Flight vehicle attitude control system design method and device

Patent metadata

Field	Value
Publication number	US-10870501-B2
Application number	US-201816200952-A
Country	US
Kind code	B2
Filing date	Nov 27, 2018
Priority date	Dec 8, 2017
Publication date	Dec 22, 2020
Grant date	Dec 22, 2020

Abstract

A flight vehicle attitude control system design device includes: a gain calculator calculating a proportional gain and a derivative gain from a system natural frequency and a system damping coefficient; a margin calculator calculating a gain margin and a phase margin from the proportional gain and the derivative gain; a grid generator generating a gain-phase margin grid from a relationship between the proportional gain and the derivative gain and a relationship between the gain margin and the phase margin; and a display unit outputting the gain-phase margin grid on a control gain design region having a gain margin as one of a horizontal coordinate axis and a vertical coordinate axis and a phase margin as the other one of the horizontal coordinate axis and the vertical coordinate axis.

First claim

What is claimed is:

1. A flight vehicle attitude control system design device comprising:
input device receiving an input of a system natural frequency and a system damping coefficient;
a gain calculator, using the system natural frequency and the system damping coefficient received by the input device, calculating a proportional gain and a derivative gain;
a margin calculator, using the calculated proportional gain and the calculated derivative gain, calculating a gain margin and a phase margin;
a grid generator generating a gain-phase margin grid from a relationship between the calculated proportional gain and the calculated derivative gain and a relationship between the calculated gain margin and the calculated phase margin; and
a display unit outputting the generated gain-phase margin grid on a control gain design region having a gain margin as one of a horizontal coordinate axis and a vertical coordinate axis and a phase margin as the other one of the horizontal coordinate axis and the vertical coordinate axis.

2. The flight vehicle attitude control system design device of claim 1 , wherein the display unit outputs a lower limit of the gain margin and a lower limit of the phase margin on the control gain design region.

3. The flight vehicle attitude control system design device of claim 2 , wherein the display unit outputs an upper limit of a bending mode vibration transmission rate.

4. The flight vehicle attitude control system design device of claim 3 , wherein the display unit outputs an upper limit and a lower limit of the system natural frequency and an upper limit and a lower limit of the system damping coefficient.

5. The flight vehicle attitude control system design device of claim 4 , wherein the input device receives an input of a control gain point corresponding to a point on the control gain design region, and
the flight vehicle attitude control system design device further comprises a control gain selector selects a coordinate value of the control gain point as a control gain for flight vehicle attitude control.

6. The flight vehicle attitude control system design device of claim 5 , wherein the control gain selector determines whether the control gain point satisfies the lower limit of the gain margin and the lower limit of the phase margin.

7. The flight vehicle attitude control system design device of claim 3 , wherein, when a pitch/yaw control thrust is T c , the proportional gain is K P , the derivative gain is K D , an ith-order bending mode slope at a rate sensor location is σ P,i and σ R,i , an ith-order bending mode shape at a thrust vector control (TVC) gimbal position is ϕ tvc,i , an ith-order bending mode damping coefficient is ζ bd,i , an ith-order bending mode natural frequency is ω bd,i , and an ith-order bending mode generalized mass is M bd,i , an upper limit K DT,i of an ith-order bending mode vibration transmission rate represented as a function thereof is defined through

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8. The flight vehicle attitude control system design device of claim 1 , wherein the display unit outputs the gain-phase margin grid obliquely with respect to a coordinate axis of the control gain design region.

Assignees

• Korea Aerospace Res Inst

Inventors

• Park Yong-Kyu
• Sun Byung-Chan

Classifications

• G05D2109/20

  Aircraft, e.g. drones · CPC title

• G06F30/15

  Vehicle, aircraft or watercraft design · CPC title

• G05B11/42

  for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D. · CPC title

• G05D1/49 Primary

  Control of attitude, i.e. control of roll, pitch or yaw · CPC title

• B64F5/00 Primary

  Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for · CPC title