High-speed unmanned aerial vehicle structure servo elastic coupling vibration suppression control method

Abstract

The invention relates to the technical field of signal processing, in particular to a high-speed unmanned aerial vehicle structure servo elastic coupling vibration suppression control method, system and device, a medium and a program product. Obtaining a target control loop causing resonance; spectral analysis is carried out, and double-center frequencies causing resonance are obtained; a cascade wave trap with double center frequencies is designed; and the servo elastic coupling vibration of the unmanned aerial vehicle structure is suppressed. According to the method, the problems of difficulty in structure modification, narrow notch frequency range and large low-pass filtering delay of an existing structure servo elastic coupling resonance solving method are solved, the performance of a control system cannot be reduced, and the flight safety is ensured.

Description

Technical Field

[0001] This invention relates to the field of signal processing technology, specifically to a method, system, device, medium, and program product for servo elastic coupling vibration suppression control of a high-speed unmanned aerial vehicle (UAV) structure. Background Technology

[0002] With the continuous development of modern UAV technology, the precise attitude control and high-maneuverability control of high-speed UAVs place higher demands on the bandwidth of the control system. However, high-bandwidth control systems can often detect minute vibrations in the airframe structure, which are then superimposed on the servo deflection commands through control law calculations. The servo's movement further generates vibrations, forming a closed loop and resulting in continuous servo oscillations, leading to a structural servo elastic coupling resonance problem. This phenomenon can cause serious damage to the UAV's servo, control surfaces, and airframe structure, thus having a catastrophic impact on flight safety.

[0003] Traditional solutions to the structural servo elastic coupling resonance problem primarily focus on structural design optimization. However, this approach suffers from numerous overall structural constraints and can easily lead to increased overall machine weight, making it difficult to completely avoid the problem. In recent years, advancements in digital filtering technology have offered a superior solution to the structural servo elastic coupling resonance problem. Introducing filters into the control system to actively suppress resonant frequencies can resolve this issue at a lower cost.

[0004] However, some high-speed UAVs may experience structural servo elastic coupling resonance at multiple frequencies. Commonly used notch filters are only effective in suppressing resonances caused by a single frequency point and a narrow range of vibration spectrum distribution. While low-pass filters can attenuate vibrations above a certain frequency, they often suffer from insufficient attenuation depth and increased signal delay. For the control system of high-speed UAVs, the delay introduced by filtering leads to a decrease in control performance, and in severe cases, may even cause control vibration or divergence. Therefore, current resonance suppression methods are insufficient to meet the control system requirements of some delay-sensitive high-speed UAVs.

[0005] Therefore, a servo elastic coupling vibration suppression control method for high-speed unmanned aerial vehicle structures is needed to solve the above problems. Summary of the Invention

[0006] To address the problem that current resonance suppression methods for certain delay-sensitive high-speed UAVs cannot meet the requirements of the control system, this invention provides a servo elastic coupling vibration suppression control method for high-speed UAV structures to solve the existing problems.

[0007] The first aspect of this invention provides a servo-elastic coupling vibration suppression control method for a high-speed unmanned aerial vehicle (UAV) structure, the method employing the following technical solution, including: To maintain the high-speed UAV control system in a closed-loop state, external disturbances were applied and experimental data was acquired. The experimental data included: servo control quantities, servo feedback quantities, sensor data, control law inputs, and control law outputs for each control surface. Based on the experimental data, determine the target control surface that causes resonance and the target control loop in that control surface that causes resonance; Spectral analysis is performed on the target sensor data corresponding to the target control loop to obtain the signal spectrum corresponding to the target sensor data under resonance state; the dual center frequencies that cause resonance are extracted from the signal spectrum. Design a cascaded notch filter with dual center frequencies; A cascaded notch filter with dual center frequencies is introduced into the feedback channel of the target control loop of the control system. The cascaded notch filter is used to filter the disturbance signal in order to suppress the servo elastic coupling vibration of the UAV structure.

