RU2716886C1 - Command-and-flight indicator - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: invention relates to devices for displaying information, namely, to command-and-flight indicator (CFI). Proposed helicopter command-and-control indicator comprises screen, unit, indicating on navigation field, flight-control indicator unit, automatic flight control system unit, air signals system unit, a symbol generator unit, various flight parameters calculation units, an autopilot unit, various flight speeds components indicators, a trajectory calculator unit, as well as a number of other units required for functioning of the helicopter, respectively connected to each other.

EFFECT: technical task of the claimed invention is increase of safety and simplification of control of execution of program flight modes; simplified piloting by helicopter during flight in difficult weather conditions to point; as well as elimination of emergency cases when landing helicopter in difficult weather conditions on swinging airstrip of ship by increasing information presentation of presentation on CFI screen of predicted parameters of dynamics of helicopter movement.

1 cl, 19 dwg

Description

The invention relates to devices for displaying information used by the pilot and crew when piloting a helicopter, and in particular to flight control indicators (KPI).

The closest in technical essence to the claimed technical solution is the "Flight indicator". RF invention patent No. 2539708 application No. 2013158499/11 decision to grant a patent priority dated December 30, 2013 IPC G01C 23/00, G05D 1/00, (Bezdetnov NP, Bardin EN), (description by the claims. (US - Predicted speed December 30, 2013)) consisting of a screen on which are indicated: - the reference index “Aircraft”, fixed relative to the center of the display field of the screen, made in the form of one horizontal line, symbolizing the wings of an aircraft (LA), and one vertical line, symbolizing the keel LA, and intersecting the horizontal line in its center at a right angle, having the ability to rotate around its center of symmetry and indicating the current position of the helicopter in space; - a moving index "Leader", made in the form of one horizontal line symbolizing the wings of an aircraft and one vertical line symbolizing the keel of an aircraft, and intersecting the horizontal line in its center at a right angle, with the ability to rotate around its center of symmetry, as well as move vertically and horizontally relative to the index "Aircraft" and indicating the desired position of the helicopter in space. - a symbol generator connected to the screen, "Leader" rolling index controls, made in the form of a "Leader" characteristic calculation unit: - a current slip angle parameter calculation unit; a unit for calculating a value of a design roll angle; - a unit for calculating the estimated slip angle; - a unit for calculating aircraft deviation in flight altitude and a scale factor for deviation in aircraft altitude; - a unit for calculating a value of a calculated pitch angle; - a unit for calculating the lateral deviation and the scale factor of the lateral deviation of the aircraft. Signals from the aircraft systems come to the inputs of the controls, and signals from the outputs of the controls to the symbol generator receive the height control error, ensuring the Leader index moves along the display field in the vertical direction, as well as signals indicating the "radio height" index and a fixed non-uniform scale of the value of the flight altitude, indicated on the vertical side of the boundary of the display field of the screen with a zero height value located at the level of the horizontal line, odyaschey through the center of the indicator field of the screen; The Airplane index and the Leader index are capable of simultaneously displaying the sliding angle and pitch angle by indicating a triangle. The base of the triangle is equal to the length of the horizontal straight line symbolizing the wings of the aircraft, and the position of the top of the triangle corresponds to the current value of the pitch angle and sliding angle for the Airplane index and the deviation from the set pitch angle and sliding angle for the Leader index. The Leader index is made to rotate around the center of symmetry in accordance with the error in roll angle, increasing or decreasing linear dimensions with increasing or decreasing, respectively, the set flight speed so that at zero error values for all controlled parameters, the Leader index "is combined with the Airplane index. The flight control indicator (KPI) is equipped with: - a unit for accounting the flow rate in flight of the mass of the helicopter payload; - a unit indicating a helicopter flight speed indicator, a helicopter flight speed indicator with a numerical scale, an index of an indicator of a current helicopter flight speed, an index of a pointer to a given helicopter flight speed; - a calculation unit in the coordinate system associated with the helicopter of the spatial position of the center of mass, the moments of inertia of the helicopter in flight and the parameter of the longitudinal distance from the center of mass of the helicopter to the rotor axis; - a unit for calculating the predicted flight speed of the helicopter; and - a switch for the autopilot blocks of the automatic stabilization functions for pitch, height and speed, and the input of the metering unit for the flight in flight of the mass of the payload of the helicopter is connected to the aircraft systems according to the parameters of the mass of the payload of the helicopter used in flight, and the output connected to the input of the calculation unit in the coordinate system associated with the helicopter of the spatial position of the center of mass, the moments of inertia of the helicopter in flight and the value of the longitudinal distance parameter from the center of mass of the helicopter to the axis of the rotor according to the parameter of the helicopter payload spent in flight, the output of which is connected to the first input of the unit for calculating the predicted flight speed of the helicopter according to the parameter of the longitudinal distance from the center of mass of the helicopter to the axis of the rotor, and the second input of the unit for calculating the predicted flight speed the helicopter is connected via a switch of the autopilot blocks of the automatic stabilization functions for pitch, height and speed according to the parameter of the current value of the pitch angle, and the block output is forecast helicopter flight speed according to the parameter of the given helicopter flight speed and the output of the automatic flight control system block according to the parameter of the current helicopter flight speed are connected to the block input indicating the helicopter flight speed indicator representing the helicopter flight speed indicator with a numerical scale, index of the current helicopter flight speed index, index index a given helicopter flight speed, the output of which is connected to a symbol generator, which is configured to indicate the device exponent airspeed of the helicopter with a numerical scale and the index pointer of the current airspeed of the helicopter and a predetermined index pointer airspeed of the helicopter, presented in the form of narrow thin plate with a pointed end, rotatably mounted relative airspeed indicator instrument axis of the helicopter. In the well-known pilot-flight indicator of a helicopter, visualization of flight information is provided by data coming from sensors of devices and device blocks that are on board the helicopter: - from sensors of the air signal system (SHS), the current parameters of the height of the flight of the helicopter, the values of the vector of helicopter speed , the projection of the vertical velocity vector of the helicopter, the projection of the wind speed in the earth's coordinate system; - from the sensors of the inertial navigation system (ANN), the parameters of the current value of the pitch angle, roll angle, yaw angle, the current value of the helicopter flight range and lateral deviation are received. - from sensors (CM), parameters are received that calculate the current position of the center of mass of the helicopter, the moments of inertia of the helicopter in flight and the value of the parameter of the longitudinal distance from the center of mass of the helicopter to the axis of the rotor, taking into account the mass flow rate of the helicopter payload (for example: fuel , cargo, ammunition). According to the current parameters coming from the sensors installed on the helicopter, the helicopter is maneuvered in space with visualization on the KPI screen of the indices “Aircraft”, “Leader” and other navigation parameters necessary for piloting the helicopter, which allow the helicopter to enter the hovering point above the ship’s runway and land helicopter on the runway of the ship.

In the book “Flight Safety of KA-27, KA-32, KA-29 Helicopters” V.V. Alekseeva, helicopter landing on the take-off and landing pad (runway) of the ship in difficult hydrometeorological conditions day and night is carried out with sea waves of “6” points, with side roll (Δγ ° equal to ± 8 °) and keel pitch (Δυ ° equal to ± 3 ° ) with average periods (Δt of about 12 s) seconds. An important feature of ship runways is their mobility. Due to the unrest of the sea and the presence of pitching, the runway of the ship makes complex spatial movement. Moreover, the runway has both linear and angular displacements relative to the horizontal surface. The mobility of a helicopter, ship and runway requires the pilot, during the night piloting of the helicopter and piloting in difficult weather conditions, to solve a number of complex navigation and flight tasks in the process of approaching the ship during takeoff and landing on the runway. In addition, the variable and rapidly changing situation on the runway requires the pilot to take only the right decisions and actions in order to ensure flight safety during takeoff and landing. When piloting to a hovering point above a swinging runway (WFP) of a ship, the pilot experiences a psychophysiological and nervous load. Professional experience is required from the pilot to direct the helicopter to the hovering point, above the ship’s runway, taking into account the total direction of the ship’s velocity vector and the direction of the wind’s velocity vector and withstand the given glide path angle. Piloting with hovering, hovering and landing on a ship’s runway requires a lot of attention and spatial vision of the ship’s runway angular position from the roll angle and trim angle and simultaneous viewing of the helicopter’s angular position by the roll angle, pitch angle and spatial position of the helicopter above the ship’s runway. Take-off of a helicopter from a rocking ship landing strip (WFP) is no less complicated. The pilot must be distracted from the readings of the navigation devices of his helicopter and intuitively determine the take-off moment or the landing moment, and at the same time, he must determine the minimum deviation of the ship’s runway from the horizontal plane for the period of the ship’s roll on the roll and trim, in order to prevent the illusion of moving the ship’s runway in space, prevent the helicopter from slipping off the runway of the ship. The psychophysiological and nervous load experienced by the pilot when flying to a hovering point above the swinging runway (WFP) of the ship is explained by the insufficient amount of data presented on the spatial state of the ship-helicopter system and, accordingly, the possibility of visualization using the Airplane indices ”And“ Leader ”on the KPI screen of the mutual motion of the ship’s runway path and the helicopter’s path.

