飞行模拟器操纵负荷系统力感模拟的研究
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摘要
飞行模拟器是一种培训飞行员的重要工具。操纵负荷系统作为飞行模拟器的关键子系统之一，其主要作用是为接受训练的飞行员提供驾驶杆处、脚蹬处的操纵力，以便在模拟器上逼真地复现驾驶真实飞机时的操纵力感。
本文以哈工大电液伺服仿真与试验系统研究所承担的“985工程”二期——“飞行模拟器关键技术研究与试验平台”为背景，研究了操纵负荷系统力感模拟的关键技术，包括多余力的抑制、内回路带宽的增加和外回路稳定性的提高，并对相应的控制策略进行了深入的研究。
为了研究力感模拟的关键技术，将操纵负荷系统从控制结构上分为内、外两个回路。内回路是电液力加载系统。外回路由操纵机构、力函数模型和内回路组成，它可等效为一个以操纵力为输入、以操纵位移为输出的力-位移阻抗。通过分析内回路多余力、内回路带宽和操纵机构参数对外回路阻抗频率特性和稳定性的影响，提出了内回路带宽的约束条件、内回路多余力的约束条件和外回路稳定性判据。
为了有效抑制内回路的多余力，针对速度前馈补偿策略的局限性，提出了一种基于前馈逆模型观测器和速度前馈补偿的复合控制策略。推导了前馈逆模型观测器结构的鲁棒稳定性充分条件，并给出了一种观测器传递函数的设计方法，实现了对速度前馈补偿后的多余力的进一步抑制。在此基础上，对基于该复合控制策略的外回路稳定性进行了深入地分析，提出了一种阻尼补偿的方法来增强外回路稳定性。
为了实现前馈逆模型观测器结构中的滤波器Q(s)的量化设计以使该结构的鲁棒性能接近最优，提出了一种Q(s)的间接优化方法。首先将逆模型观测器结构转化成一个二自由度控制结构，使前馈和反馈控制器均为含有Q(s)的函数，并推导出转化前、后的控制结构的等效性。然后以多余力的抑制为性能指标，采用H∞优化算法解算二自由度控制结构的反馈控制器，进而得到了优化的Q(s)。在优化设计过程中，由于观测器传递函数的逆模型是一个双正则传递函数，若以该模型作为名义模型，则不满足优化算法的条件，为了解决该问题，提出并证明了一种名义模型修正的方法。为了提高优化后系统的鲁棒性能，提出了一种基于二分法的性能加权函数的优化方法。最后分析了基于间接优化Q(s)的前馈逆模型观测器结构的鲁棒稳定性以及多余力抑制能力的影响因素。
为了保证在外回路稳定的前提下增加内回路带宽，提出了基于内回路前馈逆模型和μ控制的外回路复合控制策略。首先利用前馈逆模型控制技术增加了内回路的带宽，并将内回路转化成了一个含有模型摄动的直通环节，避免了分析内回路具体形式对外回路稳定性的影响。然后分析了外回路的各个环节的不确定性，将外回路转化成了一个含有多处摄动模型的控制结构，并推导了操纵机构模型的摄动范围。最后设计了μ控制器来增强含有多处模型摄动的外回路稳定性。
基于操纵负荷系统力感模拟实现的关键技术，在所研制的基于RT-LAB快速原型控制半实物仿真操纵负荷系统试验台上，开展了力感模拟的实验研究，验证了相关分析结论的正确性和提出控制策略的可行性及有效性。根据相应的力感模拟对象，设计了提出的控制器，从内回路的跟踪性能、多余力的抑制效果、外回路阻抗的稳定性和时域响应特性四个方面，进行了实验分析。实验结果表明，设计的内回路复合控制器可以有效抑制多余力，提出的阻尼补偿控制策略增强了外回路的稳定性，设计的外回路复合控制器在保证系统稳定的前提下有效拓展了内回路的带宽，从而使系统阻抗更加接近于力感模拟对象的力感特性。
Flight simulator is an important equipment for training pilot. Control loadingsystem(CLS), as one of key subsystems on flight simulator(FS), mainly providecontrol force feel of control columns and pedals for training student pilots，so that itcan realistically reproduce the control force feel of controlling the real airplane.
