飞机主动驾驶杆控制系统的研究与实现
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摘要
随着现代飞机技术的迅速发展,人们对飞机的操纵品质提出了越来越高的要求,改善飞机驾驶杆的性能显得尤为迫切和重要。主动驾驶杆技术能够有效提高飞机的操纵品质,本文基于主动驾驶杆的机械结构,围绕主动驾驶杆的控制系统展开了全面深入的研究。针对被动驾驶杆的不足,设计了基于力矩电机激励方式的主动驾驶杆,能够按照给定的力位移特性进行工作,并且可以实现随动飞行和主被动模式的切换等功能。
论文首先根据主动驾驶杆的设计要求,设计了主动驾驶杆的控制系统结构,包括PC104控制器、力矩电机驱动模块、手柄力和手柄转角信号的采集模块,分析了控制系统的整体方案和工作流程,并详细分析了信号检测电路。接着设计了反馈控制回路来实现对手柄力的控制,考虑稳态和动态两种情况下性能的差异,设计了针对性的控制算法——带超前校正的模糊PI双模控制算法,并且根据手柄的转速实时调整给定的初始控制电压,通过对误差的预估,以跟踪手柄力的变化,实现了手柄力的精确控制。
主动驾驶杆能够随时接收上位监控机发送的工作特性参数,实现平滑的过渡与转换,及时按照新的力位移特性进行运行。除了主要工作模式外,本文还研究了随动飞行控制、主被动切换、手柄配平等功能,并对回中立位进行了探讨,回中精度高。最后对驾驶杆系统的监控与通信进行了研究,设计监控数据协议,实现了驾驶杆与监控计算机的通信,同时利用相应的数据采集板卡设计了驾驶杆的故障检测方案,确保驾驶杆正常稳定运行,并且在C++ Builder环境下设计并实现了故障检测的上位机软件。
测试结果表明,本文所研究的主动驾驶杆原理样机不仅具有很小的稳态误差,而且具有良好的动态跟踪性能。系统运行稳定,功能完善,性能良好,为进一步工程化应用奠定了基础。
With the development of aircraft technology, people raised higher and higher demands about operation quality of aircraft, and so it is very important to improve the quality of Aircraft stick. Active side-stick technology plays a very important role and becomes one of the research focuses. The control system of active side-stick based on mechanism is studied in the dissertation. Research on total structure and control load are the core of active side-stick.
In view of the shortcoming of passive side-stick, the active side-stick based on method of torque motor actuator is raised, which can work according to needed character. The results showed that the system had not only very small error but also a good dynamic scouting character. And also, it has realized automatic flight and switch between active mode and passive mode.
Firstly, total structure of active side-stick control system is discussed, including PC104 controller, torque motor diver, information gathering. It analyses overall program and workflow, and so accomplishes control frame. Control loop is used to control the stick force, with improved dual mode control algorithm, in view of the dynamic and static situation. It can adjust control volt, reduce error, trace stick move, and then realize accurate force control.
After that, the active side-stick system can receive character data at any time when monitoring computer runs the sending program. The force character changes smoothly and the system works to the new character at once when received. Besides main mode, many problems are solved such as passive mode, automatic flight and so on. Back to zero-point position is also been researched detailed with the result of high precision and smooth character. Protocol is designed and communication between active side-stick and monitoring is realized. Finally, fault detection module is designed using industry computer and some data acquisition board to make sure active side-stick system work steadily.
The active side-stick, which has high precision and perfect function, has been accepted by expert panel. The results of practical running showed that the system is feasible and has good performance, which lays a good foundation for future study.
