Direct force control aircraft attitude predictive control target optimization design method
By constructing a dynamics and kinematics model of the aircraft, designing a state-space control model, and optimizing the control output, the error problem between control commands and actuators in a switch-type direct force control aircraft was solved, improving the accuracy and stability of attitude control.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHANGHAI AEROSPACE CONTROL TECH INST
- Filing Date
- 2026-02-06
- Publication Date
- 2026-06-05
AI Technical Summary
Existing technologies cannot accurately describe the discrete-to-continuous coupling characteristics and physical constraint integration in switch-type direct force control aircraft, resulting in errors and allocation problems between control commands and actuators.
By constructing a dynamics and kinematics model of the aircraft, a state-space control model is designed. Combining sampling time and prediction requirements, a multi-step predictive control model is established. Considering the discrete characteristics and physical limitations of the actuators, the control output is optimized, and a minimization optimization objective is designed to improve attitude control accuracy and stability.
It improves the accuracy and stability of aircraft attitude control, reduces the need for control variable changes, meets the physical constraints of the actuators, and improves the versatility and control effect of the model.
Smart Images
Figure CN122151882A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to an optimization design method for attitude prediction control targets of direct force control aircraft, belonging to the field of aircraft stability control technology. Background Technology
[0002] Traditional aircraft control system modeling methods primarily target the design of continuously variable control systems, such as those using aerodynamic control surfaces and other continuous control torques. However, for aircraft operating in a thin atmosphere, attitude and trajectory control typically employs on / off direct force control. Traditional methods usually involve first designing a continuously variable control system, then discretizing the commands before transmitting them to the actuators, which introduces issues of control command allocation and error between the control commands and the actuators.
[0003] Under the existing technology, the modeling of switch-type direct force control aircraft has the following problems: (1) Insufficient description of discrete-to-continuous coupling characteristics: Traditional modeling methods are difficult to accurately describe the coupling relationship between discrete switch control and continuous dynamic changes; (2) Difficulty in integrating physical constraints: It is difficult to accurately describe the physical constraints and limitations of the direct force actuator in the system model, which leads to the controller output not being able to be directly transmitted to the actuator. It is necessary to add actuator allocation and discretization processing, which inevitably results in approximations and errors. Summary of the Invention
[0004] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a method for optimizing the design of attitude prediction control targets for direct force control aircraft. This method solves the control deviation problem that exists in the current control system, which requires discretization and execution allocation steps in the process from control output to execution by the actuator. By optimizing the design of the objective function, the method meets the physical constraints of the aircraft actuator and improves the control accuracy.
[0005] The technical solution of the present invention is: Firstly, a method for optimizing the design of attitude prediction control targets for a direct force control aircraft, comprising: Based on the principles of dynamics and kinematics, construct dynamic and kinematic models of the aircraft's center of mass motion and rotation around the center of mass; Based on the aforementioned aircraft dynamics and kinematics model, a small-deviation linearized state equation is approximately obtained, and the switching of the direct force nozzle is used as the control output to construct a state-space control model for a direct force controlled aircraft. Based on the state-space control model of a direct force control aircraft, and combining the sampling time and prediction requirements, a prediction time domain is selected to establish a multi-step predictive control model; Considering the discrete characteristics of direct force actuators and the physical limitations of actual control, a control output constraint design is derived. Combining the multi-step predictive control model and control output constraints, at least three optimization target designs are obtained by considering improving attitude control tracking accuracy, ensuring control terminal stability, and reducing control requirements for control variable changes. Then, the minimized optimization target is obtained, thus completing the attitude predictive control target optimization design of the direct force control aircraft.
[0006] Furthermore, the aircraft dynamics and kinematics model includes: Dynamic model of the motion of the center of mass of an aircraft ; For the speed of the aircraft For the trajectory inclination angle, For the ballistic deflection angle, The velocity tilt angle, For engine thrust, , , These are the aerodynamic drag, lift, and lateral force experienced by the aircraft during flight. For the mass of the aircraft; Dynamic model of attitude change of an aircraft around its center of mass ; , , This refers to the moment of inertia of the aircraft about each coordinate axis within the missile system. , , This refers to the angular rate of rotation of the aircraft relative to each coordinate axis within the missile system. , , This represents the total torque experienced by the projectile along each coordinate axis; Kinematic model of the center of mass motion of an aircraft ; Kinematic model of an aircraft rotating around its center of mass ; , , These are the Euler angles used to transform from the ground coordinate system to the projectile coordinate system, namely pitch angle, yaw angle, and roll angle.