[0008] A further technical solution of the present invention is that the step of determining the target control loop that causes resonance is as follows: Based on the servo feedback amount corresponding to each control surface, determine the curve of the servo feedback amount; If the control surface whose servo feedback curve is an oscillating divergent waveform is taken as the target control surface that causes resonance, then the control loop corresponding to the target control surface is the target control loop.

[0009] A further technical solution of the present invention is to perform a fast Fourier transform on the target sensor data corresponding to the target control loop to obtain its signal spectrum under the resonance state.

[0010] A further technical solution of the present invention is that the step of extracting the dual center frequencies that cause resonance in the signal spectrum is: taking the frequencies corresponding to the two maximum amplitudes in the signal spectrum as the dual center frequencies that cause resonance.

[0011] A further technical solution of the present invention is that the steps for designing a cascaded notch filter with dual center frequencies are as follows: Notch filters were designed for the two center frequencies respectively, and the discrete-domain transfer function of the notch filter was obtained as follows:

[0012] In the formula, For the first Discrete domain transfer function of a notch filter corresponding to a center frequency; For complex variables in a discrete-time system; This is the notch bandwidth adjustment factor; ; , The sampling frequency; For the first Notch bandwidth corresponding to each center frequency; For the first One center frequency; For the first Notch bandwidth corresponding to each center frequency; The discrete transfer function of a cascaded dual-center-frequency notch filter can then be expressed as:

[0013] In the formula, The discrete transfer function of a cascaded dual-center-frequency notch filter; Let be the discrete domain transfer function of the notch filter corresponding to the first center frequency; This is the discrete-domain transfer function of the notch filter corresponding to the second center frequency.

[0014] A further technical solution of the present invention is as follows: The expression is:

[0015] In the formula, These are intermediate calculation parameters; This refers to the gain coefficient corresponding to the attenuation. For the first Notch bandwidth corresponding to each center frequency; To require both sides of the center frequency The attenuation depth at the frequency.

[0016] A second aspect of the present invention provides a high-speed unmanned aerial vehicle (UAV) structural servo elastic coupling vibration suppression control system, comprising: The data acquisition module is used to apply external disturbances to the control system of the high-speed UAV in a closed-loop state and acquire test data. The test data includes: servo control quantities, servo feedback quantities, angular velocities, angular accelerations, control law inputs and control law outputs corresponding to each control surface. The target control loop positioning module is used to determine the target control surface that causes resonance and the target control loop in the control surface that causes resonance based on test data. The spectrum analysis module is used to perform spectrum analysis on the target sensor data corresponding to the target control loop, obtain the signal spectrum corresponding to the target sensor data under resonance state, and extract the dual center frequencies that cause resonance in the signal spectrum; Cascaded notch filter design module, used to design cascaded notch filters with dual center frequencies; The vibration suppression module is used to introduce a cascaded notch filter with dual center frequencies into the feedback channel of the target control loop of the control system. The cascaded notch filter is used to filter the disturbance signal to suppress the servo elastic coupling vibration of the UAV structure.

[0017] A third aspect of the present invention provides an electronic device, a processor, a memory, and a computer program stored in the memory, wherein the computer program, when executed by the processor, implements the steps of the method provided in the first aspect of the present invention.

[0018] A fourth aspect of the present invention provides a program product including a computer program that, when run, performs the steps of the method provided in the first aspect of the present invention.

[0019] A fifth aspect of the invention provides a storage medium having a computer program stored thereon, which, when run, performs the steps of the method provided in the first aspect of the invention.