论文首先根据主动驾驶杆的设计要求,设计了主动驾驶杆的控制系统结构,包括PC104控制器、力矩电机驱动模块、手柄力和手柄转角信号的采集模块,分析了控制系统的整体方案和工作流程,并详细分析了信号检测电路。接着设计了反馈控制回路来实现对手柄力的控制,考虑稳态和动态两种情况下性能的差异,设计了针对性的控制算法——带超前校正的模糊PI双模控制算法,并且根据手柄的转速实时调整给定的初始控制电压,通过对误差的预估,以跟踪手柄力的变化,实现了手柄力的精确控制。
主动驾驶杆能够随时接收上位监控机发送的工作特性参数,实现平滑的过渡与转换,及时按照新的力位移特性进行运行。除了主要工作模式外,本文还研究了随动飞行控制、主被动切换、手柄配平等功能,并对回中立位进行了探讨,回中精度高。最后对驾驶杆系统的监控与通信进行了研究,设计监控数据协议,实现了驾驶杆与监控计算机的通信,同时利用相应的数据采集板卡设计了驾驶杆的故障检测方案,确保驾驶杆正常稳定运行,并且在C++ Builder环境下设计并实现了故障检测的上位机软件。
测试结果表明,本文所研究的主动驾驶杆原理样机不仅具有很小的稳态误差,而且具有良好的动态跟踪性能。系统运行稳定,功能完善,性能良好,为进一步工程化应用奠定了基础。
With the development of aircraft technology, people raised higher and higher demands about operation quality of aircraft, and so it is very important to improve the quality of Aircraft stick. Active side-stick technology plays a very important role and becomes one of the research focuses. The control system of active side-stick based on mechanism is studied in the dissertation. Research on total structure and control load are the core of active side-stick.
In view of the shortcoming of passive side-stick, the active side-stick based on method of torque motor actuator is raised, which can work according to needed character. The results showed that the system had not only very small error but also a good dynamic scouting character. And also, it has realized automatic flight and switch between active mode and passive mode.
Firstly, total structure of active side-stick control system is discussed, including PC104 controller, torque motor diver, information gathering. It analyses overall program and workflow, and so accomplishes control frame. Control loop is used to control the stick force, with improved dual mode control algorithm, in view of the dynamic and static situation. It can adjust control volt, reduce error, trace stick move, and then realize accurate force control.
After that, the active side-stick system can receive character data at any time when monitoring computer runs the sending program. The force character changes smoothly and the system works to the new character at once when received. Besides main mode, many problems are solved such as passive mode, automatic flight and so on. Back to zero-point position is also been researched detailed with the result of high precision and smooth character. Protocol is designed and communication between active side-stick and monitoring is realized. Finally, fault detection module is designed using industry computer and some data acquisition board to make sure active side-stick system work steadily.
