, root locus, and zero-pole diagram;

[0103] The LQR control law system performance analysis front panel can be used to display open-loop altitude, open-loop pitch angle, root locus, and zero-pole diagrams.

[0104] Specifically, both the Q matrix and the R matrix are created as diagonal real matrices by creating special matrix controls, and the diagonal real matrices are input into the Linear Quadratic Regulator.vi control to obtain the LQR control law controller gains;

[0105] Input the LQR control law controller gain and LQR control law controller gain into Regulator.vi to obtain the LQR control law closed-loop state space model;

[0106] The LQR control law closed-loop state space model is processed using the SPLIT2 sub-function to obtain the output models of each LQR control law, wherein each LQR control law output model includes: an altitude state space model, a pitch angle state space model, a complete state space model, and a transfer function;

[0107] The output models of each LQR control law are processed using an image drawing program to obtain the characteristic diagram of the LQR control law closed-loop system.

[0108] During the specific implementation process, when analyzing the system characteristics of the LQR control law, initial parameters are first set. These initial parameters are then fed into the system state-space equations to obtain parameter matrices A and B. After dimension expansion, these matrices A and B are first fed into CD Construct state-space Model.vi to obtain the LQR control law state-space model. Then, gain calculation is performed using cd LinearQuadratic Regulator.vi to obtain gain K, which is then fed into CD State Regulator.vi to obtain the LQR control law transfer function model. It should be noted that the LQR control law transfer function model is a closed-loop controller model. Based on the LQR control law transfer function model and the LQR control law state-space model, relevant plotting functions can be used to draw response curves, Bode plots, Nywhist plots, zero-pole plots, and root locus plots. The state equation, open-loop transfer function, closed-loop transfer function, natural frequency, and damping ratio can also be displayed. The program design is shown in the figure below.

[0109] refer to Figure 16-17When analyzing the characteristics of the LQR control law system, first plot the system characteristics for the open-loop system. Input the constant matrix into the state-space equation MODEL subroutine to obtain the parameter matrices A and B. Input the parameter matrices A and B, along with the constant matrix C, into Construct state-space Model.vi to create the state-space model. Convert the state-space model to a transfer function model using Convert to Transfer Function Model.vi. Use the corresponding plotting functions to plot the open-loop state-space equations and open-loop transfer functions. Set the constant matrices C and D to 0 or 1 using the "Get Matrix Elements" control, splitting them into the effects of control on height and control on pitch angle. Input the constant matrices C and D, along with the parameter matrices A and B, into Construct state-space Model.vi to create the state-space model. Use Root Locus.vi and Pole-Zero Map.vi, along with the corresponding plotting routines, to plot the root loci and pole-zero diagrams for the open-loop height h and open-loop pitch angle α, respectively.

[0110] In one embodiment of the present application, the INDI control law system performance analysis program panel 40 can also be used to:

[0111] Input the INDI gain and INDI control law state space model into Regulator.vi to obtain the INDI control law closed-loop state space model;

[0112] The SPLIT2 sub-function is used to process the closed-loop state space model of the INDI control law to obtain each INDI control law output model, where each INDI control law output model includes: altitude state space model, pitch angle state space model, complete state space model and transfer function.

[0113] Then, the present application continues to draw the system characteristic diagram under the closed-loop system, that is, the INDI control law closed-loop system characteristic diagram of each INDI control law output model under the INDI control law closed-loop state space model.

[0114] refer to Figure 18-19When drawing the system characteristic diagram under the closed-loop system, this application inputs A, B, and C into the matrix expansion subroutine (AUG) to obtain the expanded parameter matrices A and B, and inputs the parameter matrices A and B into Construct state-spaceModel.vi to construct the INDI control law closed-loop state space model. The LQR control law coefficient matrices Q and R are created as diagonal real matrices through the "Create Special Matrix" control and input into Linear Quadratic Regulator.vi. At the same time, the INDI control law closed-loop state space model is input into Linear Quadratic Regulator.vi to obtain the controller gain input into Regulator.vi. At the same time, the state space model is input into Regulator.vi to obtain the INDI control law closed-loop state space model after adding control. The INDI control law closed-loop state space model is converted into each INDI control law output model through the SPLIT2 subfunction. Each INDI control law output model includes a state space model for height h, a state space model for pitch angle α, a complete state space model, and a transfer function. The system characteristic curve image of each INDI control law output model is drawn through the corresponding drawing program.

[0115] In one embodiment of the present application, the platform further includes:

[0116] The Backlash Matrix Stability Analysis program panel can be used to:

[0117] Determine the transfer function matrix of the open-loop transfer function of the LQR control law at a specified frequency based on the LQR control law gain and parameter matrix;

[0118] Determine the LQR control law hysteresis matrix based on the transfer function matrix and the LQR control law gain. Based on the LQR control law hysteresis matrix, input the LQR control law hysteresis matrix into the SVD Decomposition.vi control to obtain the singular values.

