CN-121995980-A - Servo elastic coupling vibration suppression control method for high-speed unmanned aerial vehicle structure

CN121995980ACN 121995980 ACN121995980 ACN 121995980ACN-121995980-A

Abstract

The invention relates to the technical field of signal processing, in particular to a control method, a system, equipment, a medium and a program product for suppressing servo elastic coupling vibration of a high-speed unmanned aerial vehicle structure. The invention solves the problems of difficult structure modification, narrow notch frequency range and large low-pass filtering delay of the existing structure servo elastic coupling resonance solution method, and can not reduce the performance of a control system and ensure the flight safety.

Inventors

WANG PENGFEI
WANG RUI
Song Menghao
SUN ZHIWEI
LIANG JUNWU
DOU YIGENG
WANG JINGJING
ZHANG LIN
GONG XIYING

Assignees

西安爱生技术集团有限公司

Dates

Publication Date: 20260508
Application Date: 20260113

Claims (10)

1. A high-speed unmanned aerial vehicle structure servo elastic coupling vibration suppression control method is characterized by comprising the following steps: Applying external disturbance to a control system of the high-speed unmanned aerial vehicle in a closed loop state, and acquiring test data, wherein the test data comprises steering engine control quantity, steering engine feedback quantity, sensor data, control law input and control law output corresponding to each control surface; determining a target control surface causing resonance and a target control loop in the control surface causing resonance according to the test data; Performing spectrum analysis on target sensor data corresponding to a target control loop to obtain a signal spectrum corresponding to the target sensor data in a resonance state; designing a cascade trap with double center frequencies; And introducing the cascade notch filter with double center frequencies into a feedback channel of a target control loop of the control system, and filtering disturbance signals by using the cascade notch filter to complete the inhibition of servo elastic coupling vibration of the unmanned aerial vehicle structure.
2. The method for controlling the suppression of servo elastic coupling vibration of a high-speed unmanned aerial vehicle structure according to claim 1, wherein the step of determining a target control loop causing resonance is: Determining a graph of the steering engine feedback quantity according to the steering engine feedback quantity corresponding to each control surface; And taking the graph of the feedback quantity of the steering engine as a control surface of an oscillation divergence waveform as a target control surface for causing resonance, and taking a control loop corresponding to the target control surface as a target control loop.
3. The control method for suppressing the servo elastic coupling vibration of the high-speed unmanned aerial vehicle structure according to claim 1, wherein the signal spectrum of the target sensor data corresponding to the target control loop is obtained by performing fast fourier transform on the target sensor data.
4. The method for suppressing vibration of servo elastic coupling of a high-speed unmanned aerial vehicle structure according to claim 1, wherein the step of extracting the double center frequencies causing resonance in the signal spectrum is to take the frequencies corresponding to the two maximum amplitudes in the signal spectrum as the double center frequencies causing resonance.
5. The method for controlling the suppression of servo elastic coupling vibration of a high-speed unmanned aerial vehicle structure according to claim 1, wherein the step of designing a cascade trap with double center frequencies is as follows: The notch filter design is carried out on the two center frequencies respectively, and the discrete domain transfer function of the notch filter is obtained as follows: in the formula, Is the first Discrete domain transfer functions of notch filters corresponding to the center frequencies; Complex variables under a discrete time system; Adjusting the coefficient for the notch bandwidth; ; , Is the sampling frequency; Is the first Notch bandwidths corresponding to the center frequencies; Is the first A center frequency; Is the first Notch bandwidths corresponding to the center frequencies; the discrete transfer function of the notch filter provided with the cascaded dual center frequencies can be expressed as: in the formula, Discrete transfer functions that are notch filters of cascaded dual center frequencies; a discrete domain transfer function of the notch filter corresponding to the 1 st center frequency; Is the discrete domain transfer function of the notch filter corresponding to the 2 nd center frequency.
6. The method for controlling the servo elastic coupling vibration suppression of the high-speed unmanned aerial vehicle structure according to claim 5, wherein, The expression of (2) is: in the formula, Calculating parameters for the middle; For attenuating the corresponding gain factor; Is the first Notch bandwidths corresponding to the center frequencies; to be on both sides of the central frequency Is a frequency of the attenuation at the frequency of (a).
7. A high-speed unmanned aerial vehicle structure servo elastic coupling vibration suppression control system, which is characterized by comprising: The system comprises a data acquisition module, a control module and a control module, wherein the data acquisition module is used for applying external disturbance to a control system of the high-speed unmanned aerial vehicle in a closed loop state and acquiring test data, and the test data comprises steering engine control quantity, steering engine feedback quantity, angular speed, angular acceleration, control law input and control law output corresponding to each control surface; the target control loop positioning module is used for determining a target control surface causing resonance and a target control loop causing resonance in the control surface according to the test data; the frequency spectrum analysis module is used for carrying out frequency spectrum analysis on the target sensor data corresponding to the target control loop to obtain a signal frequency spectrum corresponding to the target sensor data in a resonance state; The cascade trap design module is used for designing a cascade trap with double center frequencies; And the vibration suppression module is used for introducing the cascade notch filter with double center frequencies into a feedback channel of a target control loop of the control system, and filtering disturbance signals by utilizing the cascade notch filter so as to suppress servo elastic coupling vibration of the unmanned aerial vehicle structure.
8. An electronic device, characterized by a processor, a memory and a computer program stored on the memory, which when executed by the processor realizes the steps of the method according to any of claims 1-6.
9. A program product comprising a computer program for performing the steps of the method of any of claims 1-6 when the computer program is run.
10. A storage medium having stored thereon a computer program for performing the steps of the method of any of claims 1-6 when the computer program is run.

