CN-121978944-A - Rudder card safety envelope and fault tolerance control method

CN121978944ACN 121978944 ACN121978944 ACN 121978944ACN-121978944-A

Abstract

The invention belongs to the technical field of X-rudder control methods, and particularly relates to a safe envelope and fault tolerance control method of an X-rudder card. Taking each control surface of the X-rudder as an independent control unit, respectively considering the control characteristics of each control surface of the X-rudder to the attitude of the aircraft, adopting fuzzy logic to establish an independent controller, observing the attitude in real time through an extended state observer, and realizing the automatic fault-tolerant control of the X-rudder by implementing feedforward compensation decoupling on the output of each control surface controller of the X-rudder. The invention provides the rudder card safety envelope and the fault-tolerant control method which can avoid the fault diagnosis link of the rudder card, implement the retrieval of the rudder card by directly sensing the change of the motion quantity and the state quantity of the aircraft, and are used for improving the reliability of the fault-tolerant control of the rudder card and improving the success rate of the retrieval of the rudder card.

Inventors

HUANG BIN
PENG LIKUN
Lv Bangjun
HE XIGUANG
PAN WEI
CHEN JIABAO
WANG YONG

Assignees

中国人民解放军海军工程大学

Dates

Publication Date: 20260505
Application Date: 20260203

Claims (4)

1. The X-rudder card safety envelope and fault tolerance control method is characterized in that each blade of an X-rudder is used as an independent control unit, the control characteristics of each blade of the X-rudder on the gesture of an aircraft are considered, an independent controller is established by adopting fuzzy logic, the gesture is observed in real time through an extended state observer, and feedforward compensation decoupling is implemented on the output of each control surface controller of the X-rudder to realize automatic fault tolerance control of the X-rudder.
2. The rudder card security envelope and fault tolerance control method of claim 1, comprising the specific steps of: step S1, establishing an X-rudder single-rudder fuzzy controller Analyzing the operating characteristics of the X rudder, and determining the control rule of the X rudder on the attitude state variable of the aircraft; Constructing an X-rudder fuzzy controller with stable global index by adopting a single-value fuzzifier, a triangular membership function, a product inference engine and a central average defuzzifier; Step S2, establishing a variable domain fuzzy control system Based on the initial rule base, the control rules of the rudder and the rudder are obtained by the control response and expert experience, based on simulation and experimental correction, the initial domain and the initial value domain of the input and output variables are determined, based on the variable domain fuzzy control method, domain expansion factors which change along with E S and Ec S are designed on the basis of the initial domain, and a variable domain fuzzy control system is established; Step S3, establishing feedforward compensation decoupling control based on ESO Determining a system state variable through the observation of the variable-domain fuzzy control system external variable in the step S2, and expanding the total disturbance of the system state variable into a new state variable based on an expanded state observer; step S4, rudder card retrieval processing Judging the type and the state of the rudder card, and adopting a corresponding rudder card retrieval scheme according to a judging result, wherein the method specifically comprises the following steps of: ① Rudder card is limited to one rudder surface When the rudder card angle is within +/-25 degrees, adopting a scheme A; When the rudder card is limited to one of the two control surfaces at the lower side and the rudder card angle exceeds +/-25 degrees, adopting a scheme C; ② The rudder card is limited to two vertically adjacent rudder surfaces When the rudder card direction is consistent or the rudder card direction is opposite but the rudder card angle is within +/-20 degrees, adopting a scheme B; when the rudder clamping directions are opposite and the rudder clamping angle exceeds the range of +/-20 degrees, adopting a scheme C; ③ Rudder card is limited to Shui Pingfang left and right adjacent two control surfaces When the rudder card directions are consistent and the rudder card angles are within a range of +/-19 degrees, or the rudder card directions are opposite, the rudder card angles are within a range of +/-25 degrees, adopting a scheme B; when the rudder card directions are consistent and the rudder card angles are within +/-22 degrees, or the rudder card directions are opposite, adopting a scheme C; ④ Under other conditions, adopting deceleration and stopping and taking emergency measures by using gas; The recovery control scheme is specifically as follows: a, starting recovery control by utilizing a fault rudder and other available X-control surfaces based on variable domain fuzzy control; feedforward compensation decoupling control state quantity based on ESO (electronic stability analysis) enables the state quantity to be stabilized near an initial state, reduces coupling influence between rudders and enables the rudders to return to the initial state before a rudder card; B, ignoring the control of the transverse inclination according to the requirement of continuous sailing, starting retrieval control by utilizing a fault rudder and other available X control surfaces based on variable domain fuzzy control, stabilizing the fault rudder and other available X control surfaces near an initial state based on feedforward compensation decoupling control state quantity of ESO, weakening the coupling influence between X rudders, and returning the fault rudder and other available X control surfaces to the initial state in front of a rudder card; And C, neglecting control of the transverse inclination and the course according to the requirements of guaranteeing the underwater safety of the aircraft, starting retrieval control by utilizing a fault rudder and other available X control surfaces based on variable domain fuzzy control, decoupling control state quantity based on feedforward compensation of ESO to enable the depth and the longitudinal inclination of the aircraft to return to an initial state, weakening the coupling influence between X rudders, and enabling the aircraft to enter a fixed-depth rotary motion state.
3. The rudder card security envelope and fault tolerance control method of claim 1, wherein the step S1 specifically comprises: analyzing the operating characteristics of the X rudder, and determining the control rule of the X rudder on the attitude state variable of the aircraft; the global index stable X-rudder fuzzy controller is constructed by adopting a single-value fuzzifier, a triangular membership function, a product inference engine and a central average defuzzifier and is expressed as follows: (2) wherein: For the control component of the control surface facing the S state quantity of the ith control surface, n is blurring The phi refers to the transverse inclination angle, The pitch angle and the heading angle are respectively defined as phi and phi; First, the The form of the bar fuzzy rule is that If E is Ec is Then u is ; Wherein the method comprises the steps of Is an error of the finger state quantity, Is referred to as the state quantity error change rate, Is fuzzy output; Is the first The first control surface is corresponding to the s state quantity The membership degree of the bar fuzzy rule, In order to output the center of the fuzzy set B, And Is the first The condition part of the fuzzy rule is fuzzy the membership degree of the sets A and A; For any state quantity The corresponding state quantity error and state quantity error rate of change can be expressed as: ; wherein: a control command value representing a state S, The control time is indicated as such, The actual value of the state quantity S of motion at time t, The starting time of the iteration is indicated, Representing the iteration end time, and t out -t in represents the step length of the iteration solving process; Establishing an initial control rule base according to the logic relation between the control rules of the X-rudders on the state variables of the aircraft ; The elements NB, NM, PM, PB in square U B are output fuzzy sets, each row from top to bottom and each column from left to right in U B represent 7 fuzzy sets of E S and Ec S , respectively.
4. The rudder card security envelope and fault tolerance control method of claim 1, wherein the step S2 specifically comprises: Based on initial rule base, control rules of the rudder and the rudder are obtained by operating response and expert experience; Based on a variable domain fuzzy control method, domain expansion factors alpha (E S ) and alpha (Ec S ) which are changed along with E S and Ec S are designed on the basis of an initial domain, and the specific structure is as follows: u and U max are the current speed and the maximum speed respectively, And For the purpose of the initial domain of discussion, And For the current domain of the discussion, Is the lower limit of alpha (E S ), Is a lower limit for α (Ec S ); summing the output components of each fuzzy controller to obtain a single rudder control command 。