[0119] The minimum singular value curve, amplitude margin and phase margin are obtained based on the singular values.

[0120] refer to Figure 20-22 First, input the A and B matrices of the analyzed system and the controller transfer function matrix, substitute K(s) into s=jω for different frequencies, and calculate the value of the controller transfer function matrix at different frequencies. Then, according to G(s)=K(SI-A) -1 B, substitute s=jω and calculate the transfer function matrix at different frequencies. According to the definition of the hysteresis matrix I+K(s)G(s), the hysteresis matrix at different frequencies can be obtained. The minimum singular value is calculated and the curve is plotted for the frequency. The minimum value of the curve is taken according to

[0121]

[0122] The system amplitude margin and phase margin can be calculated. Figure 20 As shown, Figure 20 This is the flow chart of the hysteresis matrix stability analysis program. Figure 21 This is the front panel diagram of the hysteresis matrix stability analysis. Figure 22 This is the backlash matrix stability analysis program panel.

[0123] Specifically, when drawing the minimum singular value curve at different frequencies and calculating the amplitude margin and phase margin, the present application first creates a frequency sequence constant, and the "array subset" control indexes 44 to the last frequency sequence, and enters a For loop to index each frequency. Then, the controller transfer function matrix is ​​indexed into the transfer function in each transfer function matrix through two layers of For loops, and the transfer function gain K, numerator coefficient, and denominator coefficient are separated through the "unbundle by name" control. Finally, the separated frequency is converted to jω through "converting the real and imaginary parts to complex numbers", and each item of the numerator and denominator is indexed out through the For loop respectively. In the For loop, the jω substituted into the frequency is used to calculate the value of the transfer function numerator and denominator after substituting s=jω through the "power of x" control. After dividing the numerator by the denominator, multiplying by the gain K can realize the calculation of the value of the controller transfer function matrix after substituting s=jω.

[0124] Calculating the hysteresis matrix involves: obtaining the size of the A matrix using the "Array Size" control, setting the index to 0 using the "Index Array" control to obtain the number of rows in the A matrix, setting the matrix type to the identity matrix using the "Create Special Matrix" control to obtain the identity matrix, multiplying by jω and then subtracting A, and using the "Inverse Matrix" control to obtain (SI - A). -1 Further multiply the controller transfer function matrix by the value after substituting s=jω and multiplying the B matrix to obtain K(SI-A) -1 B. Get the matrix size through the "Array Size" control, set the index to 0 through the "Index Array" control to get the number of rows in the matrix, and set the matrix type to the identity matrix through the "Create Special Matrix" control to get the identity matrix. -1Adding B yields the system hysteresis matrix. Run the hysteresis matrix through SVDDecomposition.vi to obtain the singular values. Use the "Index Array" control to export the two singular values ​​separately. Use the "Maximum and Minimum" control to obtain the minimum singular value. After output, bundle it with the frequency using the "Index and Bundle Cluster Array" control and display it using the Display Curve control. Use the "Array Maximum and Minimum" control to obtain the maximum and minimum values ​​and corresponding indices of the minimum singular values. Based on the indices, obtain the frequencies corresponding to the maximum and minimum values ​​of the small singular values. Calculate the amplitude and phase margins using the formula node based on the minimum value of the minimum singular value.

[0125] Displaying the hysteresis matrix at different frequencies is similar to obtaining the hysteresis matrix described above. The difference is that the input is changed from a constant sequence to a manual input of a single value to obtain the hysteresis matrix at that frequency.

[0126] To display the controller's transfer function matrix, this application first indexes the controller transfer function K(s) through two layers of For loops. Then, the gain K is multiplied by the numerator using the "Unbundle by Name" control. The gain K is bundled with the numerator product, the denominator, and the time lag coefficient using the "Bundle" control, where the time lag coefficient is 0. The bundled data is then input into the "Bundle" control again to be bundled according to the transfer function model data format. The controller transfer function matrix K(s) is then displayed using the corresponding drawing program.

[0127] Finally, referring to FIG, the present invention realizes data interaction through the pre-serial port interface to realize data interaction with hardware. Figure 23 shown.

[0128] This application configures the input serial port through "VISA configure serial port", manually sets the I / O port, and sets the baud rate to 115200, so that the peripheral device can input and output data through the serial port.

[0129] The present invention designs a page switching program to realize page switching. First, a jump subroutine is designed, marked as JUMP, which can realize opening and closing the vi program file of the specified path. The program design is as follows Figure 24 shown.