[0020] The beneficial effects of this invention are: By designing a cascaded notch filter with dual center frequencies, this invention suppresses the structural servo elastic coupling resonance problem in high-speed unmanned aerial vehicles (UAVs) exhibiting multiple vibration frequencies and a wide vibration spectrum distribution. Compared to the notch filters and low-pass filters introduced by traditional structural servo elastic coupling resonance methods, the dual-center-frequency cascaded notch filter of this invention combines the advantages of wide bandwidth and low delay without degrading the original control performance of the UAV. In other words, this invention solves the problems of difficult structural modification, narrow notch frequency range, and large low-pass filter delay in existing solutions to structural servo elastic coupling resonance, without compromising control system performance and ensuring flight safety. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart illustrating an embodiment of a high-speed unmanned aerial vehicle (UAV) structural servo elastic coupling vibration suppression control method according to the present invention. Figure 2 This is a schematic diagram of roll angular velocity data in an embodiment of the present invention; Figure 3 This is a schematic diagram of the frequency domain single-sided amplitude spectrum of the roll angular velocity data in an embodiment of the present invention; Figure 4 This is a schematic diagram comparing amplitudes under different bandwidths in an embodiment of the present invention; Figure 5 This is a schematic diagram of phase comparison under different bandwidths in an embodiment of the present invention; Figure 6This is a schematic diagram comparing the phase delay in the amplitude-frequency characteristics of the cascaded notch filter, the first-order low-pass filter, and the second-order low-pass filter in the embodiments of the present invention. Figure 7 This is a schematic diagram comparing the filtering depth in the amplitude-frequency characteristics of the cascaded notch filter, the first-order low-pass filter, and the second-order low-pass filter in the embodiments of the present invention. Figure 8 This is a block diagram of the servo elastic coupling vibration active suppression control system for the roll angular velocity channel structure in an embodiment of the present invention; Figure 9 This is a schematic diagram of the signal spectrum after superimposed noise signal in an embodiment of the present invention; Figure 10 This is a schematic diagram of the signal spectrum after filtering by the cascaded notch filter in an embodiment of the present invention; Figure 11 This is a schematic diagram comparing the filtering time domain of the cascaded filter and the first-order low-pass filter in an embodiment of the present invention. Figure 12 This is a schematic diagram of the single-sided amplitude spectrum of the roll angular velocity of the active suppression control system in an embodiment of the present invention; Figure 13 This is a schematic diagram of an electronic device suitable for implementing embodiments of the present invention. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] An embodiment of the servo-elastic coupling vibration suppression control method for high-speed unmanned aerial vehicle structures according to the present invention is as follows: Figure 1 As shown, it includes: S1. Obtain experimental data; Specifically, external disturbances are applied to the control system of the high-speed UAV in closed-loop state, and test data is acquired. The test data includes: servo control quantities, servo feedback quantities, sensor data, control law inputs, and control law outputs corresponding to each control surface.

[0025] For example, in one specific embodiment, the sensor data includes: the UAV's roll rate, pitch rate, yaw rate, roll angle, pitch angle, yaw angle, rudder control quantity, rudder feedback quantity, aileron control quantity, aileron feedback quantity, elevator control quantity, and elevator feedback quantity.

[0026] S2. Obtain the target control loop that causes resonance; Specifically, the target control surface that causes resonance and the target control loop in that control surface that causes resonance are determined based on the test data.

[0027] For example, in this embodiment, the control system of the high-speed UAV is kept in a closed loop state. An external disturbance is applied, and the servo feedback of each control surface is analyzed. The control surface whose servo feedback curve is an oscillating divergent waveform is taken as the target control surface that causes resonance. That is, in this embodiment, it is found that the external excitation causes the UAV's horizontal tail to produce large vibrations. Then, the control loop corresponding to the UAV's roll angular velocity is taken as the target control loop.

[0028] S3. Perform spectrum analysis and obtain the dual center frequencies that cause resonance; Specifically, spectral analysis is performed on the target sensor data corresponding to the target control loop to obtain the signal spectrum corresponding to the target sensor data under resonance state; the dual center frequencies that cause resonance are extracted from the signal spectrum.

[0029] For example, in one specific embodiment, the signal spectrum under the resonance state is obtained by performing a fast Fourier transform on the target sensor data corresponding to the target control loop.

