基于干扰估计的非对称运动下飞机刹车系统模型预测控制

李繁飙; 杨皓月; 王鸿鑫; 阳春华; 廖力清

doi:10.16383/j.aas.c210852

基于干扰估计的非对称运动下飞机刹车系统模型预测控制

doi: 10.16383/j.aas.c210852

李繁飙^{1, 2,},
杨皓月^1,,
王鸿鑫^1,,
阳春华^1,,
廖力清^1,

1.
中南大学自动化学院长沙 410083
2.
鹏城实验室深圳 518000

基金项目: 国家自然科学基金(61973319), 湖南省优秀青年基金(2019JJ30032), 111计划(B17048), 鹏城实验室重点项目(PCL2021A09)资助

详细信息

作者简介:
李繁飙：中南大学自动化学院教授. 2015年获得哈尔滨工业大学博士学位. 主要研究方向为复杂工业过程智能控制与优化, 非连续控制理论及其在飞机起落架系统中的应用. 本文通信作者. E-mail: fanbiaoli@csu.edu.cn

杨皓月：中南大学自动化学院硕士研究生. 主要研究方向为飞机刹车系统建模与控制. E-mail: haoyueyang@csu.edu.cn

王鸿鑫：中南大学自动化学院博士研究生. 2015年获得西北工业大学航空工程硕士学位. 主要研究方向为基于模型的系统工程和基于模型的设计在飞机研制领域的应用, 民用飞机数字孪生建模和机载系统集成仿真. E-mail: wanghongxin@csu.edu.cn

阳春华：中南大学自动化学院教授. 2002年获得中南大学博士学位. 主要研究方向为复杂工业过程建模与优化, 故障诊断和智能系统. E-mail: ychh@csu.edu.cn

廖力清：中南大学自动化学院教授. 2010年获得中南大学博士学位. 主要研究方向为电力电子与电力传动, 电力系统自动化和飞机起飞着陆系统智能控制. E-mail: zdh-dqkz@csu.edu.cn

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出版历程
- 收稿日期: 2021-09-07
- 录用日期: 2022-02-10
- 网络出版日期: 2022-04-24
- 刊出日期: 2022-07-01

Model Predictive Control of Aircraft Braking System Under Asymmetric Motion Based on Disturbance Estimation

1.
School of Automation, Central South University, Changsha 410083
2.
Peng Cheng Laboratory, Shenzhen 518000

Funds: Supported by National Natural Science Foundation of China (61973319), Excellent Youth Natural Science Foundation of Hunan Province (2019JJ30032), the 111 Project of China (B17048), and the Major Key Project of Peng Cheng Laboratory (PCL2021A09)

More Information

Author Bio:
LI Fan-Biao　Professor at the School of Automation, Central South University. He received his Ph.D. degree from Harbin Institute of Technology in 2015. His research interest covers intelligent control and optimization of complex industrial processes, discontinuous control theory and its application for aircraft landing gear systems. Corresponding author of this paper

YANG Hao-Yue　Master student at the School of Automation, Central South University. His main research interest is aircraft braking system modeling and control

WANG Hong-Xin　Ph.D. candidate at the School of Automation, Central South University. He received his master degree in Aeronautical Engineering from Northwestern Polytechnical University in 2015. His research interest covers model-based systems engineering (MBSE) and model-based design (MBD) interaction for aircraft design, civil aircraft digital twin modeling, and aircraft airborne systems integration simulation

YANG Chun-Hua　Professor at the School of Automation, Central South University. She received her Ph.D. degree from Central South University in 2002. Her research interest covers complex industrial process modeling and optimization, fault diagnosis, and intelligent system

LIAO Li-Qing　Professor at the School of Automation, Central South University. He received his Ph.D. degree from Central South University in 2010. His research interest covers power electronics and power transmission, power system automation, and intelligent control of aircraft take-off and landing system

摘要

摘要: 针对飞机在非对称运动下的双侧机轮协调控制问题, 提出一种基于滑模干扰估计的模型预测控制方法. 首先, 通过对飞机制动过程横纵方向力矩机理分析并分别考虑左右机轮对刹车性能的影响, 建立全面刻画系统动态的地面滑跑动力学模型. 在此基础上, 设计滑模观测器对侧风干扰进行实时估计, 利用补偿机制实现对侧风扰动的有效抑制. 此外, 提出基于前轮荷载状态门限特征和结合系数阈值范围特征的分析方法, 解决切换跑道环境辨识问题. 设计非线性模型预测算法, 实现飞机纵向防滑刹车和横向跑道纠偏的协调控制. 最后, 在侧风干扰、跑道切换以及不对称着陆等情况下进行仿真实验, 验证了所提出的控制策略能够有效提升刹车系统的防滑效率及纠偏性能.
- 飞机防滑刹车及纠偏 /
- 干扰观测器 /
- 跑道辨识 /
- 非线性模型预测控制
Abstract: In this paper, a model predictive control method based on sliding mode disturbance estimation is proposed to solve the problem of bilateral wheel coordinated control of aircraft in asymmetric motion. Firstly, by analyzing the mechanism of transverse and longitudinal torque in aircraft braking process and considering the influence of left and right wheel pairs on braking performance, a ground taxiing dynamic model is established which can comprehensively describe the system dynamics. Then, a sliding mode observer is designed to estimate the crosswind disturbance in real time, and the compensation mechanism is utilized to suppress the crosswind disturbance effectively. In addition, an analysis method based on the threshold characteristics of front wheel load state and the threshold range characteristics of adhesion coefficient is proposed to solve identification problem of switching runway environment. A nonlinear model prediction algorithm is designed to realize the coordinated control of aircraft longitudinal anti-skid braking and lateral runway deviation correction. Finally, simulation experiments are carried out under the conditions of crosswind disturbance, runway switching, and asymmetric landing. It is verified that the control strategy proposed in this paper can effectively improve the anti-skid efficiency and deviation correction performance of the braking system.
- Aircraft anti-skid braking and deviation /
- disturbance observer /
- runway identification /
- nonlinear model predictive control