This thesis is upon the background of “985Project” Phase II to develop Keytechniques of flight simulator and test platform, which is developed by IEST. Thekey technical of force feel simulation for control loading system is investigated,including surplus force retraining, inner loop bandwidth expanding and out loopstability enhancing. Then, the corresponding control strategies are further studied.
To study the key technical of force feel simulation, the control structure ofloading system is considered as to be consisted of inner loop and an outside loop.The inner loop is a force loop, which is an electro-hydraulic loading system. Theoutside loop is consisted of control mechanism, force function model and innerloop，which takes control force as input and takes control displacement as output, sothat it can be seen as a force-displacement impedance. Through analyzing the effectsof inner loop surplus force, inner loop bandwidth and control mechanism parameterson frequency characteristics and stability of that impedance, constrains of inner loopbandwidth and surplus force are proposed, as well as outside loop stability criterion.
Aiming at inner loop surplus force restraining, a control strategy combinedfeed-forward velocity compensation(FVC) with feed-forward inverse modelobserver(FIMOB) is proposed which is for the limitation of FVC. Then, sufficientstable condition of FIMOB structure is derived and a method to design observertransfer function is proposed and its rationality is proved, which can further restrainthe surplus force compensated by feed-forward velocity. Then the stability of thewhole CLS based on that compound controller is analyzed, and a dampingcompensation strategy is proposed to enhance system stability.
To achieve the quantizing design for Q(s) of FIMOB to realize the robustperformance closed to optimum, a indirect optimal method for Q(s) is proposed,which firstly transforms the FIMOB structure into a2-DOF control structure withboth feed-forward and feedback controllers containing Q(s). Meanwhile, theequitation for restring surplus force between the transformed2-DOF controlstructure and FIMOB is derived. Then H∞optimization algorithm is used to solvesuboptimum feedback controller in transformed2-DOF control structure, and theoptimized Q(s) can be further solved according to the obtained feedback controller.In the processes of optimized controller design, the inverse model of observer transfer function is taken as the nominal model，which is a biholomorphic transferfunction and not satisfying the condition of H∞optimization algorithm. A method ofnominal model amended is proposed for that problem. An optimizing algorithmbased on method of bisection for performance weighting function is proposed,which can improve the robust performance of optimized system as far as possible.Then it is analyzed the robust stability and the affecting factor of ability forrestraining surplus based on optimized Q(s).
Aiming at expanding the bandwidth for inner loop in premise of enhancingstability of outside loop, a compound outside loop control strategy combined withfeed-forward inverse model (FIVM) control and μ control is proposed.Feed-forward inverse model control technical is firstly used for expanding innerloop bandwidth. Meanwhile, it can transform the inner loop as a form of straight–through moment with a model perturbation, so that it is avoided analyzed that howthe specific form of inner loop to effect the outside loop stability. After that, themodel uncertainty of outside loop is analyzed, then the outside loop is transformedinto a structure with multiple model perturbations, and the range of controlmechanism model perturbation is derived. Finally, μ controller is designed forenhancing outside loop robust stability.
Ground on key technical of force feel simulation for control loading system, aseries of experiments are carried out on the hardware-in-the-loop-simulation CLSplatform based on RT-LAB rapid control prototyping (RCP), through which thereasonability of the analyzed conclusion and the efficiency of control strategies areproved. The controllers are designed according to specific force feel simulationobject. Then, the experiments are carried out from these aspects, the tracking abilityof inner loop, the efficiency of surplus force restraining, stability of outside loop andtime domain response characteristic of outside loop impedance. It is can be derivedthe conclusions that the designed inner loop compound controller can restrainsurplus force effectively, the proposed damping compensation strategy can enhanceoutside loop stability, and the designed compound outside loop controller canexpand inner loop bandwidth in premise of keeping outside loop stable so that thecharacteristic of outside loop impedance comes closer to the force feel characteristicof force feel simulation object.