The technical task of the invention is:

- improving security and simplifying the monitoring of the implementation of program flight modes;

- simplification of helicopter piloting during flight in difficult weather conditions to a hovering point above the ship's runway;

- the elimination of accidents during helicopter landing in adverse weather conditions on the runway of the ship by increasing the information clarity of the presentation on the KPI screen of the predicted parameters of the dynamics of the movement of the helicopter;

- reduce the psychophysiological and nervous load on the pilot when landing a helicopter on the runway of the ship with the illusion of moving the runway of the ship.

- reduction of the psychophysiological and nervous load on the pilot during helicopter landing on the runway of the ship with the illusion of moving the runway of the ship in conditions of emotional burnout syndrome (emotional stress, vibration, lack of oxygen, pressure drops, lack of time to make decisions, difficult weather conditions, flying at low altitude and other similar factors);

The technical problem is achieved by the fact that the flight indicator of a helicopter containing a screen on which the reference index "Airplane" is displayed, fixed relative to the center of the display field of the screen, is made in the form of one horizontal line symbolizing the wings of an aircraft (LA), and one vertical line, symbolizing the keel of the aircraft, and intersecting the horizontal line in its center at a right angle, having the ability to rotate around its center of symmetry and indicating the current position of the helicopter in transtve which is displayed on the screen a movable index "leader", made in a single horizontal line symbolizes the aircraft wings and audio. a vertical line, symbolizing the keel of the aircraft, and intersecting the horizontal line in its center at a right angle, having the ability to rotate around its center of symmetry, as well as moving vertically and horizontally relative to the "Airplane" index and indicating the desired position in space, a symbol generator connected to the screen , means of controlling the Leader moving index, made in the form of blocks for calculating the characteristics of the Leader, namely: - a block for calculating the parameters of the current sliding angle, - a block for calculating the value the estimated angle of heel, - the unit for calculating the estimated angle of sliding, - the unit for calculating the aircraft deviation in flight altitude and the scale factor for the deviation of the aircraft altitude, - the unit for calculating the estimated pitch angle, - the unit for calculating the lateral deviation and the scale factor for the aircraft lateral deviation, to the inputs which receives signals from aircraft systems, and from the outputs of which signals are sent to the symbol generator in accordance with the height control error value, which ensure the movement of the Leader index along the display field in vertical direction, with the ability to indicate the "radio height" index and a fixed uneven scale of the flight altitude value, displayed on the vertical side of the border of the display field of the screen with a zero height value, located at the level of the horizontal line passing through the center of the display field of the screen, while the "Airplane" index "and the Leader index are capable of simultaneously displaying the sliding angle and pitch angle by indicating a triangle whose base is equal to the horizontal length directly lines symbolizing the wings of the aircraft, and the position of the apex of the triangle corresponds to the current value of the pitch angle and the angle of glide by the Airplane index and the deviation from the set value of the pitch angle and the glide angle by the Leader index by turning the Leader index around the center of symmetry in accordance with the angle error roll, by increasing or decreasing the linear dimensions of the Leader index when increasing or decreasing, respectively, a given flight speed in such a way that at zero error values for all controlled steam for meters, the Leader index is combined with the Airplane index, the command-and-flight indicator controls additionally use: - a helicopter payload mass flow meter in flight, - a block indicating the helicopter flight speed indicator, helicopter flight speed indicator with a numerical scale, index index the current helicopter flight speed, by the index index of the given helicopter flight speed, —a calculation unit in the coordinate system of the spatial position of the center of mass, moments of inertia associated with the helicopter the helicopter in flight and the values of the parameter of the longitudinal distance from the center of mass of the helicopter to the axis of the rotor, - the unit for calculating the predicted flight speed of the helicopter and - the switch of the autopilot blocks of the automatic stabilization functions for pitch, height and speed, is additionally equipped with: - a receiver for the spatial position of the landing cone, - a switch for entering data of the parameters of the landing cone, - a unit for calculating the analytical parameters of the landing cone, - a unit for calculating the predicted forces and moment acting and the center of mass of the helicopter during compression of the elastic elements of the landing gears, by the block of the trajectory calculator, by the block of the initial conditions of the trajectory calculator, by the block of the ship transmitting the parameters of the landing cone via the ship-helicopter communication channel, and the output of the block of the ship transmitting the parameters of the landing cone by the ship-helicopter communication channel, connected to the input of the receiver of the spatial cone position parameters of the landing cone via the ship-helicopter communication channel according to the landing cone parameters: - current time, - projections of the ship’s speed Earth coordinate system, - the current angle of the ship’s course, - the module of the current vector of the average wind speed, - the direction of the wind, - the values of the angles that provide a safe approach to the hovering point above the runway of the ship, - the value of the glide path angle, - the distance from the center of mass of the ship to the center of the plane The runway of the ship, - the programmable height of the helicopter flight to execute the command "remove the chassis" / "release the chassis", - the current angular position of the ship at the angles of trim, yaw and roll, - the coordinate of the center of mass of the ship in the earth’s coordinate system inat, the output of which through the input switch of the parameters of the landing cone according to the parameters of the landing cone is connected to the first input of the unit for calculating the analytical parameters of the landing cone, in which the second input according to the coordinates of the current position of the center of mass of the helicopter in the earth coordinate system and the output according to the parameters: - array numerical values of the surface of the landing cone, - an array of numerical values of the generatrix of the landing cone, - the calculated value of the glide path angle, - the specified direction of the vector of the resulting air flow, - the programmable coordinates of the end point of the flight path section are connected to the block of the automatic flight control system, in which the output depends on the parameters changing in flight: - the current mass of the helicopter, - the coordinates of the current position of the center of mass of the helicopter in the earth coordinate system, - inertial-mass characteristics for the connected axes of the helicopter coordinate system, - the current value of the longitudinal distance from the axis of the rotor to the center of mass of the helicopter, - the current value of the helicopter flight speed, - projections of the angular velocity vector, - the current angular position of the helicopter (pitch angle, yaw angle, angle of heel), - the current angular position of the plane of the runway of the ship (by trim angle, yaw angle and angle of heel), - the current value of the angle of rotation of the helicopter trajectory, - the current value of the angle of inclination of the trajectory of the helicopter, - the module of the current vector of the average wind speed, - the coordinates of the point of the trajectory to which the helicopter moves on a programmable route when approaching the swinging plane of the ship's runway (program mnogo-set range on the route, programmable height of the flight of the helicopter on the route, programmable lateral deviation of the flight of the helicopter) is connected to the first input, and the output according to the parameters: - values of the unchanged spatial position of the landing gear in the coordinate system associated with the helicopter, - the distance from the center of mass of the ship to the center of the plane of the runway of the ship is connected to the second input of the block of initial conditions of the trajectory calculator, the output of which is connected to the first entrance to the block of trajectory calculates For the parameters: - the current helicopter mass, - the current coordinates of the spatial position of the center of mass of the helicopter in the earth coordinate system, - the calculated inertial-mass characteristics for the connected axes of the helicopter coordinate system, - the current value of the longitudinal distance from the rotor axis to the center of mass of the helicopter, - projections of the vector of the current helicopter flight speed, - current projections of the angular velocity vector, - the current angular position of the helicopter (pitch angle, yaw angle, roll angle), - current value of the angle of rotation the helicopter trajectory, - the current value of the angle of inclination of the helicopter trajectory, - the current horizontal projections of the average wind speed vector in the earth coordinate system, - the values of the calculated vectors of the predicted forces in the earth coordinate system, - the values of the computed vectors of the predicted moments in the connected coordinate system, - the values of unchanged values the spatial position of the landing gear in the coordinate system associated with the helicopter, - the current angular position of the plane of the runway of the ship (by trim angle, yaw angle I and the angle of heel), - the predicted coefficient of the scale of the flight speed of the aircraft, - the distance from the center of mass of the ship to the center of the plane of the runway of the ship, the first exit of which is connected for all landing gears according to the parameter of the difference in the predicted spatial position of the landing gear wheels and the projected coordinates of the projected spatial position landing gear wheels on the runway of the ship with the entrance to the unit for calculating the predicted forces and moments acting on the center of mass of the helicopter during compression of the elastic elements of the landing gears, the output of which o is connected by parameters: - values of the calculated vectors of the predicted forces in the Earth's coordinate system, - values of the calculated vectors of the predicted moments in the associated coordinate system and the predicted value of the aircraft speed scale factor with the second input to the block of the trajectory calculator, the second output of which is connected by the parameter of the predicted value the scale factor of the flight speed of the aircraft with an entrance to the block of the automatic flight control system, the output of which, according to the parameter of the set speed helicopter flight multiplied by the predicted value of the coefficient of scale of the flight speed of the aircraft is connected to the entrance to the unit for calculating the coefficient of flight speed of the helicopter and the entrance to the block, indicating the indicator of the speed of flight of the helicopter, a pointer to the speed of flight of the helicopter with a numerical scale, an index of the indicator of the current flight speed of the helicopter, an index of the index of helicopter flight speeds, the outputs of which are connected to a symbol generator, which is configured to indicate a vertical speed indicator device ETA with a numeric scale, the index pointer of the current speed of the helicopter, the helicopter flight index predetermined rate indicator.

