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本文参考 U.Hartmann 等人的方案,提出一种简化的参数估计模型和改进的卡尔曼滤波参数估计法,使运算量减少二分之一。在反馈增益的计算中,运用 MIL-F-8785C 中的“当量固有频率”与“当量阻尼比”的概念,选择合理的极点分布,推导了考虑舵回路惯性影响的调参规律近似表达式。文中给出一种简易可行的启动自适应调参程序的逻辑条件,从而保证了系统的稳定性和良好的飞行品质。还深入研究了爬高减速、下滑增速及准等速爬高和下滑过程中时变参数的估计方法,加入探测信号对系统的影响,以及这些过程中出现发散现象的原因和克服的措施。
In this paper, U. Hartmann et al. Proposed a simplified parameter estimation model and improved Kalman filter parameter estimation method, which reduced the computational complexity by one half. In the calculation of feedback gain, by using the concepts of “equivalent natural frequency” and “equivalent damping ratio” in MIL-F-8785C, the reasonable pole distribution is selected, and the approximate expression of the tuning law considering the inertia of the rudder loop is deduced. In this paper, a simple and feasible logic condition for starting the adaptive parameter tuning procedure is given, which ensures the stability of the system and the good flight quality. The methods of estimating the time-varying parameters in climbing, slowing down, quasi-constant speed climbing and falling are also studied in depth. The influence of detecting signals on the system and the reasons for the divergence in these processes and the measures to be overcome are also studied.