【作者】 丁佐权；

【导师】 孙永荣；

【作者基本信息】 南京航空航天大学 ， 制导与控制， 2010， 硕士

【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。更多还原

【Abstract】 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.更多还原