CN-122018533-A - Parameter estimation and adaptive control method, device, medium and product for high-performance aircraft pitch angle speed control system with stability margin self-configuration

CN122018533ACN 122018533 ACN122018533 ACN 122018533ACN-122018533-A

Abstract

The application discloses a parameter estimation and self-adaptive control method, equipment, medium and product of a high-performance aircraft pitch angle speed control system with a stability margin self-configuration, and relates to the field of aircraft control, wherein the method comprises the steps of collecting the pitch angle speed and the elevator deflection angle of an aircraft in real time and calculating tracking errors; the method comprises the steps of constructing a relation equation of system parameters and stability margin based on a PI controller, adopting a numerical approximation method to carry out approximate simplification, adopting an approximate nonlinear least square algorithm to estimate the system parameters and time delay on line, substituting a target stability margin, a system parameter estimated value and a time delay estimated value into a system frequency domain characteristic equation to carry out solving, and obtaining proportional gain and integral time constant of the PI controller and combining tracking errors to adjust the deflection angle of an elevator of an aircraft so as to control the pitch angle speed of the aircraft. The application realizes the autonomous configuration of the stability margin, and improves the stability, robustness and dynamic adaptation capability of the control system.

Inventors

WANG NA
DING CHAO
ZHANG YANJUN
GAO WANXIN
SUN JIAN
CUI SHICHENG
HUANG YI
XU YONG
LI ZHUO

Assignees

北京控制与电子技术研究所
北京理工大学

Dates

Publication Date: 20260512
Application Date: 20260211

Claims (10)

1. The parameter estimation and adaptive control method for the high-performance aircraft pitch angle speed control system with the stability margin self-configuration is characterized by comprising the following steps of: acquiring the pitch angle speed and the elevator deflection angle of the aircraft in real time, and calculating a tracking error according to the pitch angle speed and an expected reference signal; Constructing a relation equation of system parameters and stability margin of an aircraft control system based on a proportional-integral controller, and adopting a numerical approximation method to approximate and simplify the relation equation to obtain a system frequency domain characteristic equation; Estimating system parameters and time delay of an aircraft control system on line by adopting an approximate nonlinear least square algorithm according to the pitch angle speed and the elevator deflection angle to obtain a system parameter estimated value and a time delay estimated value; Substituting the target stability margin, the system parameter estimated value and the time delay estimated value into the system frequency domain characteristic equation to solve, so as to obtain the proportional gain and the integral time constant of the proportional-integral controller; and adjusting the elevator deflection angle of the aircraft according to the tracking error based on the proportional gain and the integral time constant of the proportional-integral controller so as to control the pitch angle speed of the aircraft.
2. The method of parameter estimation and adaptive control of a high performance aircraft pitch rate control system with stability margin self-configuration of claim 1, wherein the stability margin comprises a phase margin and an amplitude margin.
3. The method for parameter estimation and adaptive control of a high performance aircraft pitch rate control system with stability margin self-configuration of claim 2, wherein the equation of the relationship between the system parameters of the aircraft control system and the stability margin is: ; ; ; ; Wherein, the For the amplitude margin to be a margin of amplitude, For the phase margin to be a phase margin, Is the proportional gain of the proportional-integral controller, Is the integration time constant of the proportional-integral controller, In order to be a phase-crossing frequency, Is the amplitude crossing frequency, K, 、 And Are all system parameters, K represents the system static gain, Representing a first order zero point time constant, Indicating the natural angular frequency of undamped, The damping ratio is indicated by the expression, Is a time delay.
4. The method for parameter estimation and adaptive control of a high performance aircraft pitch rate control system with stability margin self-configuration of claim 2, wherein the system frequency domain characteristic equation is: ; ; ; ; Wherein, the For the amplitude margin to be a margin of amplitude, For the phase margin to be a phase margin, Is the proportional gain of the proportional-integral controller, Is the integration time constant of the proportional-integral controller, In order to be a phase-crossing frequency, Is the amplitude crossing frequency, K, 、 And Are all system parameters, K represents the system static gain, Representing a first order zero point time constant, Indicating the natural angular frequency of undamped, The damping ratio is indicated by the expression, Is a time delay.
5. The method for parameter estimation and adaptive control of a high performance aircraft pitch rate control system with stability margin self-configuration of claim 1, wherein the system parameter estimate and time delay estimate are obtained using the following formula: ; ; ; ; ; ; Wherein, the Is that Is used for the purpose of determining the derivative of (c), For the generalized parameter vector to be estimated at time t, Is that Is used for the purpose of determining the derivative of (c), For the parameter estimator gain at time t, Is that With respect to Is used for the negative gradient of (a), Is the estimated error at the time t, Is the pitch angle rate at time t, The estimated value of the system parameter vector at time t, The regression vector estimates for the pairs of input and output data are included at time t, 、、、 Is the estimated value of the system parameter at the time t, Is the time delay estimate at time t, In order to stabilize the filter, , In order for the laplace operator to be useful, To adopt stable filter pairs The pitch angle rate after the filtering is performed, To adopt stable filter pairs The filtered elevator deflection angle is performed, For the angle of deflection of the elevator, As a forgetting factor, As a result of the normalization factor, , T is time.
6. The method for parameter estimation and adaptive control of a high performance aircraft pitch rate control system with stability margin self-configuration according to claim 2, characterized in that the proportional gain and integration time constant of the proportional-integral controller are obtained using the following formula: ; ; Wherein, the Is the proportional gain of the proportional-integral controller, Is the integration time constant of the proportional-integral controller, For the target amplitude margin to be a target, For the target phase margin to be a target phase margin, As the time delay estimate value(s), 、、、 Is a system parameter estimation value.
7. The method for parameter estimation and adaptive control of a high performance aircraft pitch rate control system with stability margin self-configuration of claim 1, wherein the aircraft elevator yaw angle is adjusted using the formula: ; Wherein, the Is the elevator deflection angle at time t, Is the proportional gain of the proportional-integral controller, Is the integration time constant of the proportional-integral controller, The tracking error at time t, t time, Is an integral variable.
8. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor executes the computer program to implement the method of parameter estimation and adaptive control of a high performance aircraft pitch angle speed control system with stability margin self-configuration according to any one of claims 1-7.
9. A computer readable storage medium having stored thereon a computer program, which when executed by a processor implements the method for parameter estimation and adaptive control of a high performance aircraft pitch angle rate control system with stability margin self-configuration of any of claims 1-7.
10. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the method for parameter estimation and adaptive control of a high performance aircraft pitch angle rate control system with self-configuration of stability margin according to any one of claims 1-7.

