CN-121979258-A - Agile attitude control method suitable for large off-axis angle turning of aircraft

CN121979258ACN 121979258 ACN121979258 ACN 121979258ACN-121979258-A

Abstract

The invention relates to an agile attitude control method suitable for an aircraft turning with a large off-axis angle, which comprises the steps of establishing an aircraft attitude dynamics model with strong nonlinearity and uncertainty under a large attack angle based on off-line aerodynamic data, fusing angular velocity and specific force information output by front and rear inertial groups, accurately estimating angular acceleration, converting an original nonlinear system into an ideal linear design system by adopting a feedback linearization method to realize strong coupling decoupling, designing agile control law by combining an attitude angle and an angular velocity, and generating a control instruction to realize attitude regulation. The method and the device avoid time delay caused by traditional differential filtering through multi-source inertial measurement unit information fusion, effectively improve the control quality of a high-dynamic and strong nonlinear system based on feedback linearization, do not need an accurate pneumatic model, and enhance the robustness of the system. Compared with the traditional linear control and angular acceleration estimation method, the control agility and flight stability under the large off-axis angle turning scene are obviously improved, and the method is suitable for the high-dynamic aircraft which is difficult to model.

Inventors

CHENG LI
CHEN GUANGSHAN
XIN YING
NI HAO
PENG YIYANG

Assignees

上海航天控制技术研究所

Dates

Publication Date: 20260505
Application Date: 20260122

Claims (10)