The active side-stick, which has high precision and perfect function, has been accepted by expert panel. The results of practical running showed that the system is feasible and has good performance, which lays a good foundation for future study.
引文
[1]宋翔贵,张新国,电传飞行控制系统[M],北京,国防工业出版社,2003:7-9
[2]李发海,王岩,电机与拖动基础[M],北京,清华大学出版社,2005:23-26
[3]沈永奎,吴梅,陈澜,等,飞机操纵系统建模与仿真[J],火力与指挥控制,2005,30(3):98-104
[4] Nam Y, Hong S K. Active Stick Control Using Frictional Torque Compensation[J]. Sensors and ActuatorsA: Physical, 2005, 117(2):194-202
[5]郑淑涛,廖峰,王立文,韩俊伟,飞行模拟机操纵负荷系统试验研究[J],系统仿真学报,2008,20(4):965-969
[6]齐潘国,黄其涛,姜洪洲等,基于位置控制的液压操纵负荷系统[J],吉林大学学报工学版,2008,38(2):128-133
[7]王辉,阎祥安,王立文,等,操纵负荷系统电液伺服加载控制方式的比较研究[J],中国机械工程,2007,18(2):142-145
[8]刘长华,徐亚军,应用于飞行模拟器的电动伺服加载系统[J],重庆工学院学报,2005,19(5):38-40
[9]邹海峰,孙力,闫杰.,飞行器舵机电动伺服加载系统研究[J],系统仿真学报,2004,16(4):657-659
[10]刘长华,飞行模拟器数字式操纵负荷系统的仿真及实现[J],中国民航飞行学院学报,2005,16(3):11-13
[11] Lu Ying, Wang Yong-liang, Wang Zhan-lin, Liang Jian-min. Force–Feeling Simulation System of Longitudinal Control Based on the Electro-Motive Force Servo [J]. Journal of System Simulation, 2003, 115(4):505-507
[12] Geoffrey J. Jeram, Dr. J.V.R.Prasad, TACTILE AVOIDANCE CUEING FOR PILOT INDUCED OSCILLATION[J],AIAA Atmospheric Flight Mechanics Conference and Exhibit 11-14 August 2003, Austin, Texas
[13] Flemisch, Frank; Kelsch, Johann; L?per, Christian; COOPERATIVE CONTROL AND ACTIVE INTERFACES FOR VEHICLE ASSISTANCE AND AUTOMATION,FISITA World automotive Congress; Munich; 2008, FISITA 2008, F2008-02-045
[14] Tessier C S, Martineau J E. Apparatus and Method for Controlling a Force Activated Controller [P]. US: 20050080495, 2005204214
[15] Gerret sen A, Mulder M, van Paassen M M. Comparison of Position-loop, Velocity-loop and Force -loop based Cont rol Loading Architectures [C] // AIAA Modeling and Simulation Technologies Conference and Exhibit. San Francisco, California, 2005:12-18
[16]施继增,王永熙,郭恩友,等,飞行操纵与增强系统[M],北京:国防工业出版社,2003:25-28
[17] S.Vaez-Aadeh, E.Jalali, Combined vector control and direct torque control method for high performance induction motor drivesd[J], Energy Conversion and Management, 2007, 48(12):3095-3101
[18] Shang-Liang Chen, Tsung-Hsien Hsieh, Repetitive control design and implementation for linear motor machine tool[J], International Journal of Machine Tools and Manufacture, 2007, 47(12-13):1807-1816
[19]吴云君,李祖枢,王牛,变负载下直流电机双闭环调速系统建模[J],东南大学学报(自然科学版),2009,39(1):172-176
[20]杨志良,张丕壮,基于PC104的数据采集系统的研究与实现[J],微计算机信息,2007,23(6):60-62