本文以哈工大电液伺服仿真与试验系统研究所承担的“985工程”二期——“飞行模拟器关键技术研究与试验平台”为背景，研究了操纵负荷系统力感模拟的关键技术，包括多余力的抑制、内回路带宽的增加和外回路稳定性的提高，并对相应的控制策略进行了深入的研究。
为了研究力感模拟的关键技术，将操纵负荷系统从控制结构上分为内、外两个回路。内回路是电液力加载系统。外回路由操纵机构、力函数模型和内回路组成，它可等效为一个以操纵力为输入、以操纵位移为输出的力-位移阻抗。通过分析内回路多余力、内回路带宽和操纵机构参数对外回路阻抗频率特性和稳定性的影响，提出了内回路带宽的约束条件、内回路多余力的约束条件和外回路稳定性判据。
为了有效抑制内回路的多余力，针对速度前馈补偿策略的局限性，提出了一种基于前馈逆模型观测器和速度前馈补偿的复合控制策略。推导了前馈逆模型观测器结构的鲁棒稳定性充分条件，并给出了一种观测器传递函数的设计方法，实现了对速度前馈补偿后的多余力的进一步抑制。在此基础上，对基于该复合控制策略的外回路稳定性进行了深入地分析，提出了一种阻尼补偿的方法来增强外回路稳定性。
为了实现前馈逆模型观测器结构中的滤波器Q(s)的量化设计以使该结构的鲁棒性能接近最优，提出了一种Q(s)的间接优化方法。首先将逆模型观测器结构转化成一个二自由度控制结构，使前馈和反馈控制器均为含有Q(s)的函数，并推导出转化前、后的控制结构的等效性。然后以多余力的抑制为性能指标，采用H∞优化算法解算二自由度控制结构的反馈控制器，进而得到了优化的Q(s)。在优化设计过程中，由于观测器传递函数的逆模型是一个双正则传递函数，若以该模型作为名义模型，则不满足优化算法的条件，为了解决该问题，提出并证明了一种名义模型修正的方法。为了提高优化后系统的鲁棒性能，提出了一种基于二分法的性能加权函数的优化方法。最后分析了基于间接优化Q(s)的前馈逆模型观测器结构的鲁棒稳定性以及多余力抑制能力的影响因素。
为了保证在外回路稳定的前提下增加内回路带宽，提出了基于内回路前馈逆模型和μ控制的外回路复合控制策略。首先利用前馈逆模型控制技术增加了内回路的带宽，并将内回路转化成了一个含有模型摄动的直通环节，避免了分析内回路具体形式对外回路稳定性的影响。然后分析了外回路的各个环节的不确定性，将外回路转化成了一个含有多处摄动模型的控制结构，并推导了操纵机构模型的摄动范围。最后设计了μ控制器来增强含有多处模型摄动的外回路稳定性。
基于操纵负荷系统力感模拟实现的关键技术，在所研制的基于RT-LAB快速原型控制半实物仿真操纵负荷系统试验台上，开展了力感模拟的实验研究，验证了相关分析结论的正确性和提出控制策略的可行性及有效性。根据相应的力感模拟对象，设计了提出的控制器，从内回路的跟踪性能、多余力的抑制效果、外回路阻抗的稳定性和时域响应特性四个方面，进行了实验分析。实验结果表明，设计的内回路复合控制器可以有效抑制多余力，提出的阻尼补偿控制策略增强了外回路的稳定性，设计的外回路复合控制器在保证系统稳定的前提下有效拓展了内回路的带宽，从而使系统阻抗更加接近于力感模拟对象的力感特性。
Flight simulator is an important equipment for training pilot. Control loadingsystem(CLS), as one of key subsystems on flight simulator(FS), mainly providecontrol force feel of control columns and pedals for training student pilots，so that itcan realistically reproduce the control force feel of controlling the real airplane.