The invention is illustrated by drawings.

In FIG. 1 shows a diagram of the pairing of helicopter systems with a flight indicator.

In FIG. 2 shows a functional diagram of a flight indicator.

In FIG. 3 The screen of the flight indicator is shown with an indicator of the helicopter (US) flight speed, screen, navigation field, display field, Leader, Airplane index, with a numerical scale for the values of aircraft flight speeds, index of the current helicopter flight speed index and index pointer set helicopter flight speed.

In FIG. 4 The coordinate systems used in calculating the position of the ship's runway relative to the center of mass of the ship are shown.

In FIG. 5 The angular position of the ship coordinate system and the coordinate system associated with the runway of the ship relative to the axes of the earth's coordinate system is shown.

In FIG. 6 The coordinate system of the landing cone relative to the ship coordinate system and the Earth coordinate system is shown.

In FIG. 7 A diagram of the calculation of the velocity vector of the resulting air flow is presented.

In FIG. 8 The spatial position of the landing cone relative to the ship coordinate system is presented.

In FIG. 9 A graphical representation of the analytical parameters of the landing cone is shown.

In FIG. 10 Presents a stylized image of the ship and the coordinate system in the initial position, used in the calculations for the approach of the helicopter landing on the runway of the ship.

In FIG. 11 A stylized image of the ship and the coordinate system in an altered position, used in the calculations for helicopter landing approach on the ship's runway, is presented.

In FIG. 12 shows a flowchart for calculating the analytical parameters of the landing cone.

In FIG. 13 A block diagram of an algorithm for solving a system of differential equations for the joint spatial motion of a ship’s runway and spatial motion of a helicopter is shown.

In FIG. 14 A predicted graphical solution to the process of landing a helicopter on a runway of a ship is presented: positive displacement of the center of mass (ΔZ> 0), vertical speed of descent of a helicopter (Vy), positive roll angle of a runway of a ship (γ ° _Runway > 0), positive angular velocity of swing of a runway of a ship ( ωxx> 0).

In FIG. 15 A predicted graphical solution to the process of landing a helicopter on a runway of a ship is presented: positive displacement of the center of mass (ΔZ> 0), vertical speed of descent of the helicopter (Vy), positive roll angle of the runway of the ship (γ ° _Runway > 0), negative angular velocity of swing of the runway of the ship ( ωxx <0).

In FIG. 16 A predicted graphical solution to the process of landing a helicopter on a ship’s runway is presented: positive displacement of the center of mass (ΔZ> 0), vertical helicopter descent rate (Vy), negative roll angle of the ship’s runway (γ ° _runway <0), positive angular rocking speed of the ship’s runway ( ωxx <0).

In FIG. 17 A graphical representation of the helicopter landing process on the ship’s runway is presented: positive displacement of the center of mass (ΔZ> 0), vertical helicopter descent rate (Vy), negative roll angle of the ship’s runway (γ ° _runway <0), negative angular velocity of the runway of the ship (ωхк <0).

In FIG. 18 A graph of the predicted forces acting on the elastic landing gears during helicopter landing on the runway of the ship from time t = 35 seconds to time t = 45 seconds is presented.

In FIG. 19 A graph of the predicted forces acting on the elastic landing gear when a helicopter lands on the runway of the ship from time t = 0 second to time t = 200 seconds is presented.

The inventive flight indicator consists of:

- the screen of the flight indicator 1, then screen 1, divided into the navigation field 2 of screen 1 and the display field 3 of screen 1;

- a block indicating on the display field 3 of the screen 1 a moving index uncontrolled by the pilot "Leader" 4, then "Leader" 4:

- a block indicating on the display field 3 of the screen 1 the moving index of the pilot-controlled "Airplane" 5 hereinafter "Airplane" 5;

- a block indicating on the navigation field 2 and the display field 3 of the screen 1 fixed uneven located on the vertical side of the border of the navigation field 2 and the display field 3 of the screen 1 scale of the height of the helicopter 6 flight 6, then a scale of height 6;

- a block indicating on the navigation field 2 of screen 1 various navigation information of the current values of the flight parameters of the helicopter 7 (for example: heading indicator, pointer to vertical flight speed (variometer) and other devices);

- a block indicating the radio height index 8 on the screen 1;

- block flight indicator (KPI) 9;

- block automatic flight control system (SAUP) 10;

- block system of air signals (SHS) 11;

- block inertial navigation system (ANN) 12;

- block navigation computer source data (NV ID) 13;

- block navigation computer calculating data (NV RD) 14;

- block symbol generator (HS) 15;

- a unit for calculating the parameters of the current sliding angle 16;

- unit for calculating the value of the estimated angle of heel 17;

- a unit for calculating the estimated slip angle 18;

- a unit for calculating the helicopter flight speed coefficient 19;

- a unit for calculating the deviation of the helicopter by flight altitude and the scale factor of the deviation of the flight altitude of the helicopter 20;

- a unit for calculating a value of the calculated pitch angle 21;

- a unit for calculating the lateral deviation and the coefficient of scale of the lateral deviation of the helicopter 22;

- the switch of the autopilot blocks of the functions of automatic stabilization by pitch, altitude, speed (VAP) 23;

- Helicopter controls (OS) 24;

- autopilot block automatic stabilization (AC) 25;

- autopilot block of the stabilization function in pitch (Aυ), in height (An), in speed (Av), in roll (Аγ), in course (Аψ) - 26;

- receiver parameters of the spatial position of the landing cone (UPC) 27;

- switch input data parameters of the cone landing (B) 28;

- unit for calculating the analytical parameters of the landing cone (KP) 29

- a unit for calculating the predicted forces and the moment acting on the center of mass of the helicopter during compression of the elastic elements of the landing gear (PSM) 30;

- a unit for calculating the predicted helicopter (PS) flight speed 31;

- a calculation unit in the coordinate system of the spatial position of the center of mass associated with the helicopter, the moments of inertia of the helicopter in flight and the value of the parameter of the longitudinal distance from the center of mass of the helicopter to the rotor axis (CM) 32;

- unit for accounting the flow rate in flight of the mass of the helicopter payload (for example: fuel, cargo, ammunition) (RPN) 33;

- a switch for inputting the initial data of the parameters of the program three-dimensional flight path of the helicopter (B) 34;

- a unit indicating “remove the chassis” / “release the chassis” on the display field 3 of screen 1 for the “Leader” index 4 (KSh) 35;

- the block of the internal language for visualizing a variable scale of the height of the flight of the helicopter (W) 36;

- a helicopter flight speed indicator (US) 37 with a numerical scale, an index of a current helicopter flight speed index, an index of a given helicopter flight speed index (hereinafter, a helicopter flight speed indicator);

- pointer to the vertical speed of the helicopter (AC) 38;

- block trajectory computer (TV) 39;

- block of initial conditions of the trajectory computer (NU TV) 40;

- a block indicating a helicopter flight speed indicator, a helicopter flight speed indicator with a numerical scale, an index of an indicator of a current helicopter flight speed, an index of an indicator of a given helicopter flight speed (BUS) 41;

- a ship block transmitting the parameters of the landing cone via the ship-helicopter communication channel (CPC) 42;

Flight information (Fig. 1) is visualized to the helicopter pilot on the display field 3 and navigation field 2 of screen 1 of the flight control indicator block (KPI) 9, according to flight parameters, coming from the output of the automatic flight control system (SAUP) 10 to the input (KPI ) 9, where:

- the current value of the height of the helicopter - Ytek;

- programmed helicopter flight altitude on the route - Y-back;

- the current lateral deviation of the helicopter - Ztek;

- programmed lateral deviation of the helicopter flight - Z back;

- the current value of the helicopter flight speed - Vtek;

- programmable value of the helicopter flight speed - Vset.