[0030] For example, in one specific embodiment, the target sensor data (roll angular velocity) corresponding to the target control loop that causes structural servo elastic coupling resonance in step 2 is selected for spectrum analysis, i.e., data acquired from the inertial navigation system is used. Figure 2 The roll angular velocity data of the UAV shown is analyzed by performing a one-sided amplitude spectrum analysis on the roll angular velocity data, as shown below. Figure 3 The signal spectrum of the roll angular velocity under the resonant state shown is from Figure 3 The spectrum of the channel signal for roll angular velocity can be seen to include... Multiple structural servo elastic coupling resonant frequencies, among which, in the figure This exceeds the drone's response frequency, so it is not considered in this embodiment. (See figure.) Since the frequency is the fundamental frequency of the drone, the main vibration energy in this embodiment is concentrated in... and The vibration spectrum has a wide distribution range, mainly between 20Hz and 40Hz, meaning the dual center frequencies that cause resonance are... and .

[0031] S4. Design a cascaded notch filter with dual center frequencies; For example, in one specific embodiment, the steps for designing a cascaded notch filter with dual center frequencies are as follows: the frequencies corresponding to the two maximum amplitudes in the signal spectrum are used as the dual center frequencies that cause resonance.

[0032] Notch filters were designed for the two center frequencies respectively, and the discrete-domain transfer function of the notch filter was obtained as follows:

[0033] In the formula, For the first Discrete domain transfer function of a notch filter corresponding to a center frequency; For complex variables in a discrete-time system; This is the notch bandwidth adjustment factor; ; , The sampling frequency; For the first Notch bandwidth (analog domain) corresponding to each center frequency; For the first One center frequency; For the first Notch bandwidth (digital angular frequency) corresponding to each center frequency; in, The expression is:

[0034] In the formula, These are intermediate calculation parameters; This refers to the gain coefficient corresponding to the attenuation. For the first Notch bandwidth (digital angular frequency) corresponding to each center frequency; To require both sides of the center frequency The attenuation depth at the frequency; The discrete transfer function of a cascaded dual-center-frequency notch filter can then be expressed as:

[0035] In the formula, The discrete transfer function of a cascaded dual-center-frequency notch filter; Let be the discrete domain transfer function of the notch filter corresponding to the first center frequency; This is the discrete-domain transfer function of the notch filter corresponding to the second center frequency.

[0036] Specifically, in this embodiment, according to step S3, the two center frequencies that need to be notch-filtered are respectively , Notch bandwidth is calculated for each of the two center frequencies. The design ensures that the cascaded notch filter operates at the same frequency as the cascaded filter. All within the range The above attenuation depth is based on the dominant frequency of the notch filter. Taking this as an example, we will analyze and compare its amplitude-frequency characteristics under different bandwidths. Figure 4 and Figure 5 As shown, the summary and analysis yielded Table 1. From... Figure 4 , Figure 5 As shown in Table 1, with the increase of notch bandwidth, the attenuation depth of the notch filter center frequency and its surrounding frequencies increases continuously, and the filtering effect is enhanced; however, at the same time, the phase delay caused by the notch filter also increases continuously, which has a negative impact on the control effect of the system. It is necessary to comprehensively evaluate the filtering requirements and phase delay to obtain the notch bandwidth.

[0037] Table 1

[0038] Based on the spectral analysis in step S3, the vibration spectrum is mainly distributed between 20Hz and 40Hz. Even at 20Hz, there is relatively strong vibration energy, requiring sufficient attenuation depth. Therefore, considering all factors, the notch bandwidth of the notch filter corresponding to the second center frequency is designed to be... As can be seen from Table 1, the attenuation depth at 20Hz is still greater than -3dB, and the filtering effect meets the requirements.

[0039] For the first center frequency The notch bandwidth corresponding to the first center frequency Design the notch filter corresponding to the first center frequency. In this example, the sampling frequency is... The discrete-domain transfer function of the notch filter corresponding to the first center frequency is obtained. The form is as follows.

