针对无人机全电刹车系统的强非线性、多耦合性以及参数时变等特点，本文提出了一种基于分级PID控制的全电无人机刹车控制策略，根据滑移率的大小对控制参数进行分段，旨在提高飞机刹车过程中的减速率。首先，在Simulink中建立了飞机地面滑跑模型、机轮动力学模型、轮胎-跑道摩擦模型以及全电作动器模型，另外针对刹车盘摩擦系数随刹车盘温度、刹车压力等因素实时变化的特性，构建了基于遗传算法优化BP神经网络的摩擦系数预测模型。进而设计了一套包含基准刹车、动态调整刹车和防滑刹车的分级PID控制系统。通过仿真，对比分析了PD+PBM控制和分级PID控制的控制效果，并对分级PID控制策略开展了地面惯性台试验验证。结果表明，本文提出的分级PID方法控制效果更优，仿真与试验结果误差在11%以内，验证了仿真模型的正确性及控制方案的有效性。分级PID控制器控制效果良好，飞机在不同工况下都能获得较高的减速率，即使在湿跑道湿态刹车盘这种最极端恶劣的工况下，仿真和试验时飞机的平均减速率也均能达到2m/s2以上，两者误差在5.58%以内。
To address the strong nonlinearity, high coupling, and time-varying parameters of unmanned aerial vehicle (UAV) all-electric braking systems, this paper proposes a hierarchical PID control strategy. The control parameters are adjusted in different stages according to the slip ratio to improve the aircraft's deceleration performance. First, models of aircraft ground taxiing, wheel dynamics, tire-runway friction, and all-electric actuators were developed in Simulink. Futhermore, a predictive model for the brake disc friction coefficient was established using a genetic algorithm (GA)-optimized BP neural network, accounting for its real-time variations with temperature and braking pressure. A hierarchical PID control system comprising baseline braking, dynamic adjustment braking, and anti-skid braking was then designed. Through simulation analysis, a comparative study was conducted on the control performance of PD+PBM control and hierarchical PID control. Experimental verification of the hierarchical PID control strategy was also carried out on a ground inertia test bench. The results demonstrate that the proposed hierarchical PID method achieves superior control performance. The error between simulation and experimental results is within 11%, validating both the correctness of the simulation model and the effectiveness of the control strategy. The hierarchical PID controller exhibits satisfactory performance, enabling the aircraft to attain high deceleration rates under various operating conditions. Even under the most extreme and adverse condition—a wet runway with wet brake disks—the average deceleration rate of the aircraft in both simulation and experiments exceeds 2 m/s2, with an error between them within 5.58%.
[1]李佳康, 朱坤, 房务官.高速飞行器刹车系统关键技术分析 [J]. 空天技术, 2024, (01): 17-22[J].空天技术, 2024, (01):17-22
[2]D’AVICO L, TANELLI M, SAVARESI S, et al.A deceleration-based algorithm for anti-skid control of aircraft[J].IFAC-PapersOnLine, 2017, 50(1):14168-14173
[3]焦宗夏, 白宁, 刘晓超, 等.飞机防滑刹车控制技术研究综述综述[J].航空学报, 2022, 43(10):450-474
[4]谢彦, 苏静, 王红玲, 等.飞机全电刹车系统的发展与关键技术研究[J].航空工程进展, 2019, 10(06):846-853
[5]BAI N, LIU X, LI J, et al.An aircraft brake control algorithm with torque compensation based on RBF neural network[J].Chinese Journal of Aeronautics, 2024, 37(1):438-450
[6]邢晓斌, 韩亚国, 郭琪.飞机防滑刹车系统发展研究[J].航空精密制造技术, 2022, 58(02):27-30
[7]WANG Z, LIU X, SUN D, et al.A real-time maximum tire-road friction tracking control method for aircraft braking system with disturbance compensation[J].IEEEASME Transactions on Mechatronics, 2024, 29(5):3649-3660
[8]李嫒敏, 董智超, 肖继平, 等.减速率式多参量防滑刹车控制方法研究 [C]. 第六届中国航空科学技术大会, 2023: 6
[9]XIAOHUI W, QIAOZHI Y, HONG N.Aircraft electric anti-skid braking system based on fuzzy-PID controller with parameter self-adjustment feature[J].Transactions of Nanjing University of Aeronautics & Astronautics, 2014, 31(1):111-118
[10]LIANG X, XU F, CHEN M, et al.Design of an NSMCR Based Controller for All-Electric Aircraft Anti-Skid Braking System[J].Mathematics, 2022, 10(10):-
[11]田广来, 谢利理, 岳开宪, 等.飞机防滑刹车系统的最佳滑移率式控制方法研究[J].航空学报, 2005, 26(04):461-464
[12]张智慧, 李玉忍, 梁波.飞机刹车系统最佳滑移率性能研究[J].计算机仿真, 2014, 31(10):48-51
[13]刘文胜, 王霞, 马运柱, 等.基于无味卡尔曼滤波的飞机防滑刹车模糊神经网络控制[J].航空精密制造技术, 2017, 53(02):25-31
[14]DONG S, ZONGXIA J, SHUAI W, et al.High-efficiency aircraft antiskid brake control algorithm via runway condition identification based on an on-off valve array[J].Chinese Journal of Aeronautics, 2019, 32(11):2538-2556
[15]杨建忠, 王浩天, 陈希远.飞机防滑刹车系统模糊滑模控制研究[J].计算机仿真, 2022, 39(07):74-80
[16]付龙飞.飞机防滑刹车系统的非线性控制技术应用研究 [D]. 西安; 西北工业大学, 2017.
[17]LOPETEGUI J J M, PAPA G, MORANDINI M, et al.Data-driven modeling and regulation of aircraft brakes degradation via antiskid controllers[J].IEEE Transactions on Reliability, 2022, 72(3):889-899
[18]梁雪林.多种约束条件下的飞机全电刹车系统控制器研究 [D]. 长沙; 中南大学, 2023.
[19]尹乔之.无人机低频刹车与地面滑跑稳定性研究 [D]. 南京; 南京航空航天大学, 2018.
[20]李玉忍, 张宏宇, 田梁波, 等.无人机全电刹车系统级联快速终端滑模控制[J].西北工业大学学报, 2023, 41(01):11-17
[21]刘泽华, 谢彦.基于变摩擦系数的飞机刹车系统仿真研究[J].航空科学技术, 2015, 26(04):33-38
[22]HUTTON T.The friction and wear of carbon-carbon composites for aircraft brakes [M]. University of Bath (United Kingdom), 1996.
[23]雷宝灵, 易茂中, 徐惠娟.复合材料飞机刹车盘的三维温度场[J].复合材料学报, 2009, 26(01):113-117
CJA