Description

Parameter estimation and adaptive control method, device, medium and product for high-performance aircraft pitch angle speed control system with stability margin self-configuration Technical Field The application relates to the field of aircraft control, in particular to a parameter estimation and self-adaptive control method, equipment, medium and product of a high-performance aircraft pitch angle speed control system with a stability margin self-configuration. Background Safety is a primary concern for designers when designing aircraft control systems. In view of the wide variety of internal and external disturbances encountered by aircraft during flight, and the need to perform extensive maneuvers, aircraft control systems must ensure that the aircraft remains stable and controllable. Therefore, stability margin of the system is considered an important reference indicator when engineering aircraft system controllers. In addition to this, delays in the control loop of a high performance aircraft can pose a significant threat to the safety of the system, generally requiring sufficient phase margin to be provided for the system. However, since the frequency domain characteristic of the system is complex to calculate, the precise configuration of the stability margin is not only dependent on the precise information of the system structure and parameters, but also requires more complex calculation. Thus, the configuration of the stability margin of the aircraft control system is currently performed substantially off-line and lacks an efficient and accurate configuration method. The existing stability margin configuration method is designed based on a simpler low-order inertia link, lacks engineering applicability, or is difficult to cope with stronger uncertainty of system parameters, and cannot ensure that the performance of a control system under a complex working condition meets expectations. Disclosure of Invention The application aims to provide a parameter estimation and self-adaptive control method, equipment, medium and product of a high-performance aircraft pitch angle speed control system with a stability margin self-configuration, which can realize the autonomous configuration of the stability margin under the condition that the aircraft parameters and time delay are unknown and ensure time domain instruction tracking. In order to achieve the above object, the present application provides the following solutions: In a first aspect, the present application provides a method for parameter estimation and adaptive control of a high performance aircraft pitch rate control system with stability margin self-configuration, comprising: acquiring the pitch angle speed and the elevator deflection angle of the aircraft in real time, and calculating a tracking error according to the pitch angle speed and an expected reference signal; Constructing a relation equation of system parameters and stability margin of an aircraft control system based on a proportional-integral controller, and adopting a numerical approximation method to approximate and simplify the relation equation to obtain a system frequency domain characteristic equation; Estimating system parameters and time delay of an aircraft control system on line by adopting an approximate nonlinear least square algorithm according to the pitch angle speed and the elevator deflection angle to obtain a system parameter estimated value and a time delay estimated value; Substituting the target stability margin, the system parameter estimated value and the time delay estimated value into the system frequency domain characteristic equation to solve, so as to obtain the proportional gain and the integral time constant of the proportional-integral controller; and adjusting the elevator deflection angle of the aircraft according to the tracking error based on the proportional gain and the integral time constant of the proportional-integral controller so as to control the pitch angle speed of the aircraft. In a second aspect, the application provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the computer program to implement the above-described method of parameter estimation and adaptive control of a high performance aircraft pitch angle rate control system with stability margin self-configuration. In a third aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described method of parameter estimation and adaptive control for a high performance aircraft pitch rate control system with self-configuration of stability margin. In a fourth aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements the above-described method of parameter estimation and adaptive