[0040]

[0041] in, , .Pick This means that the attenuation depth is still greater than -3dB at frequencies of 20Hz and 30Hz, therefore:

[0042] Similarly, there is also strong vibration energy at a frequency of 38Hz, which requires sufficient attenuation depth. Therefore, taking into account all factors, the notch bandwidth of the notch filter corresponding to the second center frequency is also designed to be 10Hz, so that the attenuation depth at 38Hz is still greater than -3dB, and the filtering effect meets the requirements.

[0043] For the second center frequency The notch bandwidth corresponding to the second center frequency Design a notch filter corresponding to the second center frequency. In this example, the sampling frequency is... The discrete-domain transfer function of the notch filter corresponding to the second center frequency is obtained. The form is as follows.

[0044]

[0045] in, , .Pick This means that the attenuation depth is still greater than -3dB at frequencies of 28Hz and 38Hz, therefore:

[0046] The discrete transfer function of the designed cascaded notch filter with two center frequencies can then be expressed as:

[0047] Cascaded notch filters with dual center frequencies The amplitude-frequency response was plotted and analyzed, and compared with that of a conventional first-order low-pass filter and a second-order low-pass filter. The results are as follows. Figure 6 and Figure 7 As shown, the bandwidth designed in this example is... The center frequencies are respectively and The cascaded notch filter can effectively suppress vibration frequencies distributed between 20Hz and 38Hz, with minimal impact on the system's natural low-frequency frequencies and without disrupting the original system signal. Furthermore, compared to two low-pass filters, this example introduces a smaller phase delay to the system, which is within the acceptable range of the control system's phase margin and has minimal impact on the control system.

[0048] S5. Suppress the servo-elastic coupling vibration of the UAV structure; Specifically, a cascaded notch filter with dual center frequencies is introduced into the feedback channel of the target control loop of the control system. The cascaded notch filter is used to filter the disturbance signal in order to suppress the servo elastic coupling vibration of the UAV structure.

[0049] For example, in one specific embodiment, a cascaded notch filter with dual center frequencies is designed. Introduced into the feedback channel of the target control loop of the control system, that is, in this embodiment, a cascaded notch filter with dual center frequencies. The control system structure is as follows, which is introduced into the control loop of the roll rate. Figure 8 As shown, filtering the disturbance signal brought by the body structure can complete the design of the active suppression control system for structural servo elastic coupling resonance in this embodiment.

[0050] To analyze and verify the filtering and control effects of the designed cascaded notch filter, a noise band of 20Hz-40Hz (system main frequency is 1Hz, and the superimposed noise includes 20Hz, 22Hz, 25Hz, 33Hz, 36Hz, and 38Hz) and time delay were superimposed on the control system, and a comprehensive digital simulation was performed to verify the effect. Simultaneously, to further verify the superiority of this invention over the traditional structural servo elastic coupling resonance active suppression method for delay-sensitive systems, a low-pass filter and the cascaded notch filter designed in this invention were introduced into the same control system, and the filtering effects and delay magnitudes of the two filters were compared and evaluated. Simulation results are as follows: Figure 9 , Figure 10 and Figure 11 As shown, from Figure 9 and Figure 10 As can be seen from the example, both the cascaded notch filter and the low-pass filter designed in this example can filter out the superimposed noise in the 20Hz-40Hz frequency band, thus restoring the true signal of the system. However, the cascaded notch filter has a higher degree of restoration of the original system signal and has less impact on the system's main frequency. Meanwhile, from... Figure 11 It can be seen that, compared to the near-pass filter, The delay of the cascaded notch filter designed in this example is less than [a certain value]. If the delay caused by the low-pass filter is within the phase margin of the control system, it will not have a significant impact on the control effect. On the contrary, the delay caused by the low-pass filter will worsen the system control effect and may even cause control divergence.

