Design method of multilevel pid robust controller for longitudinal flight model cluster man-machine closed-loop compound root locus

Abstract

The invention provides a longitudinal flight model cluster man-machine closed-loop composite root locus multi-stage PID robust controller design method. According to the method, a model cluster composed of amplitude-frequency properties and phase-frequency properties within a whole envelope is directly determined and obtained through a sweep-frequency flight test under the condition that different heights and Mach numbers are given; according to military standard requirements for amplitude-frequency margins and phase margins within a flight envelope, closed-loop pole distribution limiting indicators under a corresponding root locus description are given, and the stage number and parameter values of a multi-stage PID robust controller are determined by additionally arranging a multi-stage PID controller according to the closed-loop pole distribution limiting indicators and a model identification method in system identification within the whole envelope of a flying machine; a low-altitude flight controller is designed by starting from the concept of closed-loop pole distribution limiting under the root locus description, wherein the low-altitude flight controller accords with the whole flight envelop and is free of pilot induced oscillation, low in overshoot and stable.

Description

technical field [0001] The invention relates to a design method of an aircraft controller, in particular to a design method of a longitudinal flight model cluster man-machine closed-loop compound root trajectory multi-level PID robust controller, which belongs to the categories of measurement and control technology and flight mechanics. Background technique [0002] The control of the take-off and landing process of the aircraft plays an important role in flight safety; due to the large change in flight speed during the take-off and landing process of the aircraft, even according to the longitudinal model, it will face strong nonlinear problems; on the other hand, the control rudder of the aircraft has saturation, dead zones, etc. Phenomenon; From the perspective of flight safety, when flying at ultra-low altitudes (such as aircraft takeoff / landing), the controller must ensure that the system has a certain stability margin, no overshoot and stability, which makes the design o...

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Problems solved by technology

[0010] In order to overcome the fact that the existing method cannot design a stable low-altitude flight controller with no pilot-induced oscillation, small overshoot, and a stable low-altitude flight controller that meets the stability margin index in the full flight envelope when the aircraft model changes greatly in the full flight envelope However, the present invention provides a method for designing a longitudinal flight model cluster man-machine closed-loop compound root trajectory multi-level PID robust controller, which is directly determined and obtained by sweeping flight tests under the conditions of given different altitudes and Mach numbers A model cluster composed of amplitude-frequency and phase-frequency characteristics in the full envelope; according to the military standard requirements for amplitude-frequency margin and phase margin in the flight envelope, the closed-loop pole distribution limit index under the description of the corresponding root locus is given, through Add a multi-level PID controller and determine the number of stages and parameter values ​​of the multi-level PID robust controller in the closed-loop pole distribution limit index and system identification within the full envelope of the aircraft; from the closed-loop pole distribution described by the root locus Design a low-altitude flight controller that conforms to the full flight envelope without pilot-induced oscillation, small overshoot, and stability based on the concept of constraints

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