[0007] Furthermore, the small-deviation linearized state equation is:
[0008] in, For the angle of attack, Sideslip angle, For rolling torque pair The partial derivatives, , They are respectively the yaw moment pairs , The partial derivatives, , pitch moment pairs , The partial derivatives, Let be the partial derivative of lift with respect to angle of attack. This is the partial derivative of the lateral force with respect to the sideslip angle.
[0009] Furthermore, the state-space control model of the direct force control aircraft is as follows: ;in, , The effect of the force generated by the nozzle on the resultant torque depends on the number and installation location of the nozzles. This includes uncertainties related to coupling interference between different channels. , , The sampling period.
[0010] Furthermore, the aircraft predictive control model is as follows: ;in, , The predicted state sequence is control sequence ,in .
[0011] Furthermore, the control output constraint includes a simultaneous activation quantity constraint and a hold time constraint; The constraint on the number of simultaneous activations is as follows: ;in, , Indicates the number of simultaneous activations required; The holding time constraint is The matrix form is represented as ;in, , .
[0012] Furthermore, the minimization optimization objective is: ; Indicates the state tracking target. For the terminal state target, To control the change of quantity.
[0013] Furthermore, the state tracking target is
[0014] in, ,express k The difference between the angle of attack and the command at any given moment. ,express k The difference between the side slip angle and the command at any given moment. ,express k The difference between the tilt angle and the command at any given time. express k The difference between the constant roll angular velocity and the command. ,express k The difference between the yaw rate and the command at any given moment. ,express k The difference between the pitch angular velocity and the command at any given time; Assign a weight to each state variable as a weighting coefficient; The terminal state target is
[0015] in, For terminal reference state, Constraints on the upper limit of the target; The target of the control quantity change is
[0016] in, As an auxiliary variable, it indicates whether the state of the i-th nozzle changes from time k to time k+1.
[0017] In a second aspect, a computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, it implements the steps of the direct force control aircraft attitude prediction control target optimization design method.
[0018] Thirdly, a device for optimizing the attitude prediction and control target of a direct force control aircraft includes a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: when the processor executes the computer program, it implements the steps of the method for optimizing the attitude prediction and control target of a direct force control aircraft.
[0019] The advantages of this invention compared to the prior art are: (1) This invention improves the accuracy of the model by deriving the attitude dynamics model of the aircraft and obtaining a control model with direct force as the control input; (2) By designing simultaneous activation quantity constraints and activation duration constraints, this invention takes into account the physical limitations of the actuator, improves the model's versatility, and is more in line with application scenarios; (3) This invention ensures model convergence and improves accuracy by designing multiple optimization objectives, including state tracking target, terminal state target, and control quantity change target, thereby enhancing the control effect of the model. Attached Figure Description
[0020] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic diagram of the method flow of the present invention. Detailed Implementation
[0021] To better understand the above technical solutions, the technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solutions of the present invention, rather than limitations on the technical solutions of the present invention. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.
[0022] The following description, in conjunction with the accompanying drawings, provides a more detailed explanation of the target optimization design method for attitude prediction control of a direct force control aircraft provided by the embodiments of the present invention. Figure 1 Specific implementation methods may include: Step 1: Based on the principles of dynamics and kinematics, construct dynamic and kinematic models of the motion of the aircraft's center of mass and its rotation around the center of mass.
[0023] Based on the principles of dynamics, the dynamic equations for the motion of the aircraft's center of mass are established:
[0024] in, For the speed of the aircraft For the trajectory inclination angle, For the ballistic deflection angle, The velocity tilt angle, For engine thrust, , , These are the aerodynamic drag, lift, and lateral force experienced by the aircraft during flight. For the mass of the aircraft.
[0025] The dynamic equation for the attitude change of the aircraft around its center of mass is:
[0026] in, , , This refers to the moment of inertia of the aircraft about each coordinate axis within the missile system. , , This refers to the angular rate of rotation of the aircraft relative to each coordinate axis within the missile system. , , This represents the total torque acting on the projectile along each coordinate axis, including direct force control torque and aerodynamic torque, i.e.
[0027] , , These represent the direct force control torques acting on the projectile along each coordinate axis. , , These represent the aerodynamic torques experienced by the projectile along each coordinate axis.