[0130] Specifically, the path to the VI program to be opened is set using the Open Path input control. The VI subroutine properties are set using the "Open VI Reference" control. The method is set to Open (FP.Open) using the "Call Node," Activate (T) is set to True, and the window state is set to Maximized. The current state of the VI program is obtained again using the "Call Node." If the state is Idle, the method is set to Run (Run VI) using the "Call Node," and Wait until the execution is completed is set to False (F). If the state is otherwise, the step is skipped. The path to the VI program to be closed is set using the "Open VI Reference" control. The method is set to Close (FP.Close) using the "Call Node," and the method is set to Abort (Abort VI) using the "Call Node."

[0131] In the program call, according to Figure 25 The program shown can realize page switching and closing. According to the key press status, if it is true (T), the page jump program is executed; if it is not true, it is skipped. The page jump program calls the JUMP program to first obtain the current VI path address through the "Current VI Path" and input it into the JUMP program. Sequence close path. The current VI path address is obtained by the "Split Path" control to obtain the upper layer path address, and then the name of the VI program to be opened is entered through the "Create Path" control. Then enter the JUMP program to open the path, set it to execute the program (start) after opening, and then after the key is pressed, the current VI program is closed and the new VI program is opened and executed.

[0132] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An elastic model full-aircraft wind tunnel test attitude control platform, characterized by: include: LabVIEW-based state space equation program panel, LQR control law control quantity calculation program panel, INDI gain calculation program panel 30 and control law system performance analysis program panel; The state-space equation program panel is used to calculate the parameter matrix of the system state-space equation using a sequential structure, and obtain the state derivative at the next moment based on the parameter matrix, initial conditions, and initial control gains. The LQR control law control quantity calculation program panel is used to integrate and expand the state derivatives at the next moment to obtain the expanded parameter matrix. The Construct state-space Model.vi control is used to process the expanded parameter matrix and the input constant matrix to obtain the LQR control law state-space model. The Linear Quadratic Regulator.vi control is used to process the input LQR control law state-space model, as well as the diagonal real-numbered Q matrix and R matrix to obtain the LQR control law gain. Based on the state matrix and LQR control law gain at the next moment, the LQR control law control quantity is obtained. The INDI gain calculation program panel 30 is used to process the constant matrix of the input incremental nonlinear dynamic inverse using the Construct state-space Model.vi control to obtain the INDI control law state space model, and to process the INDI control law state space model and preset poles using the Linear QuadraticRegulator.vi control to obtain the INDI gain, and to obtain the control variable of the INDI control law according to the constant matrix and the INDI gain; The control law system performance analysis program panel is used to draw the LQR control law closed-loop system characteristic diagram of the aircraft based on the LQR control law control variable feedback control, draw the INDI control law closed-loop system characteristic diagram of the aircraft based on the INDI control law control variable feedback control, and determine the wind tunnel test attitude control results based on the LQR control law closed-loop system characteristic diagram and the INDI control law closed-loop system characteristic diagram.

2. The elastic model full-aircraft wind tunnel test attitude control platform according to claim 1, characterized in that: The state space equation program panel includes: State-space equation front panel and state-space equation program panel; The state-space equation front panel is used to: Enter the preset data in the formula node to calculate the parameter matrix of the system state space equation; The State Space Equations program panel is used to: Input the command matrix composed of angles and heights, the initial constant matrix, the parameter matrix, the initial control variables, and the initial expanded-dimensional state matrix to obtain the true state matrix. Based on the true state matrix and the system state space equation, the state derivative at the next moment is calculated and displayed on the front panel. Among them, the initial state matrix, initial constant matrix and initial control quantity after dimension expansion are all zero matrices.

3. The elastic model full-aircraft wind tunnel test attitude control platform according to claim 1, characterized in that: The platform also includes an animation display program panel, an altitude pitch coordinate conversion program panel and an animation display front panel; Among them, the animation display program panel is used to: Draw the aircraft's fixed rod based on the Draw Multiple Curves control; Draw the aircraft and its components at the initial coordinates in the Draw Multiple Curves control and display them in the animation display front panel, wherein the aircraft components include: aircraft wings, aircraft servos, and aircraft servo shafts; The altitude-pitch coordinate conversion program panel is used to process the input altitude and pitch angle based on the altitude-pitch coordinate conversion algorithm, and draw the resulting animated images of the aircraft and its components, thereby obtaining an animated image of the aircraft that changes according to the altitude and pitch angle. The animation display front panel is used to display the aircraft animation.

