CN-121978913-A - Aircraft control system optimization method, device, computer equipment and storage medium

CN121978913ACN 121978913 ACN121978913 ACN 121978913ACN-121978913-A

Abstract

The invention discloses an aircraft control system optimization method, an aircraft control system optimization device, computer equipment and a storage medium. The method comprises the steps of obtaining actual measurement flight data collected by a multi-rotor aircraft in a flight test process, carrying out time domain state analysis on the actual measurement flight data to determine a time domain analysis result, carrying out low-order fitting processing on the actual measurement flight data to determine a single-channel identification model corresponding to the multi-rotor aircraft, carrying out frequency domain state analysis on the single-channel identification model to determine a frequency domain analysis result, obtaining a parameter configuration file carrying a target control law parameter when at least one of the time domain analysis result and the time-frequency domain analysis result is verification failure, and carrying out online deployment on the time parameter configuration file to an aircraft control system to enable the time aircraft control system to continue flight test based on the target control law parameter. The method can realize online iterative updating of the control law parameters, and greatly improves the iterative efficiency and accuracy of the control law parameters.

Inventors

ZHANG NING
SU QINGPENG
LONG TIANXIANG

Assignees

广东高域科技有限公司

Dates

Publication Date: 20260505
Application Date: 20251231

Claims (10)

1. An aircraft control system optimization, comprising: Acquiring actual measurement pilot flight data acquired in the pilot flight process of the multi-rotor aircraft; performing time domain state analysis on the actually measured flight data to determine a time domain analysis result; performing low-order fitting processing on the actually measured flight test data, determining a single-channel identification model corresponding to the multi-rotor aircraft, performing frequency domain state analysis on the single-channel identification model, and determining a frequency domain analysis result; when at least one of the time domain analysis result and the frequency domain analysis result is that verification fails, acquiring a parameter configuration file carrying a target control law parameter; and deploying the parameter configuration file to an aircraft control system on line so that the aircraft control system continues to test flight based on the target control law parameters, and repeatedly executing the acquired actual measurement test flight data acquired by the multi-rotor aircraft in the test flight process.
2. The aircraft control system optimization of claim 1, wherein the performing a time domain state analysis on the measured test flight data to determine a time domain analysis result comprises: performing time domain state analysis on the actually measured flight data to determine index actually measured values corresponding to a plurality of time domain state indexes; if all the index actual measurement values corresponding to the time domain state indexes are in the index effective ranges corresponding to the time domain state indexes, determining that the time domain analysis result is the passing of the test; and if the measured value of the index corresponding to at least one time domain state index is not in the effective range of the index corresponding to the time domain state index, determining that the time domain analysis result is not passed by verification.
3. The aircraft control system optimization of claim 1, wherein the performing a low-order fitting process on the measured test flight data to determine a single channel recognition model corresponding to the aircraft control system comprises: Performing frequency spectrum conversion on the actually measured test flight data, and determining an input self-spectrum function, an output self-spectrum function and a cross-spectrum function corresponding to the actually measured test flight data; Determining a target transfer function corresponding to a control channel based on the input self-spectrum function, the output self-spectrum function and the cross-spectrum function; And performing low-order fitting based on the target transfer function, and determining a single-channel identification model corresponding to the aircraft control system.
4. The aircraft control system optimization of claim 3, wherein after said determining the input, output, and cross-spectral functions corresponding to the measured test flight data, the aircraft control system optimization method further comprises: Determining a trial-flight coherence function value based on the input self-spectral function, the output self-spectral function, and the cross-spectral function; When the pilot flight coherence function value is smaller than a preset coherence function value, determining that the actually measured pilot flight data is invalid data, and repeatedly executing the actually measured pilot flight data acquired by the multi-rotor aircraft in the pilot flight process; And when the test flight coherence function value is not smaller than a preset coherence function value, determining a target transfer function corresponding to a target channel based on the input self-spectrum function, the output self-spectrum function and the cross-spectrum function.
5. The aircraft control system optimization of claim 3, wherein the determining a target transfer function for a control channel based on the input self-spectral function, the output self-spectral function, and the cross-spectral function comprises: Determining measured noise power based on the input self-spectral function; when the actually measured noise power is smaller than the preset noise power, determining a target transfer function corresponding to a control channel based on the cross spectrum function and the input self spectrum function; and when the actually measured noise power is not smaller than the preset noise power, determining a target transfer function corresponding to the control channel based on the output self-spectrum function and the cross-spectrum function.
6. The aircraft control system optimization of claim 1, wherein the performing a frequency domain state analysis on the single channel recognition model to determine a frequency domain analysis result comprises: carrying out frequency domain state analysis on the single-channel identification model to determine index actual measurement values corresponding to a plurality of frequency domain state indexes; If all the index actual measurement values corresponding to the frequency domain state indexes are in the index effective range corresponding to the frequency domain state indexes, determining that the frequency domain analysis result is the passing of the test; And if the actually measured value of the index corresponding to at least one frequency domain state index is not in the effective range of the index corresponding to the frequency domain state index, determining that the frequency domain analysis result is not passed by verification.
7. An aircraft control system optimization apparatus, comprising: the actual measurement test flight data acquisition module is used for acquiring actual measurement test flight data acquired by the multi-rotor aircraft in the test flight process; The time domain analysis result determining module is used for performing time domain state analysis on the actual measurement test flight data and determining a time domain analysis result; The frequency domain analysis result determining module is used for performing low-order fitting processing on the actual measurement flight data, determining a single-channel identification model corresponding to the multi-rotor aircraft, performing frequency domain state analysis on the single-channel identification model, and determining a frequency domain analysis result; The parameter configuration file acquisition module is used for acquiring a parameter configuration file carrying a target control law parameter when at least one of the time domain analysis result and the frequency domain analysis result is verification failure; And the parameter configuration file deployment module is used for deploying the parameter configuration file to the aircraft control system on line so that the aircraft control system continues to test flight based on the target control law parameter, and the actual measurement test flight data acquired by the multi-rotor aircraft in the test flight process are repeatedly executed.
8. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the aircraft control system optimization method according to any one of claims 1 to 6 when executing the computer program.
9. The computer device of claim 8, wherein the computer device is a flight control computer disposed within a multi-rotor aircraft or the computer device is a ground terminal connected to the multi-rotor aircraft via a communications network.
10. A computer readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the aircraft control system optimization method of any one of claims 1 to 6.