[0028] The aircraft uses direct force for attitude control. The direct force mechanism provides thrust in the y-axis and z-axis directions. If the nozzles are numbered 1 to n, the thrust generated when each nozzle is open is expressed as: Then the total thrust in all directions can be expressed as:
[0029] in, This indicates a nozzle installed along the y-axis. This indicates a nozzle installed along the z-axis. The thrust generated by the nozzle about its respective axes:
[0030] Where d is the offset of the nozzle thrust direction from the aircraft axis. Let x be the distance between the nozzle mounting position and the center of mass along the x-axis. To generate the total thrust of the nozzle with positive roll torque, The total thrust of the nozzle that generates a negative rolling moment; The kinematic equations for the motion of the aircraft's center of mass can be written as:
[0031] Based on the transformation relationship between the projectile coordinate system and the ground coordinate system, the kinematic equations for rotation about the center of mass, constrained by the Euler angles of the aircraft and the angular velocity of the projectile's rotation, are established in the ground coordinate system as follows:
[0032] in, , , These are the Euler angles used to transform from the ground coordinate system to the projectile coordinate system, namely pitch angle, yaw angle, and roll angle.
[0033] Step 2: Select state variables and control variables, and write the aircraft dynamics and kinematics model as a state-space control model.
[0034] Based on the dynamic and kinematic models described in step one, under small-angle conditions, it can be approximately assumed that:
[0035] in, For the angle of attack, The sideslip angle is used as a state variable during the flight of the aircraft.
[0036] In the terminal guidance phase of the aircraft control, the effect of engine thrust is neglected, thus obtaining an approximate state equation for small deviation linearization of the aircraft:
[0037] in, For rolling torque pair The partial derivatives, , They are respectively the yaw moment pairs , The partial derivatives, , pitch moment pairs , The partial derivatives, Let be the partial derivative of lift with respect to angle of attack. This is the partial derivative of the lateral force with respect to the sideslip angle.
[0038] Considering the small-angle flight state, the trigonometric functions are further simplified to obtain...
[0039] Define state variables , For system control input, This represents the control quantity for the i-th nozzle, and is a binary variable. This indicates that the nozzle is closed and no control force is generated. This represents the nozzle opening, generating control force; treating the coupling terms between different channels as model disturbances, the system control model can be written as follows:
[0040] in, , ,in This characterizes the effect of the torque generated by the force of each nozzle on the aircraft's attitude rotation; the specific value depends on the number and installation location of the nozzles. This includes uncertainties related to coupling interference between different channels.
[0041] The discretized state equation is:
[0042] in, , , The sampling period.
[0043] Step 3: Perform rolling time-domain prediction based on the control model in Step 2 to obtain multi-step prediction equations.
[0044] Based on the model obtained in step two, the future state changes are predicted based on the control input sequence at future times. k The state equation at time t is:
[0045] k The state equation at time +1 is:
[0046] Assuming that the uncertainty disturbance is constant within the prediction time domain, the difference between the two equations is obtained.
[0047] Take variable , Thus, a new state-space model is obtained.
[0048] Let the prediction time domain be By analogy, we can conclude that in The time prediction is:
[0049] Let the control time domain be To meet the requirements for control and prediction accuracy, it is necessary to satisfy... ,generally Outside the control time domain, the control quantity is assumed to remain constant, i.e. .
[0050] Let the predicted state sequence be control sequence Then, a multi-step prediction equation can be obtained.
[0051] in, ,
[0052] Step 4: Consider the physical characteristics and usage conditions of the actuator, and design constraints, including constraints on the number of nozzles that can be opened simultaneously and the duration of nozzle opening.
[0053] To ensure stable nozzle operation, the number of nozzles that can be opened simultaneously must be [number missing]. The constraint on the number of nozzles that can be opened simultaneously can be expressed as:
[0054] Rewritten in linear equation form, we get:
[0055] in, .
[0056] In addition, once the nozzle is opened, it needs to maintain at least [a certain duration]. n Time, that is, the future k+n-1 Within the specified time, the nozzles remain open; that is, for the i-th nozzle, the following time constraint must be satisfied:
[0057] Rewrite it as a linear expression, that is:
[0058] Written in matrix form, we get:
[0059] in, , ; Step 5: Design optimization functions, including: state tracking objective, terminal state objective, and control variable change objective. State tracking targets are used to evaluate the difference between the model's calculated results and the input instructions. The smaller the difference, the better the model's prediction results. Specifically, this is expressed as...