1. An aircraft agile attitude control method suitable for large off-axis angle turns is characterized by comprising the following steps: According to the offline aerodynamic data, taking the aerodynamic characteristics of strong uncertainty and strong nonlinearity under a large attack angle into consideration, and establishing an aircraft attitude kinematics and dynamics model; Acquiring angular velocity and specific force information output by measuring the front and rear inertial measurement units of the aircraft, and calculating to obtain angular acceleration information in an aircraft attitude dynamics model; based on a feedback linearization idea, according to the calculated angular acceleration information, the attitude kinematics and the dynamics model are compensated and changed into an ideal linear design system by an original nonlinear system; According to the attitude angle and the angular speed information of the aircraft, based on the obtained ideal linear design system, designing an agile attitude control law, calculating required channel control instructions, and controlling the attitude of the aircraft by utilizing the control instructions of all channels.
2. The method for controlling agile attitude of an aircraft suitable for large off-axis angle turning according to claim 1, wherein the aircraft attitude kinematic model is: Wherein, the , , Respectively represent attack angle, sideslip angle and roll angle, and are marked by the superscript Representing the derivative of the state quantity, The quality is indicated by the fact that, Representing the flight speed; , partial derivatives of aerodynamic force relative attack angle and sideslip angle are respectively represented; , , Representing pitch, yaw and roll angular velocities, respectively.
3. The method for controlling agile attitude of an aircraft suitable for large off-axis angle turning according to claim 2, wherein the model of attitude dynamics of the aircraft is: Wherein, the Representing an attitude angle matrix comprising an attack angle, a sideslip angle and a roll angle; representing an angular velocity matrix comprising three axis angular velocity components; Representing a flight state matrix including Mach numbers Dynamic pressure Thrust force ; Representing a control quantity matrix comprising , , Respectively representing deflection angle instructions of the pitching, yawing and rolling channel executing mechanisms; Representing a moment of inertia matrix; The control efficiency matrix is represented and consists of a partial derivative of the gas rudder moment and the gas dynamic moment relative to the deflection angle of the actuating mechanism; Representing a matrix of aerodynamic moments comprising , , Representing the imprecisely modeled aerodynamic moment in pitch, yaw and roll channel components associated with Mach number, dynamic pressure, angle of attack, sideslip angle, respectively; representing a fuel gas moment matrix comprising , , Representing the inaccurately modeled gas moment in pitch, yaw and roll channel components associated with Mach number, dynamic pressure, thrust, attitude angle, respectively; representing an irrelevant part of the attitude dynamics equation with the control quantity; the control quantity-related part of the gesture dynamics equation is represented.
4. A method of controlling agile attitude of an aircraft for large off-axis angle turns according to claim 3, wherein said calculating angular acceleration information in an aircraft attitude dynamics model comprises: Selecting specific force, angular acceleration and attitude angular velocity at the triaxial centroid as state variables, and constructing a discrete form state equation; The method comprises the steps of selecting angular velocity and specific force signals which are measured and output by front and rear inertial measurement units of an aircraft, and constructing a measurement model based on the geometric position relationship between the angular velocity and the specific force signals; And constructing an angular acceleration filter based on a discrete extended Kalman filtering algorithm according to the obtained state equation and the measurement model, wherein the angular acceleration filtering algorithm is divided into a filtering initial value, a state updating part and a measuring updating part.
5. The method for controlling agile attitude of an aircraft for large off-axis angle turning according to claim 4, wherein the selecting specific force, angular acceleration and attitude angular velocity at the triaxial centroid as state variables constructs a state equation in discrete form, comprising: selecting specific force, angular acceleration and attitude angular velocity at the triaxial centroid as state variables Wherein, the As a state variable, a state variable is used, The triaxial specific forces at the centroid are respectively, The three-axis angular accelerations are respectively given, Three axial angular velocities respectively; The state equation in discrete form is: Wherein, the Is that The state variable of the moment of time, Is that The state variable of the moment of time, Is that A state transition matrix of the moment of time, In the form of a noise matrix, Is the simulation step size.
6. The method for controlling agile attitude of an aircraft suitable for turning at a large off-axis angle according to claim 5, wherein the selecting the angular velocity and specific force signals of the measured output of the front and rear inertial measurement units of the aircraft, and constructing a measurement model based on the geometric positional relationship between the two signals, comprises: according to the angular velocity and specific force signals which are measured and output by the front and rear inertial measurement units of the aircraft, the geometric position relation between the two signals is based: Wherein, the For the specific force measured by the front and rear mass accelerometers, As a specific force at the centroid, The angular velocity is measured for the front and rear gyroscopes, Is the installation position of the inertial measurement unit relative to the mass center; The measurement model is constructed as follows: Wherein, the In order to measure the variable(s), In order to measure the variable(s), In the form of a noise matrix, A state transition matrix for the measurement equation; The triaxial specific forces measured by the front mass accelerometer, Angular velocities are measured for the front gyroscopes of the centroids respectively, The triaxial specific forces measured by the rear mass center accelerometer, Angular velocities are measured for the rear-of-centroid gyroscopes, respectively.
7. The method for controlling agile attitude of an aircraft for large off-axis turns of claim 6, wherein said state transition matrix of said measurement equation The expression is: , Wherein, the The components of the installation position of the front inertial measurement unit relative to the mass center in three axes are respectively, The components of the installation position of the rear inertial measurement unit relative to the mass center in three axes are respectively, Three axis angular velocities, respectively.
8. The method for controlling agile attitude of an aircraft for large off-axis angle turning according to claim 4, wherein said angular acceleration filtering algorithm is implemented as follows, Filtering initial value: And (5) updating the state: And (5) measurement and update: Wherein, the And Respectively a process noise variance matrix and a measurement noise variance matrix, subscripts The initial value is indicated and is indicated, Representing the mathematical expectation of the state quantity.
9. The method for controlling agile attitude of an aircraft for large off-axis angle turning according to claim 4, wherein the compensating and changing the attitude kinematics and dynamics model from the original nonlinear system into an ideal linear design system based on the feedback linearization idea according to the calculated angular acceleration information comprises: Linearizing an aircraft attitude dynamics equation, and performing first-order Taylor expansion at a working point at the last moment to obtain a linear attitude dynamics model: Wherein, the The angular acceleration of the working point at the previous moment; the attitude angle of the working point at the previous moment; the angular velocity of the working point at the previous moment; The flying state of the working point at the last moment; the control quantity of the working point at the last moment; a generalized control efficiency matrix for the working point at the previous moment; is a high order small amount that is ignored; Setting virtual control quantity The actual control amount use virtual control amount is expressed as: Based on the feedback linearization idea, the original nonlinear system compensation is changed into an ideal linear design system: Then The ideal linear design system of the pitching channel is as follows: The ideal linear design system of the yaw channel is as follows: the ideal linear design system of the rolling channel is as follows: 。
10. The method for controlling agile attitude of an aircraft for cornering with a large off-axis angle according to claim 9, wherein said designing agile attitude control law based on an ideal linear design system according to information of attitude angle and angular velocity of the aircraft, resolving required channel control instructions, and controlling attitude of the aircraft by using the control instructions of each channel comprises: because the ideal linear design system is in a static neutral stable state, the attitude control law is designed, and the virtual control quantity is obtained Wherein, the As a control parameter of the pitch channel, As a control parameter of the yaw path, Control parameters for the roll channel; combining the calculated angular acceleration And a compensation formula, wherein the obtained actual control instruction of each channel is as follows: 。