- the current value of the angle of rotation of the trajectory of the helicopter - Ψ ° tech;

- programmable angle of rotation of the helicopter trajectory - Ψ ° rear;

- the current value of the angle of the trajectory of the helicopter - Θ ° tech;

- programmable angle of inclination of the helicopter trajectory - Θ ° rear;

- the current value of the pitch angle - υ ° tech;

- programmable angular position of the helicopter on the trajectory along the pitch angle - υ ° rear;

- the current value of the angle of heel - γ ° tech;

- programmable angular position of the helicopter on the trajectory along the roll angle - γ ° rear;

- the current value of the yaw angle - ϕ ° tech;

- programmable angular position of the helicopter on the trajectory along the yaw angle - ϕ ° rear;

- programmed helicopter flight altitude to execute the command “remove the chassis” / “release the chassis” - Nshas;

- the current value of the vertical speed of the helicopter - Vyg tech;

Parameters are transmitted according to the exchange protocol (ON 1) (Ytek, Yset, Ztek, Zset, Vtek, Vset, Ψ ° tech, Ψ ° ass, Θ ° tech, Θ ° ass, υ ° tech, υ ° ass, γ ° tech, γ ° ass, ϕ ° tech, ϕ ° ass, Nshas, Vyg tech).

To visualize flight information in the block of the flight control indicator (KPI) 9, internal working variables are used:

- the current value of the pitch angle - υ ° tech;

- the calculated value of the pitch angle - υ ° calculation;

- the current value of the angle of heel - γ ° tech;

- the calculated value of the angle of heel - γ ° calculation;

- the current value of the angle of slip - β ° tech;

- the calculated value of the angle of heel - β ° calculation;

- the coefficient of the scale deviation of the flight altitude of the aircraft - mH;

- the coefficient of scale of the lateral deviation of the aircraft - mZ;

- the coefficient of the scale of the flight speed Л А - mV;

- the current value of the height of the helicopter - Ytek;

- programmable helicopter flight altitude to execute the command “remove the chassis” / “release the chassis” - Nshas.

To the input of the automatic flight control system (SAUP) 10 block for calculating control signals and visualization parameters, flight parameters from the main helicopter systems are received, where:

- from the output of the airborne signal system (SHS) block 11 parameters of the current value of the helicopter flight altitude - Ytek, the current value of the helicopter flight speed - Vtek, the current value of the helicopter's vertical speed - (Vyg tech) and the current horizontal projections of the average wind speed vector in the earth coordinate system - Wind = f (Wxg, Wzg). where: Wind is the module of the current average wind speed vector, Wxg, Wzg is the horizontal projection of the average wind speed vector (Wind) in the earth coordinate system. Parameters are transmitted via the exchange protocol (software 2) (Ytek, Vtek, Vygtek, Wxg, Wzg).

- from the output of the inertial navigation system (ANS) block 12, the parameters of the angular and spatial position of the helicopter are received: υ ° tech, γ ° tech, ϕ ° tech, respectively, the current value of the pitch angle, the current value of the angle of heel, the current value of the yaw angle and Хtek - the current value of the helicopter flight range, Ztek - the current lateral deviation of the helicopter. Parameters are transferred according to the exchange protocol (PO 3) (υ ° tech, γ ° tech, ϕ ° tech, Хtek, Ztek).

- from the output of the block of the navigation calculator of the initial data (NV ID) 13, the parameters of the three-dimensional programmed flight path in the earth coordinate system are received: flight time on the route - T, programmed range on the route (from the point of determining the current values of the helicopter flight coordinates) - Khzad, programmatically the preset helicopter flight altitude on the route - Y-back, the programmable lateral deviation of the helicopter flight - Z-back, the programmable helicopter flight altitude for the execution of the “remove landing gear” / “lower landing gear” command - N al. Parameters are transmitted via the exchange protocol (PO 4) (T, Khzad, Yazad, Zzad, Nshas).

At the same time, the same parameters of the three-dimensional programmed flight path in the Earth's coordinate system, supplemented by the inertial-mass characteristics Ixx, Iyy, Izz, Ixy, Ixz, Iyz for the connected axes of the helicopter coordinate system, are input to the block of the navigation computer for calculated data (НВ РД) 14. Parameters are transmitted using the exchange protocol (software 5) (T, Khzad, Yazad, Zzad, Nshas, Ixx, Iyy, Izz, Ixy, Ixz, Iyz).

- from the output of the block of the navigation computer for calculating the calculated data (NV RD) 14, additionally set flight parameters are input to the block of the automatic flight control system (SAUP) 10 (calculated by the input parameters of the block (NV ID) 13):

- in the Earth's coordinate system (GSC) oXgYgZg:

Vxg ass - projection of speed on the Xg axis;

Vyg ass - projection of speed on the Yg axis;

Vzg ass - projection of speed on the Zg axis;

Ψ ° back - programmable angle of rotation of the helicopter trajectory;

Θ ° back - programmable angle of inclination of the trajectory of the helicopter;

- in the coordinate system oX1Y1Z1 associated with the helicopter:

γ ° rear - programmable angular position of the helicopter on a trajectory along the angle of heel,

υ ° back - the programmed angular position of the helicopter on the trajectory along the pitch angle,

ϕ ° rear - programmable angular position of the helicopter on the path along the yaw angle.

Ixx is the central moment of inertia along the X1 axis;

Iyy is the central moment of inertia along the Y1 axis;

Izz is the central moment of inertia along the Z1 axis;

Ixy - centrifugal moment of inertia in the plane oX1Y1;

Ixz - centrifugal moment of inertia in the plane oX1Z1;

Iyz is the centrifugal moment of inertia in the oY1Z1 plane.

Parameters are transferred via the exchange protocol (PO 6) (Vxg ass, Vyg ass, Vzg ass, Ψ ° ass, Θ ° ass, γ ° ass, υ ° ass, ϕ ° ass, Ixx, Iyy, Izz, Ixy, Ixz, Iyz )

The values of the parameters of the helicopter payload mass consumed in flight of the helicopter: Mo (t, xm, ym, zm) are received at the input of the unit for accounting the flow rate in flight of the helicopter payload mass (for example: fuel, cargo, ammunition) (RPN) 33 from the main helicopter systems: payload mass where: (t) is the flight time; (xm, ym, zm) - coordinates of the center of mass of the payload in the coordinate system associated with the helicopter.

- from the output of the block (on-load tap-changer) 33 of the account of the flow rate of the helicopter payload mass in flight (for example: fuel, cargo, ammunition), the payload mass parameters and its coordinates (changeable in flight) in the coordinate system associated with the helicopter are sent to the block (CM) 32 calculations in the coordinate system associated with the helicopter of the spatial position of the center of mass, the moments of inertia of the helicopter in flight and the value of the parameter of the longitudinal distance from the center of mass of the helicopter to the axis of the rotor, which determines the current mass of the helicopter (MW) and coordinates Live center of mass of the helicopter associated to the helicopter frame.

Mv (t, hv, uv, zv) - current mass of the helicopter

t is the flight time;

hv, uv, zv - coordinates of the current center of mass of the helicopter in the coordinate system associated with the helicopter;

Ihhv, Iuuv, Izzv, Ihuv, Ixzv, Iuzv - inertial-mass characteristics calculated in flight for the connected axes of the helicopter coordinate system;

Xt (t) - the current value of the longitudinal distance from the center of mass of the helicopter to the axis of the rotor.

ΔZ - the displacement of the center of mass of the helicopter relative to its longitudinal plane of symmetry (hereinafter - the "displacement of the center of mass").

From the first output of the block (CM) 32, the calculation in the coordinate system associated with the helicopter of the spatial position of the center of mass, the moments of inertia of the helicopter in flight, the value of the parameter of the longitudinal distance from the center of mass of the helicopter to the rotor axis and the displacement of the center of mass of the helicopter relative to its longitudinal plane of symmetry into the block (SAUP) 10 of the automatic flight control system, the calculated parameters are transmitted via the exchange protocol (software 7) (Mv, xv, uv, zv, Ixxv, Iuv, Izzv, Ikhuv, Ixzv, Iyzv, Xt (t), ΔZ).

Co the second output of the block (CM) 32 calculations in the coordinate system associated with the helicopter of the spatial position of the center of mass, the moments of inertia of the helicopter in flight and the value of the parameter of the longitudinal distance from the center of mass of the helicopter to the axis of the rotor at the first input of the block (PS) 31 for calculating the predicted flight speed the parameter of the current value Xt (t) is transmitted to the helicopter; the current value of the longitudinal distance from the center of mass of the helicopter to the rotor axis.