Description

Servo elastic coupling vibration suppression control method for high-speed unmanned aerial vehicle structure Technical Field The invention relates to the technical field of signal processing, in particular to a high-speed unmanned aerial vehicle structure servo elastic coupling vibration suppression control method, a system, equipment, a medium and a program product. Background Along with the continuous development of the modern unmanned aerial vehicle technology, the attitude fine control and the high maneuvering control of the high-speed unmanned aerial vehicle all put higher requirements on the bandwidth of a control system. However, the high-bandwidth control system can often be sensitive to the fine vibration of the engine body structure, and is added to the steering engine deflection command through control law calculation, the motion of the steering engine further generates vibration to form a closed loop, the continuous vibration of the steering engine is generated, and the problem of structural servo elastic coupling resonance is formed. This phenomenon may cause serious damage to the unmanned aerial vehicle steering engine, control surface, and engine body structure, thereby causing catastrophic effects on flight safety. The traditional structural servo elastic coupling resonance problem solving method is mainly optimized from the structural design, however, the structural design has a plurality of overall constraints, and the problems of weight increase of the whole machine and the like are easily brought, so that the problem is difficult to completely avoid. In recent years, the development of digital filtering technology provides a better choice for solving the structural servo elastic coupling resonance problem, and the problem can be solved at lower cost by introducing a filter to actively suppress the resonance frequency in a control system. However, some high-speed unmanned aerial vehicles may have the problem of structural servo elastic coupling resonance at a plurality of frequencies, a common notch filter only has an inhibition effect on resonance caused by a single frequency point and a narrow vibration spectrum distribution range, and a low-pass filter has a weakening effect on vibration higher than a certain frequency, but has the problems of insufficient filtering attenuation depth and increased signal delay. For the control system of the high-speed unmanned aerial vehicle, delay introduced by filtering can lead to a reduction in control effect, and serious control vibration can even be dispersed. Therefore, the current resonance suppression means for certain delay-sensitive high-speed unmanned aerial vehicles cannot meet the control system requirements. Therefore, it is desirable to provide a control method for suppressing vibration of servo elastic coupling of a high-speed unmanned aerial vehicle structure to solve the above-mentioned problems. Disclosure of Invention Aiming at the problem that the current resonance suppression means of some delay-sensitive high-speed unmanned aerial vehicles cannot meet the requirements of a control system, the invention provides a servo elastic coupling vibration suppression control method of a high-speed unmanned aerial vehicle structure, so as to solve the existing problems. The first aspect of the invention provides a high-speed unmanned aerial vehicle structure servo elastic coupling vibration suppression control method, which adopts the following technical scheme that: Applying external disturbance to a control system of the high-speed unmanned aerial vehicle in a closed loop state, and acquiring test data, wherein the test data comprises steering engine control quantity, steering engine feedback quantity, sensor data, control law input and control law output corresponding to each control surface; determining a target control surface causing resonance and a target control loop in the control surface causing resonance according to the test data; Performing spectrum analysis on target sensor data corresponding to a target control loop to obtain a signal spectrum corresponding to the target sensor data in a resonance state; designing a cascade trap with double center frequencies; And introducing the cascade notch filter with double center frequencies into a feedback channel of a target control loop of the control system, and filtering disturbance signals by using the cascade notch filter to complete the inhibition of servo elastic coupling vibration of the unmanned aerial vehicle structure. The invention further adopts the technical scheme that the method for determining the target control loop causing resonance comprises the following steps: Determining a graph of the steering engine feedback quantity according to the steering engine feedback quantity corresponding to each control surface; And taking the graph of the feedback quantity of the steering engine as a control surface of an oscillation divergence waveform as a target control surface