CN-121978892-A - Airplane flap control method and device, computer equipment and storage medium

CN121978892ACN 121978892 ACN121978892 ACN 121978892ACN-121978892-A

Abstract

The invention provides an aircraft flap control method, an aircraft flap control device, computer equipment and a storage medium, which belong to the field of aircraft control, wherein the method comprises the steps of acquiring an azimuth angle of a lower follow-up system slider center of a target aircraft relative to a flap loading point and a rotation angle of a flap body relative to a system fixed frame in real time; the method comprises the steps of determining perpendicularity errors and flap angular speeds, generating a slide block displacement adjustment instruction to carry out closed-loop control on the position of a slide block, acquiring output force of a hydraulic actuator acting on a flap loading point in real time, generating a displacement compensation instruction of the hydraulic actuator to carry out closed-loop control on the loading force based on force errors between expected loading force and the output force, and carrying out cooperative control on an aircraft flap of a target aircraft based on the position of the slide block and the loading force. Therefore, the response speed and the anti-interference capability of the position control are improved, the coupling error of force output and position movement is eliminated, and the problem of dynamic accuracy reduction caused by the defect of a control architecture in the traditional scheme is solved.

Inventors

WANG WENLI
CHEN XIANMIN
LI SANYUAN
ZHOU TING
LI YAO

Assignees

中国飞机强度研究所

Dates

Publication Date: 20260505
Application Date: 20260206

Claims (10)

1. A method of aircraft flap control, the method comprising: Acquiring an azimuth angle of a lower follow-up system sliding block center of a target aircraft relative to a flap loading point and a rotation angle of a flap body relative to a system fixed frame in real time; determining a perpendicularity error according to the azimuth angle, and differentiating the rotation angle to obtain a flap angular speed; based on the perpendicularity error, a first variable gain PID controller is adopted to combine the feedforward compensation quantity determined by the angular speed of the flap to generate a slide block displacement adjustment instruction to carry out closed-loop control on the slide block position; The method comprises the steps of obtaining output force of a hydraulic actuator acting on a flap loading point in real time, carrying out zero offset calibration on the output force based on the rotation angle, and establishing a force-angle zero offset function; based on a force error between the expected loading force and the corrected actual force value, generating a displacement compensation instruction of the hydraulic actuator cylinder by adopting a second variable gain PID controller to carry out closed-loop control on the loading force; the aircraft flaps of the target aircraft are cooperatively controlled based on the slider position and the loading force.
2. The method of claim 1, wherein the parameters of the first variable gain PID controller are adaptively adjusted according to the magnitude of the perpendicularity error, and the proportional, integral and derivative parameters thereof satisfy the following relationships: , , Either (or) , , ; Wherein, the , , As a reference parameter, the reference parameter is used, , , , Alpha, beta and gamma are error adjusting coefficients for preset parameters, 、 And Respectively the proportional, integral and differential parameters, Is the perpendicularity error.
3. The method of claim 1, wherein the feedforward compensation amount is calculated by the following formula: Either (or) ; Wherein, the And As a result of the feedforward gain coefficient, Is the flap angular velocity.
4. The method of claim 1, wherein the force-angle zero offset function is established by: Under the condition that the expected loading force is zero, driving the flap to move, collecting output forces at different angles, and fitting by using a polynomial to obtain: ; Wherein, the Is a polynomial coefficient, n is a polynomial order, Is a corner.
5. The method according to claim 1, wherein the proportional, integral and derivative parameters of the second variable gain PID controller are adaptively adjusted according to the magnitude of the force error, and the proportional, integral and derivative parameters satisfy the following relationships: , , Either (or) , , ; Wherein, the 、、 As a reference parameter, the reference parameter is used, 、、 In order to set the parameters to be in the preset, 、、 As a coefficient of force error, Is the force error.
6. The method according to claim 1, characterized in that the flap angular velocity is calculated by a central difference method on the rotation angle: ; wherein, deltat is the sampling period, And The rotation angles at the previous and subsequent times, respectively.
7. The method of claim 1, wherein the displacement compensation command for the hydraulic ram is calculated as: ; Wherein, the 、、 Proportional, integral and derivative parameters of the second variable gain PID controller; Is the force error.
8. An aircraft flap control apparatus, the apparatus comprising: the acquisition module is used for acquiring the azimuth angle of the center of the lower follow-up system sliding block of the target aircraft relative to the flap loading point and the rotation angle of the flap body relative to the system fixed frame in real time; The calculation module is used for determining a perpendicularity error according to the azimuth angle alpha and carrying out differential processing on the rotation angle to obtain the angular speed of the flap; the first control module is used for generating a slide block displacement adjustment instruction to carry out closed-loop control on the slide block position by adopting a first variable gain PID controller in combination with the feedforward compensation quantity determined by the angular speed based on the perpendicularity error; The acquisition module is also used for acquiring the output force of the hydraulic actuator cylinder acting on the flap loading point in real time, carrying out zero offset calibration on the output force based on the rotation angle, and establishing a force-angle zero offset function; The second control module is used for generating a displacement compensation instruction of the hydraulic actuator cylinder by adopting a second variable gain PID controller to carry out closed-loop control on the loading force based on a force error between the expected loading force and the corrected actual force value; And the cooperative control module is used for cooperatively controlling the aircraft flap of the target aircraft based on the position of the sliding block and the loading force.
9. A computer readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method of any of the preceding claims 1-7.
10. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of any of the preceding claims 1 to 7 when the program is executed.

