| Since the aircraft adopts the full-assisted control system,there is no direct connection between the control stick and the rudder surface,which leads to a reduction in the quality of aircraft control.In order to enable pilots to regain the manual sense of control,the researchers added passive and active joysticks to the fly-by-wire control system.At present,most aircraft adopt a passive sidestick system similar to that loaded by springs.the problem with this type of sidestick is that the stick force received by the pilot is not much related to the flight status.However,the force of the side force stick system based on active control technology can be adjusted in real time according to the flight state,so as to greatly improve the handling performance of the aircraft,which is the focus of the current aircraft human perception system research.In this paper,the corresponding research work is carried out around the design of the control system of the active side force bar.In this paper,combined with the transmission mechanism of the sidestick device,the single channel push sidestick model of the operator is established.Based on the theoretical analysis of the model,it is concluded that which factors will affect the static and dynamic performance of the side stick system.On this basis,taking the pitch axis of the side stick device as an example,the dynamic analysis and mass equivalent treatment are carried out.At the same time,considering that the side force stick system involves human-computer interaction,it not only needs to simulate the dynamic relationship between the driver’s control force and the position of the control surface,but also needs to give the driver a good "artificial feeling".Therefore,according to the working characteristics of the active side stick system,an impedance control strategy based on speed control is proposed.Then,based on the manipulator’s single-channel putter model,the dynamic process of manual putter is analyzed.It is equivalent to the second-order system of the push trolley,and the model of manual push stick is obtained.At the same time,using the tuning data of the servo drive,the mechanical transfer function of the side stick mechanism is identified in matlab and compared with the derived dynamic model.Based on the manual push stick model,based on the speed impedance controller and dynamic model,the active side stick control system is designed,and the simulation model of the side stick control system is built in Simulink.Finally,in view of the contradictory relationship between dynamic response speed and anti-disturbance performance in the actual side stick control system,on the basis of impedance control,an adaptive compensator based on stick force error is proposed,and the model reference adaptive is adopted to design the self-adaptive The law of adaptation.The actual test results show that the adaptive compensation impedance controller improves the following performance of the system without reducing the antidisturbance performance.Several groups of experiments are carried out in the actual side stick device,and the analysis of the experimental data shows that the control scheme studied in this paper meets the requirements of the active side force bar.Therefore,the effectiveness of the impedance control scheme based on speed control is verified. |
