Study On Active Side Stick Technology Of Human-in-the-Loop Based On Adaptive Sliding Mode Control

The large civil aircraft is one of the major research topics in the medium and long term development planning of China.The research work of this paper obtained the special funds for the national Ministry of industry "12th Five-Year" large civil aircraft research funding(Grant No.: MJZ-S-2011-06,MJZ-2015-S-080).This paper focuses on the key problems of large civil aircraft active side stick,established the human-in-the-loop system model,designed the active side stick servo control,and carried out the simulation of active side stick in the human-in-the-loop system.The specific work is as follows:(1)A human-in-the-loop active side stick system model is established,mainly includes three parts: a large civil aircraft B747 dynamics and flight control system model,a active side stick servo control system model and a structure pilot model.According to Newton's law,the momentum law and the aircraft aerodynamic data table,data fitting,a general nonlinear dynamic model of large civil aircraft is established and by using the principle of small disturbance,the nonlinear model is transformed and decoupled into a longitudinal and lateral small perturbation linear model.According to the servo tracking principle,a active side stick servo control system model of civil aircraft is established,including three-phase permanent magnet synchronous motor model and active side stick dynamic model.A structure pilot model is established by using the transfer function of manipulating motion,which consists of three parts: the perception mechanism,the central nervous system,and the neuromuscular system.(2)The control strategy of the active side stick servo system is proposed.The active side stick servo system is a multi variable,multi loop and strong coupling control system.In order to ensure the high dynamic servo tracking performance of the servo system,the following work has been carried out.In order to achieve high dynamic tracking performance of the three-phase permanent magnet synchronous motor,a direct torque control algorithm of PMSM Based on two order sliding mode controller is proposed.An adaptive sliding mode controller is designed considering the disturbance of the external boundary and the variable stiffness of the spring,which makes the system have strong robust performance and adaptive capability to variable stiffness of the spring,which satisfies the dynamic and high-accuracy tracking performance of servo system.(3)The flight quality evaluation of the active and passive side sticks are carried out in the human-in-the-loop system.And based on the sliding mode control algorithm and the linear two order algorithm,the simulation of the active side man in loop system is carried out.And a semi physical simulation verification platform for the active side stick human-in-the-loop system is built,and the performance of the active side stick of the aircraft in the flight process is verified experimentally.Through the above research,this paper obtained the active side stick human-in-the-loop system model;The torque servo tracking problem of the three-phase permanent magnet synchronous motor and the stick-displacement tracking problem of the servo system are solved by using the sliding mode control method.An adaptive control algorithm is proposed to solve the variable spring stiffness problem of the active side stick.A semi physical simulation verification platform of civil aircraft's active side stick human-in-the-loop system is set up to verify the feasibility of the algorithm and the performance of the active side stick.The simulation results verify the feasibility and effectiveness of the proposed method in this paper.