4. The elastic model full-aircraft wind tunnel test attitude control platform according to claim 1, characterized in that: Also includes: The integrator program panel is used to use the integral control to process the state derivative at the next moment to obtain the LQR control law parameter matrix and the INDI control law parameter matrix; Extension program panel, used to: Use the Initialize Array control to create an LQR control law all-zero array. Use the Array to Real control to convert the LQR control law all-zero array into an LQR control law all-zero matrix. Use the Create Matrix control to add the LQR control law parameter matrix and the LQR control law all-zero matrix column by column to obtain the expanded LQR control law parameter matrix, and display the expanded LQR control law parameter matrix on the expanded front panel. In the Dimension Expansion Program panel, use the Initialize Array control to create an INDI control law all-zero array, and use the Array to Real Convert control to convert the INDI control law all-zero array into an INDI control law all-zero matrix. After adding the INDI control law parameter matrix and the INDI control law all-zero matrix by column using the Create Matrix control, the expanded INDI control law parameter matrix is ​​obtained and displayed in the expanded front panel.

5. The elastic model full-aircraft wind tunnel test attitude control platform according to claim 1, characterized in that: The LQR control law control quantity calculation program panel is used to: Use the matrix input control to read the state matrix at the next moment after dimension expansion; Use the read sub-matrix control to read the first two rows of the state matrix at the next moment to obtain the angle command and height command respectively; Read all the remaining rows of the state matrix at the next moment to get the current true state of the system; Use the matrix input control to read the gain matrix, use the read submatrix control to read the first two columns of the expanded gain matrix, and obtain the LQR control law submatrix based on the multiplication result of the inverted first two columns and the first two rows of the state matrix at the next moment; The remaining columns of the expanded gain matrix are read using the read submatrix control, and the INDI control law submatrix is ​​obtained based on the multiplication result of the inverted remaining columns and all the remaining rows of the state matrix. The LQR control law control quantity is obtained based on the added LQR control law submatrix and the INDI control law submatrix.

6. The elastic model full-aircraft wind tunnel test attitude control platform according to claim 1, characterized in that: The INDI Gain Calculator panel is used to: The sub-matrix control is obtained based on a preset rule to obtain the index element in the constant matrix, and the INDI gain and the index element are processed based on a preset control law operation rule to obtain the control amount of the INDI control law.

7. The elastic model full-aircraft wind tunnel test attitude control platform according to claim 1, characterized in that: The Temperament System Profiler panel is also used to: Use the Convert to Transfer Function Model.vi control to process the LQR control law state-space model to obtain the LQR control law transfer function model. Based on the LQR control law transfer function model, draw the open-loop state-space equation and the state diagram of the open-loop transfer function. Create LQR control law constant matrix and INDI control law constant matrix as diagonal real matrix by creating special matrix controls; Input the diagonal real matrix into the Root Locus.vi control, the Pole-Zero Map.vi control, and the image drawing program to obtain the open-loop height, open-loop pitch angle, root locus, and zero-pole diagram; LQR control law system performance analysis front panel, used to display open-loop altitude, open-loop pitch angle, root locus, and zero-pole plots.

8. The elastic model full-aircraft wind tunnel test attitude control platform according to claim 1, characterized in that: The Control Law System Performance Analyzer panel is also used to: Create both the Q matrix and the R matrix as diagonal real matrices using the Create Special Matrix control. Input the diagonal real matrices into the Linear Quadratic Regulator.vi control to obtain the LQR control law controller gains. Input the LQR control law controller gain and LQR control law controller gain into Regulator.vi to obtain the LQR control law closed-loop state space model; The LQR control law closed-loop state space model is processed using the SPLIT2 sub-function to obtain the output models of each LQR control law, wherein each LQR control law output model includes: an altitude state space model, a pitch angle state space model, a complete state space model, and a transfer function; The output models of each LQR control law are processed using an image drawing program to obtain the characteristic diagram of the LQR control law closed-loop system.

9. The elastic model full-aircraft wind tunnel test attitude control platform according to claim 1, characterized in that: The Temperament System Profiler panel is also used to: Input the INDI gain and INDI control law state space model into Regulator.vi to obtain the INDI control law closed-loop state space model; The SPLIT2 sub-function is used to process the closed-loop state space model of the INDI control law to obtain each INDI control law output model, where each INDI control law output model includes: altitude state space model, pitch angle state space model, complete state space model and transfer function.

10. The elastic model full-aircraft wind tunnel test attitude control platform according to claim 1, characterized in that: The platform also includes: The backlash matrix stability analysis program panel is used to: Determine the transfer function matrix of the open-loop transfer function of the LQR control law at a specified frequency based on the LQR control law gain and parameter matrix; Determine the LQR control law hysteresis matrix based on the transfer function matrix and the LQR control law gain. Based on the LQR control law hysteresis matrix, input the LQR control law hysteresis matrix into the SVD Decomposition.vi control to obtain the singular values. The minimum singular value curve, amplitude margin and phase margin are obtained based on the singular values.

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