[0060] in, ,express k The difference between the angle of attack and the command at any given moment. ,express k The difference between the side slip angle and the command at any given moment. ,express k The difference between the tilt angle and the command at any given time. express k The difference between the constant roll angular velocity and the command. ,express k The difference between the yaw rate and the command at any given moment. ,express k The difference between the pitch angular velocity and the command at any given time; The weighting coefficients assign individual weights to each state variable.
[0061] The terminal state objective is used to ensure that the prediction result will eventually converge to the target state. It is represented by the modulus of the difference between the target state and the reference state, specifically as follows:
[0062] in, This is the terminal reference state.
[0063] To ensure the stability of the control system, an upper limit constraint needs to be designed for the terminal state target. ,Right now
[0064] The control variable change target is used to evaluate the number of nozzle switching changes. To represent the nozzle switching changes, an auxiliary variable is first introduced. , indicating whether the i-th nozzle undergoes a state change from time k to time k+1, that is: , Considering that results predicted at earlier times are more likely to be adopted, and results predicted at later times are less likely to be implemented, a time-related discount factor is introduced. .
[0065] This leads to the target change in the control variable: .
[0066] Therefore, the ultimate optimization objective is to select the control variable that minimizes the optimization function, i.e.:
[0067] In the solution provided in this embodiment of the invention, an 8-nozzle direct force control model is used as an example to illustrate the method. The nozzles are symmetrically distributed along the axis of the aircraft and numbered sequentially from 1 to 8. The thrust generated by each nozzle is denoted as... The perpendicular distance between the thrust center direction and the axis is denoted as . d .
[0068] Step 1: Based on the principles of dynamics and kinematics, construct dynamic and kinematic models of the motion of the aircraft's center of mass and its rotation around the center of mass.
[0069] Based on the principles of dynamics, the dynamic equations for the motion of the aircraft's center of mass are established:
[0070] in, For the speed of the aircraft For the trajectory inclination angle, For the ballistic deflection angle, The velocity tilt angle, For engine thrust, , , These are the aerodynamic drag, lift, and lateral force experienced by the aircraft during flight. For the mass of the aircraft.
[0071] The dynamic equation for the attitude change of the aircraft around its center of mass is:
[0072] in, , , This refers to the moment of inertia of the aircraft about each coordinate axis within the missile system. , , This refers to the angular rate of rotation of the aircraft relative to each coordinate axis within the missile system. , , This represents the total torque acting on the projectile along each coordinate axis, including direct force control torque and aerodynamic torque, i.e.
[0073] , , These represent the direct force control torques acting on the projectile along each coordinate axis. , , These represent the aerodynamic torques experienced by the projectile along each coordinate axis.
[0074] The direct force generated by each nozzle is expressed as: Let i = 1…8 be the nozzle numbers, then the total thrust in each direction is...
[0075] The thrust torque about each axis generated by direct force:
[0076] Where d is the offset of the nozzle thrust direction from the aircraft axis. Let x be the distance between the nozzle mounting position and the center of mass along the x-axis. The sum of the jet force values generated by the odd-numbered nozzle sequence produces a positive rolling torque. The sum of the jet force values generated by an even-numbered sequence of nozzles produces a negative rolling torque.
[0077] The kinematic equations for the motion of the aircraft's center of mass can be written as:
[0078] Based on the transformation relationship between the projectile coordinate system and the ground coordinate system, the kinematic equations for rotation about the center of mass, constrained by the Euler angles of the aircraft and the angular velocity of the projectile's rotation, are established in the ground coordinate system as follows:
[0079] in, , , These are the Euler angles used to transform from the ground coordinate system to the projectile coordinate system, namely pitch angle, yaw angle, and roll angle.
[0080] Step 2: Select state variables and control variables, and write the aircraft dynamics and kinematics model as a state-space control model.
[0081] Based on the dynamic and kinematic models described in step one, under small-angle conditions, it can be approximately assumed that:
[0082] in, For the angle of attack, The sideslip angle is used as a state variable during the flight of the aircraft.