[0051] The cascaded notch filter designed in this example is introduced into the roll velocity control loop (i.e., the feedback channel), and a high-speed UAV semi-physical simulation experiment is conducted. External disturbances are applied, and it is observed that the original structural servo elastic coupling resonance has been suppressed, and the system no longer resonates. The roll velocity signal after inertial navigation filtering is extracted and subjected to one-sided amplitude spectrum analysis, and the results are as follows. Figure 12 As shown, from Figure 12 As can be seen from this, the structural servo elastic coupling resonance frequency in this embodiment is... All disturbances are effectively suppressed. Therefore, the disturbance signals from the body structure are filtered out and will not be introduced into the control system loop, thus interrupting the original vibration closed loop. Therefore, structural servo elastic coupling resonance will not occur.

[0052] Analysis of this embodiment shows that, for high-speed aircraft with multiple center frequencies, a wide vibration spectrum distribution, and sensitivity to delay, the structural servo-elastic coupling vibration suppression control system design method based on multi-center frequency notch filtering can effectively solve the structural servo-elastic coupling vibration problem. Compared to traditional methods, the delay introduced by this invention to the control system is only a fraction of that introduced by traditional methods. This is extremely advantageous for delay-sensitive high-speed aircraft.

[0053] Figure 13 A schematic diagram of an electronic device suitable for implementing embodiments of the present invention is shown. It should be noted that... Figure 13 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0054] like Figure 13 As shown, the electronic device includes a Central Processing Unit (CPU) 101, which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) 102 or programs loaded from Storage Section 108 into Random Access Memory (RAM) 103. The RAM 103 also stores various programs and data required for system operation. The CPU 101, ROM 102, and RAM 103 are interconnected via a bus 104. An Input / Output (I / O) interface 105 is also connected to the bus 104.

[0055] The following components are connected to I / O interface 105: an input section 106 including a keyboard, mouse, etc.; an output section 107 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 108 including a hard disk, etc.; and a communication section 109 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 109 performs communication processing via a network such as the Internet. A drive 110 is also connected to I / O interface 105 as needed. Removable media 111, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 110 as needed so that computer programs read from them can be installed into storage section 108 as needed.

[0056] In particular, according to embodiments of the present invention, the processes described below with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a storage medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 109, and / or installed from removable medium 111. When the computer program is executed by central processing unit (CPU) 101, it performs various functions defined in the system of this application.

[0057] Specifically, the aforementioned electronic devices can be computers, tablets, or server devices.

[0058] It should be noted that the storage medium shown in the embodiments of the present invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, wherein computer-readable program code is carried. Such transmitted data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium can also be any storage medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the storage medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0059] It should be noted that, as another aspect, this application also provides a storage medium, which may be included in an electronic device or may exist independently without being assembled into the electronic device. The aforementioned storage medium carries one or more programs, which, when executed by an electronic device, cause the electronic device to perform the methods described in the following embodiments. For example, the electronic device may perform... Figure 1 The steps of the method shown.

[0060] In one embodiment, this application also provides a computer program product, including a computer program that, when executed by a processor, implements... Figure 1 The steps of the method shown.

[0061] Furthermore, the accompanying drawings are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention and are not intended to be limiting. It is readily understood that the processes shown in the drawings do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A servo-elastic coupling vibration suppression control method for high-speed unmanned aerial vehicle structures, characterized in that, include: External disturbances were applied to the control system of the high-speed UAV to maintain it in a closed-loop state, and experimental data was acquired. The test data includes: servo control quantities, servo feedback quantities, sensor data, control law inputs, and control law outputs for each control surface; Based on the experimental data, determine the target control surface that causes resonance and the target control loop in that control surface that causes resonance; Spectral analysis is performed on the target sensor data corresponding to the target control loop to obtain the signal spectrum corresponding to the target sensor data under resonance state; the dual center frequencies that cause resonance are extracted from the signal spectrum. Design a cascaded notch filter with dual center frequencies; A cascaded notch filter with dual center frequencies is introduced into the feedback channel of the target control loop of the control system. The cascaded notch filter is used to filter the disturbance signal in order to suppress the servo elastic coupling vibration of the UAV structure.

