Design method of multi-level pid robust controller for cluster man-machine closed-loop composite root locus of multi-loop model of aircraft

Abstract

The invention provides a method for designing a human-computer closed-loop composite root locus multi-stage PID robust controller for the multi-loop model cluster of an aircraft. The method comprises the following steps of: directly determining to acquire the model cluster composed of amplitude-frequency and phase-frequency characteristics in a full envelope by virtue of a sweep-frequency flight test in different given heights and Mach number conditions; giving a closed-loop pole distribution limit index under the corresponding root locus description according to standard requirements on an amplitude-frequency margin and a phase margin in a flight envelope, determining the stage number and parameter values of the multi-stage PID robust controller by adding the PID controller, and by virtue of the closed-loop pole distribution limit index in the full envelope of the aircraft and a model identification method in system identification; and designing the low-altitude flight robust controller meeting the full flight envelope, free from oscillation induced by a driver, low in overshoot and stable from the concept of closed-loop pole distribution under the root locus description.

Description

technical field [0001] The invention relates to a design method of an aircraft controller, in particular to a design method of a multi-loop model cluster man-machine closed-loop compound root trajectory multi-level PID robust controller of an aircraft, 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 de...

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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 multi-stage PID robust controller with a multi-loop model cluster man-machine closed-loop compound root trajectory. The method is directly determined by sweeping flight tests at different altitudes and Mach numbers. The model cluster composed of amplitude-frequency and phase-frequency characteristics in the full envelope is obtained; 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. By adding a multi-level PID controller and the closed-loop pole distribution limit index in the full envelope of the aircraft and the model identification method in system identification to determine the multi-level PID robust controller stages and parameter values; from the closed-loop pole described by the root locus Based on the concept of distribution limitation, a low-altitude flight controller with no driver-induced oscillation, small overshoot, and stability is designed in line with the full flight envelope

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