[21]朱玉玉,张笑微,赵志平,PC104在改进型液体闪烁测量仪中的应用[J],仪表技术与传感器,2007(9):14-20
[22]姚舜才,赵耀霞,电机学与电力拖动技术[M],国防工业出版社,2009:121-123
[23]刘英培,万健如,李莲,永磁同步电机无传感器直接转矩控制[J],系统仿真学报,2009,21(19):6166-6173
[24]张强,基于DSP的动态电压恢复器电压检测系统[J],电力电子技术,2009,43(10):55-57
[25]M. L. Kostyrev, Yu. I. Lyutakhin, Electromagnetic system of induction torque motors with ball hollow ferromagnetic rotors[J], Russian Electrical Engineering, 2009,3(1):46-50
[26]王君龙,孙永荣,肖纪立等,基于轴角检测的力矩电机转矩控制系统[J],机械与电子,2008(2):26-29
[27]李晓伟,郑小兵,周磊,基于单片机的精密温控系统设计[J],微计算机信息,2007,23(11-2):103-105
[28]朴德慧,郭玉彬,王天枢,大功率半导体激光器驱动电路及防护[J],激光与红外,2007,37(3):230-233
[29]杨诚,马永杰,基于DSP的FIR滤波器设计中新型快速算法[J],计算机应用,2009(12):221-3223
[30]邓耀华,吴黎明,张力锴,基于FPGA的双DDS任意波发生器设计与杂散噪声抑制方法[J],仪器仪表学报,2009,30(11):2255-2261
[31]孟庆操,赵晓哲,朱红波,舰炮零位检测方法与实现[J],火力与指挥控制,2009,34(11):76-78
[32]余晓鑫,王孝洪,田联房,基于PC104单板微机和FPGA的救援救助机器人运动控制系统设计[J],制造业自动化,2009,31(9):95-98
[33]刘宏达,李殿璞,马忠丽,基于粒子群优化的船舶PID自动舵的改进[J],东南大学学报(自然科学版),2006,36(1):197-200
[34]余成波,张莲,胡晓,自动控制原理[J],清华大学出版社,2009.8:54-57
[35]历风满,数字PID控制算法的研究[J],辽宁大学学报,2005,32(4):367-37
[36]刘金馄,先进PID控制及其MATLAB仿真[M],北京:电子工业出版社,2003.1:42-49
[37]高东杰,谭杰,林红权,先进控制技术应用[M],北京:国防工业出版社,2003.1:107-113
[38]代林,高迪驹.基于模糊控制系统的自整定PID参数控制器的设计[J].自动化技术与应用,2005,24(5):26-29
[39]侯绍成,王涛,王艳平,糊控制系统的设计及稳定性分析[M],北京:科学出版社,2004:201-212
[40]储岳中,陶永华,基于MATLAB的自适应模糊PID控制系统计算机仿真[J],安徽工业大学学报,2004,21(1):49-52
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[44]李星星,罗涛,张小红,基于PDA实现GPS单机米级定位的地理信息采集系统[J],大地测量与地球动力学,2009,29(1):140-143
[45]李璐,陈正鸣,邝石,气体继电器误动作分析及处理[J],高压电器,2009,45(6):145-147
[46]宋东,李淼,叶浩,某型雷达自动测试系统软件设计与应用[J],测控技术,2009,28(10):68-71
[2]李发海,王岩,电机与拖动基础[M],北京,清华大学出版社,2005:23-26
[3]沈永奎,吴梅,陈澜,等,飞机操纵系统建模与仿真[J],火力与指挥控制,2005,30(3):98-104
[4] Nam Y, Hong S K. Active Stick Control Using Frictional Torque Compensation[J]. Sensors and ActuatorsA: Physical, 2005, 117(2):194-202
[5]郑淑涛,廖峰,王立文,韩俊伟,飞行模拟机操纵负荷系统试验研究[J],系统仿真学报,2008,20(4):965-969
[6]齐潘国,黄其涛,姜洪洲等,基于位置控制的液压操纵负荷系统[J],吉林大学学报工学版,2008,38(2):128-133
[7]王辉,阎祥安,王立文,等,操纵负荷系统电液伺服加载控制方式的比较研究[J],中国机械工程,2007,18(2):142-145
[8]刘长华,徐亚军,应用于飞行模拟器的电动伺服加载系统[J],重庆工学院学报,2005,19(5):38-40
[9]邹海峰,孙力,闫杰.,飞行器舵机电动伺服加载系统研究[J],系统仿真学报,2004,16(4):657-659
[10]刘长华,飞行模拟器数字式操纵负荷系统的仿真及实现[J],中国民航飞行学院学报,2005,16(3):11-13
[11] Lu Ying, Wang Yong-liang, Wang Zhan-lin, Liang Jian-min. Force–Feeling Simulation System of Longitudinal Control Based on the Electro-Motive Force Servo [J]. Journal of System Simulation, 2003, 115(4):505-507
[12] Geoffrey J. Jeram, Dr. J.V.R.Prasad, TACTILE AVOIDANCE CUEING FOR PILOT INDUCED OSCILLATION[J],AIAA Atmospheric Flight Mechanics Conference and Exhibit 11-14 August 2003, Austin, Texas