Description

Airplane flap control method and device, computer equipment and storage medium Technical Field The invention belongs to the field of airplane control, and particularly relates to an airplane flap control method, an airplane flap control device, computer equipment and a storage medium. Background The aircraft flap is mainly used for increasing lift force during take-off and landing and shortening the running distance during take-off and landing, is an important component of the aircraft wing, and can effectively increase the lift force of the aircraft. In the field of aircraft flap control, the prior art solutions are mainly deployed around load loading systems, by measuring the flap motion state and implementing the load application based on a preset geometrical relationship. The schemes generally adopt a control framework fed back by a sensor, a servo motor or a hydraulic actuator is used for driving a loading mechanism, and a force sensor is used for monitoring output load to complete basic control functions. However, the prior art lacks a direct measurement and feedback mechanism for the real-time spatial angle between the loading mechanism and the airfoil in terms of position control, relying on ideal geometric model calculations and open loop feedforward control. This indirect sensing approach results in substantial deviations from theoretical in the event of mechanical distortion or kinematic pair play in the system. In terms of force control, the system lacks effective compensation capability for non-linear characteristics, nor does it adequately account for the coupling effect of loading mechanism position errors on force output. In addition, the cooperative mechanism between the force control and the position control has defects, and the overall control performance of the system is directly affected. The limitation in dynamic performance is also not negligible. In the continuous motion process of the flap, the problems of phase lag and tracking error generally exist in the existing scheme, and the response between the force output and the position motion is not matched, so that the control precision is obviously reduced under the dynamic working condition. The root of these drawbacks lies in the inherent limitations of prior art control architectures. The system adopts an indirect sensing rather than direct sensing realization path, lacks a direct feedback mechanism for spatial verticality and load precision, and fails to effectively process the coupling relation between the force and the position control system, thereby restricting the further improvement of the system performance. Disclosure of Invention In order to solve the problems, the invention provides an aircraft flap control method, an aircraft flap control device, computer equipment and a storage medium. In order to achieve the above object, the present invention provides the following technical solutions: a method of aircraft flap control, the method comprising: Acquiring an azimuth angle of a lower follow-up system sliding block center of a target aircraft relative to a flap loading point and a rotation angle of a flap body relative to a system fixed frame in real time; determining a perpendicularity error according to the azimuth angle, and differentiating the rotation angle to obtain a flap angular speed; based on the perpendicularity error, a first variable gain PID controller is adopted to combine the feedforward compensation quantity determined by the angular speed of the flap to generate a slide block displacement adjustment instruction to carry out closed-loop control on the slide block position; The method comprises the steps of obtaining output force of a hydraulic actuator acting on a flap loading point in real time, carrying out zero offset calibration on the output force based on the rotation angle, and establishing a force-angle zero offset function; based on a force error between the expected loading force and the corrected actual force value, generating a displacement compensation instruction of the hydraulic actuator cylinder by adopting a second variable gain PID controller to carry out closed-loop control on the loading force; the aircraft flaps of the target aircraft are cooperatively controlled based on the slider position and the loading force. Optionally, parameters of the first variable gain PID controller are adaptively adjusted according to the magnitude of the perpendicularity error, and proportional, integral and differential parameters thereof respectively meet the following relationships: ,, Either (or) ,, ; Wherein, the ,,As a reference parameter, the reference parameter is used,,,,Alpha, beta and gamma are error adjusting coefficients for preset parameters,、AndRespectively the proportional, integral and differential parameters,Is the perpendicularity error. Optionally, the feedforward compensation amount is calculated by the following formula: Either (or) ; Wherein, the AndAs a result of the feedforward g