Description

Rudder card safety envelope and fault tolerance control method Technical Field The invention belongs to the technical field of X-rudder control methods, and particularly relates to a safe envelope and fault tolerance control method of an X-rudder card. Background The fault-tolerant control of the X-rudder mainly comprises three steps, wherein the first step is to judge the position and the clamping degree of a fault control surface, the second step is to reconstruct an X-rudder control efficiency matrix according to an available control surface, and the third step is to control torque compensation and distribution. Therefore, the timeliness and the accuracy of the fault diagnosis of the X-rudder are the necessary conditions for reconstructing the X-rudder control efficiency matrix when the rudder card is correctly implemented, and if the fault diagnosis is delayed or even misjudged, the fault-tolerant control effect of the X-rudder is greatly reduced or even disabled. The vehicle is different from the AUV, the water displacement is hundreds to thousands times of that of the AUV, and particularly when the underwater vehicle is maneuvered at a high speed, once rudder clamps are generated, if effective retrieval measures are not adopted in time, the vehicle is difficult to retrieve if a large inertial movement trend is formed, so that how to quickly and accurately implement retrieval is a key for ensuring that the vehicle is successfully taken out of danger. However, the fault of the steering card of the aircraft is generally judged by means of state feedback of a steering actuating mechanism and personnel feedback of a steering post, so that the position of the steering card is difficult to be judged rapidly and accurately, the best retrieval time of the steering card is easy to miss, and the extreme condition of irrecoverable occurs. Disclosure of Invention The invention aims to provide an X-rudder card safety envelope and a fault-tolerant control method which can avoid a rudder card fault diagnosis link, implement rudder card retrieval by directly sensing the change of the motion quantity and the state quantity of an aircraft, and improve the reliability of fault-tolerant control of an X-rudder card and the success rate of rudder card retrieval In order to achieve the above purpose, the present invention adopts the following technical scheme. A safe envelope and fault tolerance control method of an X-rudder card takes each control surface of an X-rudder as an independent control unit, considers the control characteristics of each control surface of the X-rudder to the gesture of an aircraft respectively, adopts fuzzy logic to establish an independent controller, observes the gesture in real time through an extended state observer, and realizes the automatic fault tolerance control of the X-rudder by implementing feedforward compensation decoupling on the output of each control surface controller of the X-rudder. Further improvement or preferred implementation of the aforementioned rudder card security envelope and fault tolerance control method comprises the specific steps of: step S1, establishing an X-rudder single-rudder fuzzy controller Analyzing the operating characteristics of the X rudder, and determining the control rule of the X rudder on the attitude state variable of the aircraft; Constructing an X-rudder fuzzy controller with stable global index by adopting a single-value fuzzifier, a triangular membership function, a product inference engine and a central average defuzzifier; Step S2, establishing a variable domain fuzzy control system Based on the initial rule base, the control rules of the rudder and the rudder are obtained by the control response and expert experience, based on simulation and experimental correction, the initial domain and the initial value domain of the input and output variables are determined, based on the variable domain fuzzy control method, domain expansion factors which change along with E S and Ec S are designed on the basis of the initial domain, and a variable domain fuzzy control system is established; Step S3, establishing feedforward compensation decoupling control based on ESO Determining a system state variable through the observation of the variable-domain fuzzy control system external variable in the step S2, and expanding the total disturbance of the system state variable into a new state variable based on an expanded state observer; s4, rudder card retrieval processing, judging the type and the state of the rudder card, and adopting a corresponding rudder card retrieval scheme according to a judging result, wherein the method specifically comprises the following steps of: ① Rudder card is limited to one rudder surface When the rudder card angle is within +/-25 degrees, adopting a scheme A; When the rudder card is limited to one of the two control surfaces at the lower side and the rudder card angle exceeds +/-25 degrees, adopting a scheme C; ② The rudder c