[0083] In the terminal guidance phase of the aircraft control, the effect of engine thrust is neglected, thus obtaining an approximate state equation for small deviation linearization of the aircraft:
[0084] in, For rolling torque pair The partial derivatives, , They are respectively the yaw moment pairs , The partial derivatives, , pitch moment pairs , The partial derivatives, Let be the partial derivative of lift with respect to angle of attack. This is the partial derivative of the lateral force with respect to the sideslip angle.
[0085] Considering the small-angle flight state, the trigonometric functions are further simplified to obtain...
[0086] Define state variables , For system control input, This represents the control quantity for the i-th nozzle, and is a binary variable. This indicates that the nozzle is closed and no control force is generated. This represents the nozzle opening, generating control force; treating the coupling terms between different channels as model disturbances, the system control model can be written as follows:
[0087] in, , , in, A fixed thrust value is output when each nozzle is open. This includes uncertainties related to coupling interference between different channels.
[0088] The discretized state equation is:
[0089] in, , , The sampling period.
[0090] Step 3: Perform rolling time-domain prediction based on the control model in Step 2 to obtain multi-step prediction equations.
[0091] Based on the model obtained in step two, the future state changes are predicted based on the control input sequence at future times. k The state equation at time t is:
[0092] k The state equation at time +1 is:
[0093] Assuming that the uncertainty disturbance is constant within the prediction time domain, the difference between the two equations is obtained.
[0094] Take variable , Thus, a new state-space model is obtained.
[0095] Let the prediction time domain be By analogy, we can conclude that in The time prediction is:
[0096] Let the control time domain be To meet the requirements for control and prediction accuracy, it is necessary to satisfy... ,choose Outside the control time domain, the control quantity is assumed to remain constant, i.e. .
[0097] Let the predicted state sequence be control sequence Then, a multi-step prediction equation can be obtained.
[0098] in, ,
[0099] Step 4: Consider the physical characteristics and usage conditions of the actuator, and design constraints, including constraints on the number of nozzles that can be opened simultaneously and the duration of nozzle opening.
[0100] To ensure stable nozzle operation, considering an 8-nozzle control model, the number of nozzles that can be opened simultaneously must be 4. Therefore, the constraint on the number of nozzles that can be opened simultaneously can be expressed as:
[0101] Rewritten in linear equation form, we get:
[0102] in, .
[0103] In addition, once the nozzle is activated, it needs to remain open for at least 8 cycles, that is, in the future k+7 The nozzle remains open for the entire duration, meaning it is aimed at the first... i Each nozzle needs to meet the hold-time constraint:
[0104] Rewrite it as a linear expression, that is:
[0105] Written in matrix form, we get:
[0106] in, , ; Step 5: Design optimization functions, including: state tracking objective, terminal state objective, and control variable change objective. State tracking targets are used to evaluate the difference between the model's calculated results and the input instructions. The smaller the difference, the better the model's prediction results. Specifically, this is expressed as...
[0107] in, ,express k The difference between the angle of attack and the command at any given moment. ,express k The difference between the side slip angle and the command at any given moment. ,express k The difference between the tilt angle and the command at any given time. express k The difference between the constant roll angular velocity and the command. ,express k The difference between the yaw rate and the command at any given moment. ,express k The difference between the pitch angular velocity and the command at any given time; The weighting coefficients assign individual weights to each state variable.
[0108] The terminal state objective is used to ensure that the prediction result will eventually converge to the target state. It is represented by the modulus of the difference between the target state and the reference state, specifically as follows:
[0109] in, This is the terminal reference state.
[0110] To ensure the stability of the control system, an upper limit constraint needs to be designed for the terminal state target. ,Right now
[0111] The control variable change target is used to evaluate the number of nozzle switching changes. To represent the nozzle switching changes, an auxiliary variable is first introduced. , indicating whether the i-th nozzle undergoes a state change from time k to time k+1, that is: , Considering that results predicted at earlier times are more likely to be adopted, and results predicted at later times are less likely to be implemented, a time-related discount factor is introduced. .
[0112] This leads to the target change in the control variable: .
[0113] Therefore, the ultimate optimization objective is to select the control variable that minimizes the optimization function, i.e.:
[0114] This invention provides a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to perform... Figure 1 The method described.
[0115] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.
[0116] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0117] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.
[0118] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0119] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.
[0120] The contents not described in detail in this specification are common knowledge to those skilled in the art.