To the input of the unit (AC) 25 autopilot functions of automatic stabilization through the switch blocks (VAP) 23 autopilot functions of automatic stabilization by pitch, altitude, speed during operation of the unit (SAUP) 10 of the automatic flight control system in the director mode of automatic control are transmitted: (υ ° tech ) - the current value of the pitch angle; (Ytek) - the current value of the helicopter flight altitude; (Vtek) - the current value of the helicopter flight speed; (γ ° tech) is the current value of the angle of heel and (° ° tech) is the current value of the angle of rotation of the trajectory (heading angle). Parameters are transmitted according to the exchange protocol (PO 8) (υ ° tech, Ytek, Vtek, γ ° tech, Ψ ° tech).

From the output of the unit (AC) 25 of the autopilot of the automatic stabilization functions to the unit (SAUP) 10 of the automatic flight control system in the director mode of automatic control, the working variables are transmitted: (υ ° rear) - the programmed angular position of the helicopter along the trajectory along the pitch angle, (Y back) - programmable helicopter flight altitude on the route, (Vset) - programmable helicopter flight speed, (γ ° rear) - programmable angular position of the helicopter along the trajectory along the angle of heel and (Ψ ° rear) - software rear Vai angle helicopter trajectory (predetermined course angle value). Parameters are transmitted according to the exchange protocol (PO 9) (υ ° rear, Y rear, V rear, γ ° rear, Ψ ° rear).

From the output of the autopilot block of automatic stabilization functions (AC) 25 to the second input of the block for calculating the predicted flight speed of the helicopter (PS) 31 through the switch of the autopilot blocks of the automatic stabilization functions of pitch, altitude and speed (VAP) 23 during operation of the block (SAUP) 10 of the automatic system flight control in the director mode of manual control receives the parameter υ ° tech - the current value of the pitch angle.

In the unit (SAUP) 10 of the automatic flight control system, the first input of the unit (NU TV) 40 of the initial conditions of the trajectory computer receives the parameters changing in flight: the current mass of the helicopter - Мв; the current coordinates of the spatial position of the center of mass of the helicopter in the Earth's coordinate system - Khtek, Ytek, Ztek; mass inertia characteristics for the associated axes of the helicopter coordinate system - Ixx, Iyy, Izz, Ixy, Ixz, Iyz; the current value of the longitudinal distance from the center of mass of the helicopter to the axis of the rotor XT (t); the displacement of the center of mass of the helicopter relative to its longitudinal plane of symmetry - ΔZ; the current value of the helicopter flight speed - Vtek; current projections of the angular velocity vector - (ωх tech, ωy tech, ωz tech); the current angular position of the helicopter - (υ ° tech, ϕ ° tech, γ ° tech) - the current value of the pitch angle, the current value of the yaw angle, the current value of the angle of heel; the current angular position of the ship's runway equal to the current angular position of the ship in the trim angle - (υ ° p = υ ° tech), the yaw angle (φ ° p = ϕ ° tech) and the roll angle - (γ ° p = γ ° tech ); the current value of the angle of rotation of the trajectory of the helicopter - (Ψ ° tech); the current value of the angle of the trajectory of the helicopter - (Θ ° tech); module of the current vector of average wind speed (Wind); coordinates of the point of the trajectory to which the helicopter moves on the programmed route when approaching the runway of the ship - (Khzad, Yzad, Zzad) - programmable range on the route, programmable helicopter flight altitude on the route, programmed lateral deviation of the helicopter flight. Parameters are transmitted via the exchange protocol (PO 10) (MV, Khtek, Ytek, Ztek, Ixx, Iyy, Izz, Ixy, Ixz, Iyz, Xt (t), Vtek, ωx tech, ωу tech, ωz tech, υ ° tech, ϕ ° tech, γ ° tech, υ ° p, γ ° p, φ ° p, Ψ ° tech, Θ ° tech, Wind, Khzad, Y back, Z back).

In the block (SAUP) 10 of the automatic flight control system, to the second input of the block (NU TV) 40 of the initial conditions of the trajectory computer, the values of the unchanged spatial position (N) of the landing gear in the coordinate system associated with the helicopter are transmitted - (L ₁ , L ₂ , ..., L _n ; n = 1 ÷ N); distance from the center of mass of the ship to the center of the runway of the ship (ΔХп, ΔYп, ΔZп). The parameters are transmitted according to the exchange protocol (software 11) ((L ₁ , L ₂ , ..., L _n ,), ΔХп, ΔYп, ΔZп).

From the output of the block of initial conditions for the trajectory computer (NU TV) 40, the parameters of the initial conditions for integrating the helicopter motion equations are received at the input of the block of the trajectory computer (TV) 39: the current mass of the helicopter is (MW); the current coordinates of the spatial position of the center of mass of the helicopter in the earth's coordinate system - (Xtek, Ytek, Ztek); calculated by inertial-mass characteristics for the associated axes of the helicopter coordinate system - (Iххв, Iуув, Izzв, Ихув, Ixzв, Iвзв); the current value of the longitudinal distance from the center of mass of the helicopter to the axis of the rotor is (Xt (t)); the displacement of the center of mass of the helicopter relative to its longitudinal plane of symmetry - ΔZ ;. projections of the vector of the current helicopter flight speed - (Vtek (Vtek, Vtek, Vztek)); current projections of the angular velocity vector - (ωхtek, ωweek, ωztek); the current angular position of the helicopter - (υ ° tech, ϕ ° tech, γ ° tech) - the current value of the pitch angle, the current value of the yaw angle, the current value of the angle of heel; the current value of the angle of rotation of the trajectory of the helicopter - (Ψ ° tech); the current value of the angle of the trajectory of the helicopter - (Θ ° tech); current horizontal projections of the average wind speed vector in the Earth's coordinate system - Wind = f (Wxg, Wzg). where: Wind is the module of the current vector of average wind speed, Wxg, Wzg is the horizontal projection of the vector of average wind speed (Wind) in the earth coordinate system; the values of the parameters of the calculated vectors of the predicted forces (R ₁ , R ₂ , ... R _n ) in the Earth's coordinate system, the values of the parameters of the calculated vectors of the predicted moments in the associated coordinate system (Mr ₁ , Mr ₂ , ..., Mr _n )); the values of the unchanged spatial position (N) of the landing gear in the coordinate system associated with the helicopter - (L ₁ , L ₂ , ..., L _n ; n = 1 ÷ N); the current angular position of the runway of the ship according to the trim angle - (υ ° p), roll angle - (γ ° p) and yaw angle (φ ° p); the predicted coefficient of the scale of the flight speed of the aircraft (Kmv), the distance from the center of mass of the ship to the center of the runway of the ship (ΔХп, ΔYп, ΔZп) Parameters are transmitted via the exchange protocol (PO 12) (Mtek, Khtek, Ytek, Ztek, Ixx, Iyy, Izz, Ixy, Ixz, Iyz, Xt (t), Vtek (Vtek, Vtek, Vztek), (ωtek, ωtek, ωztek ), (υ ° tech, ϕ ° tech, γ ° tech), Ψ ° tech, Θ ° tech, Wind = f (Wxg, Wzg), (R ₁ , R ₂ , ... R _n ), (Mr ₁ , Mr ₂ , ..., Mr _n ), (L ₁ , L ₂ , ... L _n ,), υ ° p, γ ° p, φ ° p, Kmv, ΔХп, ΔYп, ΔZп).

From the output of the unit for calculating the predicted forces and moments acting on the center of mass of the helicopter during compression of the elastic elements of the landing gear (PSM) 30, the values of the parameters of the calculated vectors of the predicted forces (R ₁ , R ₂ , ... R _n ) in the earth's coordinate system, the values of the parameters of the calculated vectors of the predicted moments in the associated coordinate system (Mr ₁ , Mr ₂ , ..., Mr _n ) and the predicted value of the coefficient of scale of the flight speed of the aircraft (Kmv). The parameters are transmitted by the exchange protocol (PO 13) (R ₁ , R ₂ , ..., R _n „Mr ₁ , Mr ₂ , ..., Mr _n , Kmv).

From the output of the block of the trajectory computer (TV) 39 to the input of the block for calculating the predicted forces and moments acting on the center of mass of the helicopter during compression of the elastic elements of the landing gear (PSM) 30, the calculated predicted value of the coefficient of flight speed scale (Kmv) is received, the numerical value of which is function of the compressive forces of the elastic elements of the landing gear. Parameters are transmitted via the exchange protocol (software 14) (Kmv).

From the output of the block of the trajectory computer (TV) 39, the calculated predicted value of the flight speed scale factor (Kmv) is received at the input of the block of the automatic flight control system of the helicopter (SAUP) 10, the numerical value of which is a function of the compressive forces of the elastic elements of the landing gear. Parameters are transmitted via the exchange protocol (software 15) (Kmv).