[13] Flemisch, Frank; Kelsch, Johann; L?per, Christian; COOPERATIVE CONTROL AND ACTIVE INTERFACES FOR VEHICLE ASSISTANCE AND AUTOMATION,FISITA World automotive Congress; Munich; 2008, FISITA 2008, F2008-02-045
[14] Tessier C S, Martineau J E. Apparatus and Method for Controlling a Force Activated Controller [P]. US: 20050080495, 2005204214
[15] Gerret sen A, Mulder M, van Paassen M M. Comparison of Position-loop, Velocity-loop and Force -loop based Cont rol Loading Architectures [C] // AIAA Modeling and Simulation Technologies Conference and Exhibit. San Francisco, California, 2005:12-18
[16]施继增,王永熙,郭恩友,等,飞行操纵与增强系统[M],北京:国防工业出版社,2003:25-28
[17] S.Vaez-Aadeh, E.Jalali, Combined vector control and direct torque control method for high performance induction motor drivesd[J], Energy Conversion and Management, 2007, 48(12):3095-3101
[18] Shang-Liang Chen, Tsung-Hsien Hsieh, Repetitive control design and implementation for linear motor machine tool[J], International Journal of Machine Tools and Manufacture, 2007, 47(12-13):1807-1816
[19]吴云君,李祖枢,王牛,变负载下直流电机双闭环调速系统建模[J],东南大学学报(自然科学版),2009,39(1):172-176
[20]杨志良,张丕壮,基于PC104的数据采集系统的研究与实现[J],微计算机信息,2007,23(6):60-62
[21]朱玉玉,张笑微,赵志平,PC104在改进型液体闪烁测量仪中的应用[J],仪表技术与传感器,2007(9):14-20
[22]姚舜才,赵耀霞,电机学与电力拖动技术[M],国防工业出版社,2009:121-123
[23]刘英培,万健如,李莲,永磁同步电机无传感器直接转矩控制[J],系统仿真学报,2009,21(19):6166-6173
[24]张强,基于DSP的动态电压恢复器电压检测系统[J],电力电子技术,2009,43(10):55-57
[25]M. L. Kostyrev, Yu. I. Lyutakhin, Electromagnetic system of induction torque motors with ball hollow ferromagnetic rotors[J], Russian Electrical Engineering, 2009,3(1):46-50
[26]王君龙,孙永荣,肖纪立等,基于轴角检测的力矩电机转矩控制系统[J],机械与电子,2008(2):26-29
[27]李晓伟,郑小兵,周磊,基于单片机的精密温控系统设计[J],微计算机信息,2007,23(11-2):103-105
[28]朴德慧,郭玉彬,王天枢,大功率半导体激光器驱动电路及防护[J],激光与红外,2007,37(3):230-233
[29]杨诚,马永杰,基于DSP的FIR滤波器设计中新型快速算法[J],计算机应用,2009(12):221-3223
[30]邓耀华,吴黎明,张力锴,基于FPGA的双DDS任意波发生器设计与杂散噪声抑制方法[J],仪器仪表学报,2009,30(11):2255-2261
[31]孟庆操,赵晓哲,朱红波,舰炮零位检测方法与实现[J],火力与指挥控制,2009,34(11):76-78
[32]余晓鑫,王孝洪,田联房,基于PC104单板微机和FPGA的救援救助机器人运动控制系统设计[J],制造业自动化,2009,31(9):95-98
[33]刘宏达,李殿璞,马忠丽,基于粒子群优化的船舶PID自动舵的改进[J],东南大学学报(自然科学版),2006,36(1):197-200
[34]余成波,张莲,胡晓,自动控制原理[J],清华大学出版社,2009.8:54-57
[35]历风满,数字PID控制算法的研究[J],辽宁大学学报,2005,32(4):367-37
[36]刘金馄,先进PID控制及其MATLAB仿真[M],北京:电子工业出版社,2003.1:42-49
[37]高东杰,谭杰,林红权,先进控制技术应用[M],北京:国防工业出版社,2003.1:107-113
[38]代林,高迪驹.基于模糊控制系统的自整定PID参数控制器的设计[J].自动化技术与应用,2005,24(5):26-29
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