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图 1 飞机高速滑跑阶段受力分析图

Fig. 1 Force analysis diagram of aircraft during high speed landing

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图 2 飞机滑跑轮胎侧偏角及受力分析图

Fig. 2 Tire sideslip angle and stress analysis diagram during aircraft landing

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图 3 飞机滑跑中左机轮受力分析图

Fig. 3 Force analysis diagram of left wheel during aircraft landing

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图 4 滑移率−结合系数变化曲线图

Fig. 4 Variation curve of slip ratio and adhesion coefficient

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图 5 跑道切换时结合系数变化示意图

Fig. 5 Schematic diagram of adhesion coefficient change during runway switching

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图 6 飞机防滑刹车及纠偏控制架构

Fig. 6 Aircraft anti-skid braking and deviation correction control architecture

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图 7 侧风干扰观测器仿真结果

Fig. 7 Simulation results of crosswind disturbance observer

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图 8 跑道辨识仿真结果

Fig. 8 Simulation results of runway identification

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图 9 无侧风、偏航状态下飞机防滑刹车及纠偏仿真结果

Fig. 9 Simulation results of aircraft anti-skid braking and deviation correction under no crosswind and yaw conditions

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图 10 有侧风及偏航情况下飞机防滑刹车及纠偏仿真结果

Fig. 10 Simulation results of aircraft anti-skid braking and deviation correction under crosswind and yaw conditions

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表 1 飞机刹车系统参数

Table 1 Aircraft braking system parameters

物理含义	符号
飞机质量 (kg)	$ m $
重力加速度 (m/s²)	$ g $
前轮到飞机重心的投影距离 (m)	$ a $
左右机轮到飞机重心的投影距离 (m)	$ b $
飞机左右机轮之间投影距离 (m)	$ c $
偏航力矩惯性积 (kg·m²)	$ J $
飞机高度 (m)	$ h $
飞机重心	$ cg $
偏航角 (°)	$ \psi $
飞机重力 (N)	$ G $
侧风干扰力 (N)	$ Z $
飞机剩余推力 (kg)	$ {T_o} $
飞机偏航距离 (m)	$ {d_y} $
飞机纵向阻力系数	$ {\rho _D} $
飞机偏航系数	$ {\rho _\delta } $
飞机升力系数	$ {\rho _L} $
发动机到飞机重心的距离 (m)	$ {b_T} $
尾舵到飞机重心的投影距离 (m)	$ {b_\delta } $
左右机轮角速度 (rad/s)	$ {\omega _l} $,$ {\omega _r} $

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表 2 结合系数模型参数

Table 2 Parameters of adhesion coefficient model

跑道状态	$ D $	$ C $	$ B $	$ Sp $
干跑道	0.8	1.5344	14.0326	0.117
湿跑道	0.4	2.0192	8.2098	0.120
积雪跑道	0.2	2.0875	7.2017	0.130

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表 3 典型跑道特征值门限

Table 3 Threshold of characteristic value of typical runway

跑道状态	$ Sp $	$ \mu $	$ {N_2} $
干跑道	0.117	0.8	100000
湿跑道	0.120	0.4	70000
积雪跑道	0.130	0.2	30000

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表 4 典型跑道切换对应的结合系数变化量

Table 4 Variation of adhesion coefficient corresponding to typical runway switching

跑道状态	干跑道	湿跑道	积雪跑道
干跑道	—	$ \left[ { - 0.39, - 0.41} \right] $	$ \left[ { - 0.61, - 0.59} \right] $
湿跑道	$ \left[ {0.39,0.41} \right] $	—	$ \left[ { - 0.21, - 0.19} \right] $
积雪跑道	$ \left[ {0.59,0.61} \right] $	$ \left[ {0.19,0.21} \right] $	—

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表 5 侧风干扰数据参数

Table 5 Crosswind disturbance data parameters

参数	值
侧风角度	90 °
空气密度$ \rho $	1.225 kg/m³
机翼面积$ {S_w} $	121.86 m²
侧力系数$ {C_Y} $	0.94
侧风幅度$ {V_m} $	15 m/s
侧风时间$ {t_m} $	3 s

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表 6 飞机防滑刹车性能指标

Table 6 Performance index of aircraft anti-skid braking

性能指标	仿真 3	仿真 4
左机轮结合系数效率 (%)	99.85	99.81
右机轮结合系数效率 (%)	99.85	99.84
刹车距离 (m)	699.20	700.51
刹车时间 (s)	15.90	15.95
最终偏航距离 (m)	0	0.56
最终偏航角度 (°)	0	0

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