From the block of the automatic flight control system (SAUP) 10, through the switch of the autopilot blocks of the functions of automatic stabilization by pitch, altitude, speed (VAP) 23, the parameters of the programmed point on the helicopter flight path are transmitted to the input of the block of the navigation calculator of initial data (NV ID) 13: T - flight time on the route; coordinates of the trajectory point to which the helicopter moves on the programmed route when approaching the ship’s runway (Khzad, Yzad, Zzad), where - Khzad is the programmable distance on the route (from the point of determining the current values of the helicopter’s flight coordinates), (Yzad) - programmable helicopter flight altitude on the route, (Z back) - programmable lateral deviation of the helicopter flight, and for the first section of the helicopter flight path, the programmable helicopter flight altitude on the route corresponds to the current the beginning of the helicopter flight altitude (Yset = Ytek), for the second portion of the helicopter flight path, the programmed helicopter flight height (Yset = Nshas) corresponds to (Nshas) - the programmed helicopter flight altitude for the execution of the command “remove landing gear / lower landing gear”), (Vset) - the programmed value of the helicopter flight speed, (υ ° tech) - the current value of the pitch angle calculated by the inertial-mass characteristics for the connected axes of the helicopter coordinate system Iххв, Iуув, Izzв, Iхув, Ixzв, Iвзв. Parameters are transmitted according to the exchange protocol (PO 16) (T, Khzad, Yazad, Zzad, Nshas, Vzad, υ ° tech, Ihhv, Iuv, Izzv, Ihuv, Ihzv, Iuzv).

значения угла глиссады -

расстояние от центра масс корабля до центра ВППл корабля (ΔХп, ΔYп, ΔZп); программно задаваемая высота полета вертолета на исполнение команды «убрать шасси»/«выпустить шасси» - Ншас; текущее угловое положение корабля - (υ°к тек, ϕ°к тек, γ°к тек) по углу дифферента, рыскания, крена; координаты центра масс корабля в земной системе координат (Xgк, Zgк). Параметры передаются по протоколу обмена (ПО 17) (t, Vx к, Vz к, ψ°к тек, W=Wind, U°wind,

(ΔХп, ΔYп, ΔZп), Ншас, (υ°к тек, ϕ°к тек, γ°к тек), (Xgк, Zgк)).From the output of the ship’s block transmitting the parameters of the landing cone via the ship-helicopter communication channel (CPC) 42, the parameters of the landing cone parameters are transmitted to the input of the parameters of the spatial position of the landing cone (SKP) 27: current time - t; projections of the speed of the ship in the earth's coordinate system - Vxк; Vz; current ship heading angle - ψ ° to tech; the module of the current vector of average wind speed - W = Wind; wind direction - U ° wind; values of angles providing a safe approach to the hovering point above the runway of the ship

glide path angle values -

distance from the center of mass of the ship to the center of the runway of the ship (ΔХп, ΔYп, ΔZп); programmed helicopter flight altitude for the execution of the command “remove the landing gear” / “release the landing gear” - Nshas; the current angular position of the ship - (υ ° to tech, ϕ ° to tech, γ ° to tech) according to the angle of trim, yaw, roll; coordinates of the ship's center of mass in the earth's coordinate system (Xgк, Zgк). Parameters are transmitted according to the exchange protocol (PO 17) (t, Vx k, Vz k, ψ ° k tech, W = Wind, U ° wind,

(ΔХп, ΔYп, ΔZп), Ншас, (υ ° to tech, ϕ ° to tech, γ ° to tech), (Xgк, Zgк)).

Through the switch on entering the data of the parameters of the landing cone (B) 28, the parameters of the exchange protocol (ON 17) are transmitted to the first input of the calculation unit of the analytical parameters of the landing cone (KP) 29.

Moreover, with the data entry parameter of the landing cone parameter (B) 28 turned off, the exchange protocol parameters (software 17) by the algorithm of the internal programming language in the block of the automatic flight control system (SAUP) 10 are equal to zero. The algorithm for resetting the exchange protocol (PO 17) is not the goal of our proposal.

The coordinates of the current position of the center of mass of the helicopter in the earth coordinate system (Xtek, Ytek, Ztek) are received at the second input of the block for calculating the analytical parameters of the landing cone (KP) 29 from the block of the automatic flight control system (SAUP) 10.

и заданного направления вектора результирующего воздушного потока (U°рез). Координаты конечной точки участка траектории полета, к которой движется вертолет при полете на ВППл корабля (Хзад, Yзад, Zзад), где - Хзад - программно задаваемая дальность на маршруте (от точки определения текущих значений координат полета вертолета), Yзад - программно задаваемая высота полета вертолета на маршруте, Zзад - программно задаваемое боковое отклонение полета вертолета. Параметры передаются в блок системы автоматического управления полетом (САУП) 10 по протоколу обмена (ПО 18) ((Xr, Yr, Zr), (Xf, Yf, Zf),

U°рез, (Хзад, Yзад, Zзад)).Arrays of numerical values of the surface of the landing cone (Xr, Yr, Zr), arrays of numerical values of the generatrix of the landing cone (Xf, Yf, Zf) come from the output of the block for calculating the analytical parameters of the landing cone (KP) 29 to the block of the automatic flight control system (SAUP) 10 calculated glide path angle values

and a given direction of the vector of the resulting air flow (U ° res). The coordinates of the end point of the portion of the flight path to which the helicopter moves when flying to the ship’s runway (Khzad, Yzad, Zzad), where Khzad is the programmable distance on the route (from the point of determining the current values of the helicopter’s flight coordinates), Yzad is the programmable flight altitude helicopter on the route, Zzad - programmable lateral deviation of the helicopter flight. The parameters are transferred to the automatic flight control system (SAUP) 10 unit via the exchange protocol (ON 18) ((Xr, Yr, Zr), (Xf, Yf, Zf),

U ° rez, (Khzad, Yzad, Zzad)).

The operation of the flight indicator begins when the pilot, in preparation for flight, sets the input switch for inputting the parameters of the program three-dimensional flight path of the helicopter (B) 34 to the position “input of the initial data for the parameters of the software three-dimensional flight path of the helicopter”. 13, the pilot enters the parameters of the software three-dimensional flight path and the inertial-mass characteristics of the helicopter prepared for processing in the space of the earth coordinate system in the block of the navigation calculator of initial data (NV ID) 13. After entering the initial data, the pilot sets the input switch of the parameters of the software three-dimensional flight path of the helicopter (B) 34 (Fig. 1) to the position that corresponds to the command "data entry is stopped". By this command, the input of the block of the navigational calculator of calculated data (NV RD) 14 receives all the initial data of the parameters of the program three-dimensional flight path of the helicopter and the inertial mass characteristics of the helicopter from the output of the block of the navigational calculator of the initial data (NV ID) 13. In the block of the navigational calculator of the calculated data (НВ РД) 14 the initial data of the parameters of the three-dimensional programmed flight path and the inertial mass characteristics of the helicopter are recalculated into additional helicopter flight parameters the one that is necessary for movement in the director mode of automatic control of the helicopter flight and for the operation of the automatic flight control system (SAUP) unit 10. On the flight route in the director mode of automatic flight control (SAUP), to the input of the automatic flight control system (SAUP) 10, signals from the outputs of the main helicopter systems, such as the block of the air signal system (SHS) 11, the block of the inertial navigation system (ANS) 12, the block of the navigation calculator of the initial data (NV ID), are constantly arriving 13, the unit for the navigation computer for calculating data (НВ РД) 14, the unit for accounting the flow rate in flight of the mass of the helicopter payload (RPN) 33, the calculation unit in the helicopter-associated coordinate system for the spatial position of the center of mass, the moments of inertia of the helicopter in flight and the value of the longitudinal distance parameter from the center of mass of the helicopter to the axis of the rotor (CM) 32. The operating parameters of the block (CM) 32: inertial mass characteristics — Ixx, Iyy, Izz, Ixy, Ixz, Iyz, payload mass and coordinates of the center of mass of the payload — Mo, xm, ym, zm currently t time (t) are used in the block of the automatic flight control system (SAUP) 10 to control the flight of the helicopter. From the output of the automatic flight control system (SAUP) block 10, the parameters enter the block of the flight control indicator (KPI) 9, where in the block of the symbol generator (GS) 15 they are converted into control indexes of the flight parameters and displayed on the screen (1). According to visual information, the pilot controls the flight in the director mode of automatic flight control by the Leader 4 and Airplane 5 indices, as well as navigation instruments that visualize flight parameters on the route from take-off from the runway of the ship in the direction of the mission’s mission: coordinates of the mission’s mission , vertical speed indicator and others. Having completed the flight mission and returning to the ship, the pilot sets the desired flight speed for him on a horizontal section of the trajectory. For this, the pilot performs the following actions: - the data entry parameter for the landing cone parameters (B) 28 switches to the "data entry of the landing cone parameters"position; - draws attention to the indicator of the flight speed of the helicopter (CSS) 37, which indicates the numerical value of the current speed of flight of the helicopter. The pilot switches the autopilot blocks of the automatic stabilization functions for pitch, altitude and speed (VAP) 23, (Fig. 1) disables the autopilot block for the automatic stabilization functions (AC) 25, the autopilot block for the pitch stabilization function (Aυ), the autopilot block for the vertical stabilization function (En) and autopilot block of the function of stabilization by speed (Av). Thus, the pilot transfers the helicopter control system to the director mode of manual flight control by pitch angle, altitude and speed, without disabling the operation of other main helicopter systems. At the next moment, the pilot controls (OS) 24 changes the pitch angle, thereby changing the value of the helicopter flight speed. This maneuver is fixed by the main helicopter systems and is transmitted in a parametric form (via exchange protocols) to the automatic flight control system (SAUP) unit 10. From the data exchange protocol received from the output of the inertial navigation system (ANN) 12 unit, only one parameter is selected - ( υ ° tech), which is transmitted to the input of the unit for calculating the predicted flight speed of the helicopter (PS) 31. The value of the parameter (Xt (t)) of the longitudinal melting from the center of mass of the helicopter to the axis of the rotor. In the block for calculating the predicted helicopter flight speed (PS) 31, the numerical value of the functional dependence of the predicted helicopter flight speed for the horizontal portion of the route is calculated by analytical formulas. The pilot changes the pitch angle of the helicopter until the index of the indicator of the specified helicopter flight speed is set on the scale of the device of the helicopter flight speed indicator (US) 37 to a new digital value of the specified flight speed for the horizontal portion of the route. At this point in time, the pilot by the switch of the autopilot blocks of the automatic stabilization functions for pitch, altitude and speed (VAP) 23 (Fig. 1) turns on the autopilot block (26) of the pitch stabilization functions (Av) in the autopilot block of the automatic stabilization functions (AC) 25 ), in height (An), in speed (Аv), in roll (Аγ), in course (А _{Ψ °} ). Thus, the pilot returns the helicopter control system to the director mode of automatic flight control with new stabilization parameters in terms of pitch angle, altitude and flight speed. The predicted helicopter flight speed in the director mode of automatic flight control is a stabilized parameter in the autopilot block of the speed stabilization function (Av). As a result of these actions, on the screen of the flight indicator (1), the pilot will see on the display field (3) of the screen (1) the changed figure of the “Leader” 4 corresponding to (V back), and on the navigation field (2) of the screen (1) the speed indicator helicopter flight (CS) 37, on which the arrows indicate the numerical index index of the current helicopter flight speed (Vtek) and the numerical index index of the predetermined (predicted) helicopter flight speed (V rear). At the moment of transition to the director mode of automatic flight control (the autopilot blocks switch of the automatic stabilization functions for pitch, altitude, speed (VAP) 23 is set to the “0-2” position), from the protocols for exchanging the current flight output parameters from the output of the automatic flight control system (SAUP) 10, the last protocol for exchanging the current values of the output flight parameters and the parameters of the landing cone are selected:

- flight time on the route - T;

- the current value of the helicopter flight range - Htek,

- the current value of the height of the helicopter - Ytek;

- the current lateral deviation of the helicopter - Ztek;

- programmed helicopter flight altitude for the execution of the command “remove the chassis” / “release the landing gear” - Nshas.

- a given helicopter flight speed Vset;

- the current value of the pitch angle - υ ° tech;

- inertial-mass characteristics Ixx, Iyy, Izz, Ixy, Ixz, Iyz for the associated axes of the helicopter.

Having set a predetermined (predicted) helicopter flight speed (Vset) for the horizontal portion of the trajectory, the pilot sets the data entry parameters for the landing cone (B) 28 to the “receiving landing cone parameters” position (Fig. 12). Thus, the pilot includes an on-board computer of the landing cone, which includes: a receiver of the spatial position of the landing cone (UPC) 27; a unit for calculating the analytical parameters of the landing cone (KP) 29; - block of initial conditions of the trajectory computer (NU TV) 40; block trajectory computer (TV) 39; a unit for calculating the predicted forces and moments acting on the center of mass of the helicopter during compression of the elastic elements of the landing gear (PSM) 30.

The operation of the on-board calculator of the landing cone helps the pilot to control the approach and landing in difficult weather conditions on the runway of the ship, and for this you need to know: the spatial coordinates of the ship, the speed of the ship, the direction and speed of the wind, to withstand the given glide path when landing on the runway of the ship in a storm the sea, which is a complex and psychologically stressful job. Therefore, it is proposed to introduce and use the following coordinate systems in the on-board calculator of the landing cone:

Earth system (Fig. 4) of coordinates (OgXgYgZg) centered at (Og). Axis (OgYg) - directed perpendicular upwards, axis (OgXg) - oriented in a given direction (conventionally north), axis (OgZg) perpendicular to axis (OgXg) and forms the right coordinate system.

The ship system (Fig. 4) of coordinates (OkXkYkZk). The center of the coordinate system (OK) is located in the center of mass of the ship. The axis (OkKhk) is directed along the longitudinal axis of the ship, the axis (OkYk) is directed upward perpendicular to the axis (OkKhk) and is located in the longitudinal plane of symmetry of the ship, the axis (OkKk) is perpendicular to the axis (OkKhk) and forms the right coordinate system.

The coordinate system (Fig. 4) associated with the runway of the ship (OpXpYpZp). The center of the coordinate system (Op) is located in the center of the ship's runway. Axis (OPXn) is the line of intersection of the ship’s runway plane and the ship’s plane of longitudinal symmetry, the direction coincides with the direction of the ship’s longitudinal axis (OKKhk). Axis (OpYn) - directed upward perpendicular to the plane of the runway of the ship and perpendicular to the axis (OPXn) and is located in the longitudinal plane of symmetry of the ship. The axis (OpZn) is perpendicular to the axis (OpKn) and forms the right coordinate system.

The spatial position (Fig. 4) of the coordinate system associated with the ship’s runway (OpXpYpZp) relative to the ship coordinate system (OkXkYkZk) is determined by the distance from the ship’s center of mass (Ok) to the center of the ship’s runway (ΔХп, ΔYп, ΔZп), respectively, along the longitudinal axis (Хк), along the vertical axis (Yк) and along the axis (Zк).

The figure 5 shows the relative angular position of the ship coordinate system (OXXKYkZk) and the coordinate system associated with the ship's runway (OpXpYpZp) relative to the earth coordinate system (OgXgYgZg), the relationship between which is determined by the angle of heel of the ship (γ ° k), the angle of the trim of the ship (υ ° j) and the yaw angle of the ship (φ ° k).

и углом

соответственно, и плоскостью (XкпOкпZкп), которое определяет пространство над ВППл корабля, в которой летчик при заходе на посадку избежит столкновения вертолета с надстройками корабля. Образующая боковой поверхности конуса посадки с горизонтальной плоскостью (XкпOкпZкп) образует угол равный углу глиссады.The coordinate system of the helicopter landing cone (OkpXkpYkpZkp) (Fig. 6), in which a virtual geometric figure of a straight circular cone - landing cone is built. The origin of the coordinate system of the helicopter landing cone (the top of the landing cone) - the point (OKP) is shifted relative to the ship’s center of mass along the ship’s longitudinal axis (OKKhk) toward the runway by an amount (ΔХп) and raised to the programmable helicopter flight altitude to execute the “remove” command chassis / release chassis "(Nshas) and is located in the horizontal plane (XкпОкпЗкп) parallel to the horizontal plane of the Earth's coordinate system (XgOgZg). The longitudinal axis (OkpKhkp) lies in the horizontal plane (XkpOkpZkp) parallel to the plane of the earth's coordinate system (XgOgZg). The direction of the axis (OkpKhkp) coincides with the direction of the projection of the axis (OkKhk) of the ship coordinate system onto the plane (OkpXkpZkp). The axis (OkpYkp) is parallel to the axis of the Earth's coordinate system (OgYg) and perpendicular to the plane (XkpOkpZkp). The axis (OkpZkp) lies in the plane (XkpOkpZkp) parallel to the plane of the Earth's coordinate system (XgOgZg) and is perpendicular to the axis (OkpKkp), forming the right coordinate system. In the coordinate system of the landing cone (OkpKhkpYkpZkp) space is bounded by the planes (YkpOkpF1) and (YkpOkpF2) located at an angle

and angle

respectively, and by the plane (XкпОкп Зкп), which defines the space above the ship’s runway, in which the pilot, when approaching, will avoid a helicopter collision with the ship’s superstructures. The generatrix of the lateral surface of the landing cone with a horizontal plane (XkpOkpZkp) forms an angle equal to the angle of the glide path.