Claims
1. A method for optimizing the design of attitude prediction and control targets for a direct force control aircraft, characterized in that, include: Based on the principles of dynamics and kinematics, construct dynamic and kinematic models of the aircraft's center of mass motion and rotation around the center of mass; Based on the aforementioned aircraft dynamics and kinematics model, a small-deviation linearized state equation is approximately obtained, and the switching of the direct force nozzle is used as the control output to construct a state-space control model for a direct force controlled aircraft. Based on the state-space control model of a direct force control aircraft, and combined with sampling time and prediction requirements, a prediction time domain is selected to establish a multi-step predictive control model; Considering the discrete characteristics of direct force actuators and the physical limitations of actual control, a control output constraint design is derived. Combining the multi-step predictive control model and control output constraints, at least three optimization target designs are obtained by considering improving attitude control tracking accuracy, ensuring control terminal stability, and reducing control requirements for control variable changes. Then, the minimized optimization target is obtained, thus completing the attitude predictive control target optimization design of the direct force control aircraft.
2. The method for optimizing the target design of attitude prediction control for a direct force control aircraft according to claim 1, characterized in that, The aircraft dynamics and kinematics model includes: Dynamic model of the motion of the center of mass of an aircraft ; For the speed of the aircraft For the trajectory inclination angle, For the ballistic deflection angle, The velocity tilt angle, For engine thrust, , , These are the aerodynamic drag, lift, and lateral force experienced by the aircraft during flight. For the mass of the aircraft; Dynamic model of attitude change of an aircraft around its center of mass ; , , This refers to the moment of inertia of the aircraft about each coordinate axis within the missile system. , , This refers to the angular rate of rotation of the aircraft relative to each coordinate axis within the missile system. , , This represents the total torque experienced by the projectile along each coordinate axis; Kinematic model of the motion of the center of mass of an aircraft ; Kinematic model of an aircraft rotating around its center of mass ; , , These are the Euler angles used for the transformation from the ground coordinate system to the projectile coordinate system, namely pitch angle, yaw angle, and roll angle.
3. The method for optimizing the target design of attitude prediction control for a direct force control aircraft according to claim 1, characterized in that, The small-deviation linearized state equation is: in, For the angle of attack, Sideslip angle, For rolling torque pair The partial derivatives, , They are respectively the yaw moment pairs , The partial derivatives, , pitch moment pairs , The partial derivatives, Let be the partial derivative of lift with respect to angle of attack. This is the partial derivative of the lateral force with respect to the sideslip angle.
4. The method for optimizing the target design of attitude prediction control for a direct force control aircraft according to claim 3, characterized in that, The state-space control model of the direct force control aircraft is as follows: ;in, , The effect of the force generated by the nozzle on the resultant torque depends on the number and installation location of the nozzles. This includes uncertainties related to coupling interference between different channels. , , The sampling period.
5. The method for optimizing the target design of attitude prediction control for a direct force control aircraft according to claim 4, characterized in that, The predictive control model for the aircraft is ;in, , The predicted state sequence is control sequence ,in .
6. The method for optimizing the target design of attitude prediction control for a direct force control aircraft according to claim 1, characterized in that, The control output constraints include simultaneous activation quantity constraints and hold time constraints. The constraint on the number of simultaneous activations is as follows: ;in, , Indicates the number of simultaneous activations required; The holding time constraint is The matrix form is represented as ;in, , .
7. The method for optimizing the target design of attitude prediction control for a direct force control aircraft according to claim 1, characterized in that, The minimization optimization objective is: ; Indicates the state tracking target. For the terminal state target, To control the change of quantity.
8. The method for optimizing the target design of attitude prediction control for a direct force control aircraft according to claim 7, characterized in that, The state tracking target is in, ,express k The difference between the angle of attack and the command at any given moment. ,express k The difference between the side slip angle and the command at any given moment. ,express k The difference between the constant tilt angle and the command. express k The difference between the constant roll angular velocity and the command. ,express k The difference between the yaw rate and the command at any given moment. ,express k The difference between the pitch angular velocity and the command at any given time; Assign a weight to each state variable as a weighting coefficient; The terminal state target is in, For terminal reference state, Constraints on the upper limit of the target; The target of the control quantity change is in, As an auxiliary variable, it indicates whether the state of the i-th nozzle changes from time k to time k+1.
9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 8.
10. A device for optimizing the design of attitude prediction and control targets for a direct force control aircraft, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 8.