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Design method of longitudinal flight model cluster composite root-locus multi-level PID (proportion integration differentiation) controller

A technology of vertical flight and model clusters, applied in the direction of electric controllers, controllers with specific characteristics, three-dimensional position/course control, etc., which can solve the problems of overshoot and other problems in design

Active Publication Date: 2014-05-21
XIAN FEISIDA AUTOMATION ENG
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Problems solved by technology

[0006] In order to overcome the technical defect that the existing method cannot design a small overshoot and stable low-altitude flight controller that meets the stability margin index in the full flight envelope when the model of the aircraft varies greatly in the full flight envelope, the present invention Provides a design method of multi-level PID controller with composite root locus of longitudinal flight model cluster, which directly determines the amplitude-frequency and phase-frequency characteristics in the full envelope through frequency-sweeping flight tests under the conditions of given different altitudes and Mach numbers The model cluster formed; according to the military standard requirements of 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. The limit index of closed-loop pole distribution within the line and the model identification method in system identification determine the number of stages and parameter values ​​of the multi-level PID controller; starting from the concept of closed-loop pole distribution limit under the description of the root locus, the super Small adjustment, stable low-altitude flight controller

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  • Design method of longitudinal flight model cluster composite root-locus multi-level PID (proportion integration differentiation) controller
  • Design method of longitudinal flight model cluster composite root-locus multi-level PID (proportion integration differentiation) controller
  • Design method of longitudinal flight model cluster composite root-locus multi-level PID (proportion integration differentiation) controller

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Embodiment Construction

[0026] 1. Using linear frequency sweep signal at different heights and Mach numbers (f 0 is the starting frequency, f 1 is the cut-off frequency, r=(f 1 -f 0 ) / T, T is sweep time) or logarithmic sweep signal f(t)=A(t)sin{2πf 0 / r·[exp(rt)-1]} (f 0 is the starting frequency, f 1 is the cut-off frequency, r=ln(f 1 / f 0 ) / T, T is the frequency sweep time) to excite the aircraft, the amplitude-frequency and phase-frequency characteristics in the full-envelope allowed to fly can be directly obtained, which constitutes the model cluster of elevators and flight heights in the full-envelope of the aircraft, and the corresponding aircraft The open-loop transfer function family between the elevator and the flight height is described as:

[0027] Where: A(h,M,s)=s m +a m-1 (h,M)s m-1 +a m-2 (h,M)s m-2 +…+a 1 (h,M)s+a 0 (h,M),

[0028] B(h,M,s)=s n +b n-1 (h,M)s n-1 +b n-2 (h,M)s n-2 +…+b 1 (h,M)s+b 0 (h, M) is a polynomial, s is the variable after the Laplace chan...

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Abstract

The invention provides a design method of a longitudinal flight model cluster composite root-locus multi-level PID (proportion integration differentiation) controller. The design method includes: directly determining and acquiring a model cluster constituted according to amplitude-frequency and phase-frequency characteristics within the full envelop through sweep flight tests on set conditions of different heights and different Mach numbers; according to military standard requirements on amplitude-frequency margin and phase margin, providing the closed-loop pole distribution limit index corresponding to root-locus description, determining number of levels and parameter values of the multi-level PID controller by a model identification method applied to system identification according to requirements of the closed-loop pole distribution limit index within the full envelope of an aircraft after adding the multi-level PID controller; designing the small-overshoot stable low-altitude flight controller capable of meeting requirement of the flight full envelop from the concept of root-locus description based closed-loop pole distribution limit.

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 compound root locus multi-stage PID 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 of ultra-low-altitude flight controll...

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Application Information

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IPC IPC(8): G05B11/42G05D1/10
Inventor 史忠科
Owner XIAN FEISIDA AUTOMATION ENG
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