Description

Aircraft control system optimization method, device, computer equipment and storage medium Technical Field The present invention relates to the field of aircraft control technologies, and in particular, to an aircraft control system optimization method, an apparatus, a computer device, and a storage medium. Background The body model corresponding to the aircraft control system can be used for off-line simulation tests of various systems, and is convenient for development iteration of preliminary design and detailed design stages. The modeling difficulty of the multi-rotor aircraft is higher than that of the fixed wings, and the modeling difficulty is higher because the air flow interference among a plurality of propellers is very complex, the flow field is influenced by the flight speed, the flight direction and the rotating speeds of the propellers, so that the aerodynamic force of the propellers is difficult to estimate accurately, and the air flow coupling between the propellers and the airframe influences the aerodynamic force of the airframe at different flight speeds and different rotating speeds of the rotors, and the typical low-speed, large attack angle and large sideslip angle flight working conditions of the multi-rotor aircraft are overlapped, so that the aerodynamic force of the airframe is difficult to estimate. Because the accuracy of the propeller aerodynamic force and the airframe aerodynamic force formed by the simulation test is lower, the development iteration efficiency and the accuracy of the aircraft control system corresponding to the multi-rotor aircraft are lower. Disclosure of Invention The embodiment of the invention provides an aircraft control system optimization method, an aircraft control system optimization device, computer equipment and a storage medium, which are used for solving the problems of low iteration efficiency and low accuracy in the existing aircraft control system iteration development process. An aircraft control system optimization, comprising: Acquiring actual measurement pilot flight data acquired in the pilot flight process of the multi-rotor aircraft; performing time domain state analysis on the actually measured flight data to determine a time domain analysis result; performing low-order fitting processing on the actually measured flight test data, determining a single-channel identification model corresponding to the multi-rotor aircraft, performing frequency domain state analysis on the single-channel identification model, and determining a frequency domain analysis result; when at least one of the time domain analysis result and the frequency domain analysis result is that verification fails, acquiring a parameter configuration file carrying a target control law parameter; and deploying the parameter configuration file to an aircraft control system on line so that the aircraft control system continues to test flight based on the target control law parameters, and repeatedly executing the acquired actual measurement test flight data acquired by the multi-rotor aircraft in the test flight process. Preferably, the performing time domain state analysis on the measured flight data to determine a time domain analysis result includes: performing time domain state analysis on the actually measured flight data to determine index actually measured values corresponding to a plurality of time domain state indexes; if all the index actual measurement values corresponding to the time domain state indexes are in the index effective ranges corresponding to the time domain state indexes, determining that the time domain analysis result is the passing of the test; and if the measured value of the index corresponding to at least one time domain state index is not in the effective range of the index corresponding to the time domain state index, determining that the time domain analysis result is not passed by verification. Preferably, the performing low-order fitting processing on the actually measured flight data, determining a single-channel identification model corresponding to the aircraft control system, includes: Performing frequency spectrum conversion on the actually measured test flight data, and determining an input self-spectrum function, an output self-spectrum function and a cross-spectrum function corresponding to the actually measured test flight data; Determining a target transfer function corresponding to a control channel based on the input self-spectrum function, the output self-spectrum function and the cross-spectrum function; And performing low-order fitting based on the target transfer function, and determining a single-channel identification model corresponding to the aircraft control system. Preferably, after the determining the input self-spectrum function, the output self-spectrum function and the cross-spectrum function corresponding to the measured test flight data, the aircraft control system optimization method further includes: Determining