2. The high-speed unmanned aerial vehicle (UAV) structural servo elastic coupling vibration suppression control method according to claim 1, characterized in that, The steps to determine the target control loop that causes resonance are as follows: Based on the servo feedback amount corresponding to each control surface, determine the curve of the servo feedback amount; If the control surface whose servo feedback curve is an oscillating divergent waveform is taken as the target control surface that causes resonance, then the control loop corresponding to the target control surface is the target control loop.

3. The high-speed unmanned aerial vehicle (UAV) structural servo elastic coupling vibration suppression control method according to claim 1, characterized in that, The signal spectrum under resonance state is obtained by performing a fast Fourier transform on the target sensor data corresponding to the target control loop.

4. The high-speed unmanned aerial vehicle (UAV) structural servo elastic coupling vibration suppression control method according to claim 1, characterized in that, The steps for extracting the two center frequencies that cause resonance in the signal spectrum are as follows: take the frequencies corresponding to the two maximum amplitudes in the signal spectrum as the two center frequencies that cause resonance.

5. The high-speed unmanned aerial vehicle (UAV) structural servo elastic coupling vibration suppression control method according to claim 1, characterized in that, The steps for designing a cascaded notch filter with dual center frequencies are as follows: Notch filters were designed for the two center frequencies respectively, and the discrete-domain transfer function of the notch filter was obtained as follows: In the formula, For the first Discrete domain transfer function of a notch filter corresponding to a center frequency; For complex variables in a discrete-time system; This is the notch bandwidth adjustment factor; ; , The sampling frequency; For the first Notch bandwidth corresponding to each center frequency; For the first One center frequency; For the first Notch bandwidth corresponding to each center frequency; The discrete transfer function of a cascaded dual-center-frequency notch filter can then be expressed as: In the formula, The discrete transfer function of a cascaded dual-center-frequency notch filter; Let be the discrete domain transfer function of the notch filter corresponding to the first center frequency; This is the discrete-domain transfer function of the notch filter corresponding to the second center frequency.

6. The high-speed unmanned aerial vehicle (UAV) structural servo elastic coupling vibration suppression control method according to claim 5, characterized in that, The expression is: In the formula, These are intermediate calculation parameters; This refers to the gain coefficient corresponding to the attenuation. For the first Notch bandwidth corresponding to each center frequency; To require both sides of the center frequency The attenuation depth at the frequency.

7. A high-speed unmanned aerial vehicle (UAV) structural servo elastic coupling vibration suppression control system, characterized in that, include: The data acquisition module is used to apply external disturbances to the control system of the high-speed UAV in a closed-loop state and acquire test data. The test data includes: servo control quantities, servo feedback quantities, angular velocities, angular accelerations, control law inputs, and control law outputs for each control surface; The target control loop positioning module is used to determine the target control surface that causes resonance and the target control loop in the control surface that causes resonance based on test data. The spectrum analysis module is used to perform spectrum analysis on the target sensor data corresponding to the target control loop, obtain the signal spectrum corresponding to the target sensor data under resonance state, and extract the dual center frequencies that cause resonance in the signal spectrum; Cascaded notch filter design module, used to design cascaded notch filters with dual center frequencies; The vibration suppression module is used to introduce a cascaded notch filter with dual center frequencies into the feedback channel of the target control loop of the control system. The cascaded notch filter is used to filter the disturbance signal to suppress the servo elastic coupling vibration of the UAV structure.

8. An electronic device, characterized in that, A processor, a memory, and a computer program stored in the memory, wherein the computer program, when executed by the processor, implements the steps of the method according to any one of claims 1-6.

9. A program product, characterized in that, Includes a computer program, which, when run, performs the steps of the method according to any one of claims 1-6.

10. A storage medium, characterized in that, It contains a computer program that, when run, performs the steps of the method described in any one of claims 1-6.

Images