This thesis is upon the background of “985Project” Phase II to develop Keytechniques of flight simulator and test platform, which is developed by IEST. Thekey technical of force feel simulation for control loading system is investigated,including surplus force retraining, inner loop bandwidth expanding and out loopstability enhancing. Then, the corresponding control strategies are further studied.
To study the key technical of force feel simulation, the control structure ofloading system is considered as to be consisted of inner loop and an outside loop.The inner loop is a force loop, which is an electro-hydraulic loading system. Theoutside loop is consisted of control mechanism, force function model and innerloop，which takes control force as input and takes control displacement as output, sothat it can be seen as a force-displacement impedance. Through analyzing the effectsof inner loop surplus force, inner loop bandwidth and control mechanism parameterson frequency characteristics and stability of that impedance, constrains of inner loopbandwidth and surplus force are proposed, as well as outside loop stability criterion.
Aiming at inner loop surplus force restraining, a control strategy combinedfeed-forward velocity compensation(FVC) with feed-forward inverse modelobserver(FIMOB) is proposed which is for the limitation of FVC. Then, sufficientstable condition of FIMOB structure is derived and a method to design observertransfer function is proposed and its rationality is proved, which can further restrainthe surplus force compensated by feed-forward velocity. Then the stability of thewhole CLS based on that compound controller is analyzed, and a dampingcompensation strategy is proposed to enhance system stability.
To achieve the quantizing design for Q(s) of FIMOB to realize the robustperformance closed to optimum, a indirect optimal method for Q(s) is proposed,which firstly transforms the FIMOB structure into a2-DOF control structure withboth feed-forward and feedback controllers containing Q(s). Meanwhile, theequitation for restring surplus force between the transformed2-DOF controlstructure and FIMOB is derived. Then H∞optimization algorithm is used to solvesuboptimum feedback controller in transformed2-DOF control structure, and theoptimized Q(s) can be further solved according to the obtained feedback controller.In the processes of optimized controller design, the inverse model of observer transfer function is taken as the nominal model，which is a biholomorphic transferfunction and not satisfying the condition of H∞optimization algorithm. A method ofnominal model amended is proposed for that problem. An optimizing algorithmbased on method of bisection for performance weighting function is proposed,which can improve the robust performance of optimized system as far as possible.Then it is analyzed the robust stability and the affecting factor of ability forrestraining surplus based on optimized Q(s).
Aiming at expanding the bandwidth for inner loop in premise of enhancingstability of outside loop, a compound outside loop control strategy combined withfeed-forward inverse model (FIVM) control and μ control is proposed.Feed-forward inverse model control technical is firstly used for expanding innerloop bandwidth. Meanwhile, it can transform the inner loop as a form of straight–through moment with a model perturbation, so that it is avoided analyzed that howthe specific form of inner loop to effect the outside loop stability. After that, themodel uncertainty of outside loop is analyzed, then the outside loop is transformedinto a structure with multiple model perturbations, and the range of controlmechanism model perturbation is derived. Finally, μ controller is designed forenhancing outside loop robust stability.
Ground on key technical of force feel simulation for control loading system, aseries of experiments are carried out on the hardware-in-the-loop-simulation CLSplatform based on RT-LAB rapid control prototyping (RCP), through which thereasonability of the analyzed conclusion and the efficiency of control strategies areproved. The controllers are designed according to specific force feel simulationobject. Then, the experiments are carried out from these aspects, the tracking abilityof inner loop, the efficiency of surplus force restraining, stability of outside loop andtime domain response characteristic of outside loop impedance. It is can be derivedthe conclusions that the designed inner loop compound controller can restrainsurplus force effectively, the proposed damping compensation strategy can enhanceoutside loop stability, and the designed compound outside loop controller canexpand inner loop bandwidth in premise of keeping outside loop stable so that thecharacteristic of outside loop impedance comes closer to the force feel characteristicof force feel simulation object.
引文
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