Vehicle control system and method using control allocation and phase compensation

摘要

A vehicle control system and method combining control allocation and phase compensation for forming a phase compensated actuator command signal based on a control demand signal. A feedback unit includes a matrix multiplication unit for forming an estimated behavior signal, from a control efficiency matrix and the actuator command signal. The estimated behavior signal is fed to a second summation unit for forming a difference signal. The difference signal is processed by a filter unit for forming a feedback signal which is connected to a first summation unit for forming a modified control demand signal, such that the modified control demand signal is adjusted to always represent a control demand realizable by the vehicle. The modified control demand signal is further connected to the second summation unit and to a control allocator which output is then connected to the matrix multiplier to form a feedback loop.

主权项

1. A vehicle control system for a vehicle, comprising:
control elements configured to alter at least one of a speed, altitude or course of a vehicle; an input actuator configured to be actuated by an operator to input control demand; a control allocator configured to allocate a received control demand by providing actuator control signals derived from said control demand to a plurality of actuators for the control elements; a feedback module comprising a behaviour estimation unit configured to form and to feedback via a feedback loop a feedback signal representative of a difference between a desired vehicle behaviour represented by a control demand signal vector and an estimated vehicle behaviour that would result from said actuator signals at current travel conditions, wherein the control demand signal vector is an output from control laws of the control system, such that the behaviour estimation unit estimates behaviour of the vehicle control system based on a commanded actuator input, the feedback signal being arranged to modify said control demand signal vector forming a modified control demand signal vector such that the modified control demand signal vector, in the case the control demand signal vector represents a control demand greater than performance limits of the vehicle under current conditions, will come to represent a control demand within said performance limits when the feedback signal takes effect; and a control efficiency unit configured to keep and update information regarding the efficiency of the actuators of the vehicle, wherein the behaviour estimation unit is configured to use information from said control efficiency unit to calculate the estimated vehicle behaviour.