Description

Agile attitude control method suitable for large off-axis angle turning of aircraft Technical Field The invention relates to an agile gesture control method of an aircraft suitable for an air-emission large off-axis angle turning scene, and belongs to the technical field of aircraft control. Background In recent years, in order to improve maneuvering performance of an aircraft after launching, requirements of the aircraft for large off-axis angle turning are increasingly urgent, and the aircraft is required to complete large-angle course adjustment in a very short time after separation so as to meet diversification of flight mission targets. To achieve this goal, the aircraft is required to produce a large angular acceleration in a short period of time, resulting in a continuous flight at high angles of attack and high rotational speeds. On the one hand, serious airflow separation and unsteady vortex rupture are caused, so that the aerodynamic moment presents strong nonlinearity and time-varying characteristics, and on the other hand, the great angular velocity enables the pitch, yaw and roll motions to be deeply coupled, and the traditional control method based on the small disturbance assumption and independent channel design is basically ineffective. These factors together constitute a fundamental challenge in the agile control of aircraft in high dynamic environments, and the development of new control methods is highly desirable. Aiming at the large attack angle flight control problem, domestic and foreign researches mainly focus on aerodynamic modeling and nonlinear control algorithm development research design, such as nonlinear dynamic inverse and active disturbance rejection control methods. However, most of the existing researches focus on static or quasi-static working conditions with large attack angles, and focus on large-magnitude angular velocities and dynamic effects caused by the large-magnitude angular velocities and the dynamic effects are insufficient. In particular, under the extreme condition that the angular velocity magnitude is hundreds of degrees per second, the traditional method faces two bottlenecks, namely, the acquisition of a high-precision pneumatic model and the difficulty thereof, and the difficulty in realizing hysteresis-free estimation of rapid disturbance of the existing state observer. At present, few researches are conducted on agile control methods under the conditions of difficult accurate modeling and high dynamic environments. Disclosure of Invention The invention solves the technical problems of overcoming the defects of the prior art, providing the agile attitude control method of the aircraft suitable for large off-axis angle turning, and solving the defects that the control effect is influenced by difficulty in accurately modeling the aerodynamic moment and the disturbance moment of the large attack angle working condition projectile body under the large off-axis angle turning scene. The technical scheme of the invention is that the method for controlling the agile gesture of the aircraft suitable for turning with a large off-axis angle comprises the following steps: Firstly, according to offline aerodynamic data, taking the aerodynamic characteristics of strong uncertainty and strong nonlinearity under a large attack angle into consideration, and establishing an aircraft attitude kinematics and dynamics model; Acquiring angular velocity and specific force information output by measuring the front and rear inertial measurement units of the aircraft, and calculating to obtain angular acceleration information in an aircraft attitude dynamics model; Thirdly, based on a feedback linearization idea, according to the calculated angular acceleration information, the attitude kinematics and the dynamics model are compensated and changed into an ideal linear design system by an original nonlinear system; And step four, designing agile attitude control laws based on the obtained ideal linear design system according to the attitude angle and angular speed information of the aircraft, solving required channel control instructions, and controlling the attitude of the aircraft by utilizing the control instructions of all channels. The aircraft attitude kinematic model is as follows: Wherein, the ,,Respectively represent attack angle, sideslip angle and roll angle, and are marked by the superscriptRepresenting the derivative of the state quantity,The quality is indicated by the fact that,Representing the flight speed;, partial derivatives of aerodynamic force relative attack angle and sideslip angle are respectively represented; ,, Representing pitch, yaw and roll angular velocities, respectively. The aircraft attitude dynamics model is as follows: Wherein, the Representing an attitude angle matrix comprising an attack angle, a sideslip angle and a roll angle; representing an angular velocity matrix comprising three axis angular velocity components; Representing a flight