Control Method Research On Aerocraft With Rapid Changing Parameters

Kong Zhi Gong Cheng Qi Kan
Scientific Journal of Control Engineering
1, 2 2, 3
1. 130033
2. 100039
3. 110016

30
14rad/s 16km 5100m 12m
13.5-22.4km 42m 6.5
Control Method Research on Aerocraft with Rapid Changing Parameters

Zhen Duan*1, 2, Weizhong Dong 2, 3
1. Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun, China, 130033
2. Graduate University, Chinese Academy of Science, Beijing, China, 10039
3. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China, 110016
*
Email: duanzhen@126.com
Abstract: Flying qualities of aerocraft are closely related to the performance of control system. Aimed at the roll stable aerocraft with
rapid changing parameters, on the basis of analyzing the typical trajectory, and taking pitch control loop for an example, a three loop
autopilots of roll stability, pitch and yaw were designed. The overload due to control surface transition deflection was avoided using
single-mode Transient suppression method when control parameters were changed. The verification was done according to six freedom
degrees non-linear simulation. The result showed that: under the action of disturbance torque, the phase margin of autopilot was greater
than 30 , the bandwidth was more than 14rad/s, the range of nominal trajectory was about 16km, the max height was about 5100m , the
deviation of lateral was about 12m, and the response of overload could accurately track the given overload instruction. The effective range
of the aerocraft was from 13.5km to 22.4km; the max deviation of lateral was about 42m; the maximum elevator deflection was less than
6.5; and the control law was applicable within the effective range. A control system design method of aerocraft with rapid changing
parameters was provided.
Key words: Aerocraft; Single-mode Transient Suppression; Range; Nonlinear Simulation
,
[3]
SJCE Aug.2012 Vol.2 Iss.4 PP.111-117 http://www.sj-ce.org/2012 American V-King Scientific Publishing, LTD| 111
PID [2] PID

PID
s2
s2
ks
2s
K
s +1
s + 1
1
s
K
1
K
ks
x ( s ) = 2
g
=
2s
x T s + 1
s
1
+
+
s
s2 s
K K
2
a y ( s ) ka ( A2 s 2 + A1 s + 1)
Ti s + 1
( s )
=
= 2 2
a y ( s ) ( A2 s 2 + A1 s + 1)V
z ( s ) Tm s + 2mTm s + 1
z ( s ) =
ks
2s
ac a G ( s )
s +1
s2 s
k g kac c
ac
s2
G (s)
s2
ks
2s
ka ( A2 s 2 + A1s + 1)
Tm2 s 2 + 2 mTm s + 1
s +1
kg
Ti s + 1
( A2 s 2 + A1s + 1)V
cs
kac
2 /
/
SINS x y z nx n y nz
IMU
112 | SJCE Aug.2012 Vol.2 Iss.4 PP.111-117 http://www.sj-cs.org/2012 American V-King Scientific Publishing, LTD

2
2.1
1
(1)
K K
( s) = 3
T x T s + (T x + T ) s 2 + (1 + K K ) s + K K
1 1
/
0
ks k s2V ( A2 k p s 2 + A1 k p s + k p )
( s) = 4
m4 s + m3 s3 + m2 s 2 + m1 s + m0
m4 = Tm2
=
m3 2m Tm + 2s s Tm2
m2 =
1 + 4m Tm s s + Tm2s2 + ks k kac s2VA2 k p + cks k kac s2 k p Ti
m1 =
2s s + k g ks k s2 Ti + 2m Tm s2 + ks k kac s2VA1 k p + cks k kac s2 k p
m0 =
s2 + k g ks k s2 + ks k kac s2Vk p
2
ks kVk p
1 + k g ks k + ks k kacVk p
-3
ks k s2V [ A2 k p s3 + ( A2 ki + A1 k p ) s 2 + (ki A1 + k p ) s + ki ]
3
(s) =
m5 s5 + m4 s 4 + m3 s3 + m2 s 2 + m1 s + m0
m5 = Tm2
=
m4 2m Tm + 2s s Tm2
1 + 4m Tm s s + Tm2 s2 + ks k kac s2VA2 k p + cks k kac s2 k p Ti
m3 =
m2 = 2s s + k g ks k s2Ti + 2m Tm s2 + ks k kac s2V ( A2 ki + A1 k p ) + cks k kac s2 (ki Ti + k p )
m1 =s2 + k g ks k s2 + ks k kac s2V (ki A1 + k p ) + cks k kac s2 ki
m0 = ks k kac s2Vki
3 1/ kac 1
1
2.2
40%
2 3
SJCE Jun.2012 Vol.2 No.3 PP.111-117 http://www.sj-ce.org/2011 American V-King Scientific Publishing, LTD| 113

ac
Gc ( s )
s2
s2
ks
2s
k (Ti s + 1)
s +1
T s + 2 mTm s + 1
2 2
m
( A2 s 2 + A1s + 1)V
Ti s + 1
kg
cs
kac
3
3 4
k g ks k s2 (Ti s + 1)
Ginopen = 2
( s + 2s s s + s2 )(Tm2 s 2 + 2m Tm s + 1)
5
1.374s + 1.261
Gin =
6 4
2.075 10 s + 0.0001958s3 + 0.009637 s 2 + 0.04673s + 1
k g = 0.2 Bode 4
33.4rad/s 49.8 9.55dB

P-I /
P-I 6
Goutopen =
2
kac ks k s2 [k p (cTi + A2V )s3 + ( AVk
1 p + ck p + ki cTi + ki A2V ) s + (k pV + ki AV
1 + ki c) s + (kiV )]
s[Tm2 s 4 + (2mTm + 2s s Tm2 )s3 + (1 + 4mTm s s + Tm2s2 )s 2 + (2s s + k g ks k s2Ti + 2mTms2 )s + (k g ks k s2 + s2 )]
6P-I Gc ( s ) = k p +
ki k p s + ki
=
s
s

Gout =
316548.0854(s+0.9179)( s + 0.6697 s + 558.9)

( s + 57.27)( s + 4.434)(s+0.9179)( s 2 + 32.63s + 2376)
P-I
Gc 0.011937 +
=
0.0519
Bode 5
s
11.7rad/s 69.8 28.1rad/s

20% 0.29s
2.3
A
A A(ts ) Ts B
8
t <ts
A(t )
C (t ) =
k A (t ) A(ts ) + B(t )(1 k A (t )) t ts
1 (t ts ) / Ts
k A (t ) =
0
(8)
ts t ts + Ts
t ts + Ts
3.1
55 6s
1
73 15
3.2
6
z o
2
0
-2
2
2
0
0
4
x 10
20
40
t s
60
-2
80
40
t s
60
80
2000
20
40
t s
60
80
4000
0.5
0
0
20
40
t s
60
80
-2000
5
0
20
40
t s
60
80
10
5
a
y
m /s
10
-5
20
6000
1.5
0
-5
20
40
t s
60
80
15-45 7- 10
7 -
10
3.6 5 2
5 0.3 16 5100
12 6.5
5 2 13.5 -22.4 5100
42
13.5-22.4 5100
5 2
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[8] A.Richard Seebass. Tactical and Strategic Missile Guidance[M]. The American Institute of Aeronautics and Astronautics, Inc. 1994.
1982-
2005 2008
Email: duanzhen@126.com
(1981-)2005 2008

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Kong Zhi Gong Cheng Qi Kan

Scientific Journal of Control Engineering