The figure 7 shows a graphical method for calculating in the Earth coordinate system (OgXgYgZg) the vector of the resulting air flow velocity (Vres), which is located in the plane (XgOgZg) and is equal to the sum of the vectors: the ship’s velocity vector taken with the opposite sign (-Vк) and the wind speed vector (W = Wind) taking into account the wind direction (U ° wind). The vector of the velocity of the resulting air flow (Vres) in the coordinate system (OKxKYkZk) forms with the axis (XkOk) the course angle of the resulting air flow (U ° res).

и углом

Плоскость, проходящая через ось (ОкпYкп) и курсовой угол результирующего воздушного потока (U°рез) пересекает поверхность прямого кругового конуса посадки по образующей конуса, которая с плоскостью (XкпOкпZкп) составляет угол глиссады

На фигуре 8 показано, что любая другая плоскость, проходящая через ось (ОкпYкп) будет пересекать поверхность прямого кругового конуса посадки по образующей конуса и, следовательно, под углом глиссады

Figure 8 shows the spatial geometric figure in the coordinate system of the landing cone in the ship coordinate system (ОкXкYкZк), which is part of a straight circular cone bounded by the angles (+ ξ °) and (-ξ °), in which the pilot, when entering the hovering point ( OKP) over the ship’s runway to avoid collisions with the ship’s superstructures. The set course angle of the resulting air flow (U ° res) is between the angle

and angle

The plane passing through the axis (OkpYkp) and the heading angle of the resulting air flow (U ° res) intersects the surface of the straight circular landing cone along the generatrix of the cone, which with the plane (XкпОкпЗкп) makes the glide angle

Figure 8 shows that any other plane passing through the axis (OkpYkp) will intersect the surface of the straight circular landing cone along the generatrix of the cone and, therefore, at an angle of glide path

и курсовым углом результирующего воздушного потока (U°рез).The figure 9 presents: the Earth coordinate system (XgOgZg), the ship coordinate system (OkXkYkZk), the coordinate system of the helicopter landing cone (OkpKhkpYkpZkp), the center of mass of the ship (Ok) and the coordinates of the top of the landing cone (Okp). The ship's velocity vector (Vк) coincides with the axis (OkKhk) of the ship coordinate system. Along the axis (OkYk) of the ship’s coordinate system, the distance from the ship’s center of mass to the ship’s runway center is measured (ΔY). The helicopter flight altitude at approach to the runway of the ship is counted from the plane (XgOgZg) of the earth's coordinate system - (Ytek). The distance from the plane (XgOgZg) of the Earth's coordinate system to the top (OKP) of the landing cone is (Nshas). Position (VRT) indicates the position of the helicopter in the space of the Earth's coordinate system. The helicopter flies towards the ship’s runway at a speed (Vtek) at a heading angle (Ψ ° tech). The position of the point (A (Xa, Ya, Za)) denotes the point of intersection of the generatrix of the landing cone and the horizontal plane at the level of the current helicopter flight altitude (VRT (Xtek, Ytek = Yset, Ztek)). The projection of the line (OKP A VRT) on the horizontal plane coincides with the direction of the heading angle of the resulting air flow (U ° res). The line segment (VRA) in the space of the Earth's coordinate system from the point (VRT (Xtek, Ytek, Ztek)) to the point (A (Xa, Ya, Za)) - the trajectory of the horizontal flight of the helicopter is designated as “section No. 1” with the course angle of the resulting air flow (U ° res). The line segment from the point (A (Xa, Ya, Za)) to the point of the top of the landing cone (Okp (Xf (1), Yf (1) = Ншас, Zf (1)) is designated as “section No. 2” with a glide angle

and the heading angle of the resulting air flow (U ° res).

The figure 10 presents, a stylized image of the ship in its original position, the Earth's coordinate system (OgXgYgZg) with center (Og); ship coordinate system (OKXKYKZk) with the center (OK); coordinate system associated with the ship's runway (OpXpYpZp) with the center (Op); the coordinate system of the landing cone (OkpXkpYkpZkp) with the center (Okp) located at a distance ((Hkp = Hshas)> Yп), measured from the horizontal plane of the Earth's coordinate system (XgOgZg), which is projected by a straight line (OgZg) onto the sheet plane. In the coordinate system of the landing cone (OkpXkpYkpZkp), the projection of the geometric shape of a straight circular landing cone with a vertex at the beginning of the coordinate system (Okp) is shown. The height of the geometrical figure of the direct circular landing cone is limited by the height from (Nshas) to (Ytek), where (Nshas) is the initial height of the landing cone - the programmed helicopter flight altitude to execute the “remove landing gear” / “lower landing gear” command; (Ytek) - the final height of the landing cone (numerically equal to the current altitude of the helicopter). The point ("VRT") indicates the position of the helicopter.

где (U°рез) - заданный курсовой угол результирующего воздушного потока. Точкой (Врт) обозначено положение вертолета.The figure 11 presents, a stylized image of the ship in a changed position, the Earth's coordinate system (OgXgYgZg) with center (Og); ship coordinate system (OKXKYKZk) with the center (OK); coordinate system associated with the ship's runway (OpXpYpZp) with the center (Op); coordinate system of the landing cone (OkpXkpYkpZkp) with the center (Okp), coordinate system of the landing cone (OkpXkpYkpZkp). Figure 11 shows that the Earth's coordinate system (OgXgYgZg) and the coordinate system of the landing cone (OkpXkpYkpZkp) did not change their initial spatial and angular position, and the ship coordinate system (Okkkkykzk) with center (Ok) and the coordinate system associated with the runway of the ship ( OpXnYpZn) with center (Op), have one angular deviation relative to the Earth coordinate system (OgXgYgZg) along the ship's roll angle (γ ° k), but different spatial deviations relative to the axis (OgYg) of the Earth coordinate system (OgXgYgZg). The angles (+ ξ °) and (-ξ °) determine the space above the ship’s runway in which the pilot, while piloting the helicopter, will avoid collisions with the ship’s superstructures

where (U ° res) - a given course angle of the resulting air flow. Point (VRT) indicates the position of the helicopter.

When the on-board computer (Fig. 12) is switched on board the helicopter from the ship’s block, transmitting via the communication protocol (PO 16) the parameters of the landing cone via the ship-helicopter communication channel (CPC) 42 from the output of the working receiver of the spatial parameters of the landing cone (UPC) ) 27 at the first input of the unit for calculating the analytical parameters of the landing cone (KP) 29 receives the parameters of the landing cone,

- current time - t;

- projections of the speed of the ship in the earth's coordinate system - Vxк; Vz;

- current ship heading angle - ψ ° to tech;

- module of the current vector of average wind speed - W = Wind;

- wind direction - U ° wind;

- values of angles providing a safe approach to the hovering point above the ship’s runway (+ ξ °, -ξ °);

- glide path angle values -

- the distance from the center of mass of the ship to the center of the runway of the ship (ΔХп, ΔYп, ΔZп);

- programmed helicopter flight altitude to execute the command “remove the chassis” / “release the chassis” - Nshas;

- the current angular position of the ship - (υ ° to tech, ϕ ° to tech, γ ° to tech) by the angle of trim, yaw, roll;

- coordinates of the center of mass of the ship in the earth's coordinate system (Xgк, Zgк).

At the same time, the second input of the block for calculating the analytical parameters of the landing cone (KP) 29 is connected to the block of the automatic flight control system (SAUP) 10 according to the coordinate parameters of the current position of the center of mass of the helicopter in the earth coordinate system (Khtek, Ytek, Ztek).

As a result of mathematical operations (Fig. 12) in the unit for calculating the analytical parameters of the landing cone (KP) 29 are calculated:

In operator No. 1, the coordinates (OKP) of the top of the helicopter landing cone over the ship’s runway, in the earth's coordinate system.

Operator No. 2 calculates the heading angle of the resulting air flow (U ° res).

In operator No. 3, an array of numerical values of the surface of the landing cone (Xr, Yr, Zr) is calculated.

In operator No. 4, an array of numerical values of the generatrix of the landing cone (Xf, Yf, Zf) is calculated.

In operator No. 5, the coordinates of point (A) are calculated on the line of intersection of the generatrix of the landing cone (AOKP) and the horizontal plane at the level of the current flight height of the helicopter (VRT (Khtek, Ytek = Yset, Ztek)).

and the coordinates of the top of the helicopter landing cone (OKP) above the center of the runway of the ship, in the earth coordinate system (Okp) = (Xf (1), Yf (1), Zf (1));

Based on the calculated parameters, the specified trajectory of the helicopter’s flight in the horizontal section (section No. 1) and the helicopter’s flight path along the glide path (section No. 2) are analytically constructed.

The trajectory (section No. 1) of the horizontal flight section from the point (VRT (Xtek, Ytek, Ztek)) to point A (Xa, Ya, Za). The coordinates of point A (Xa, Ya, Za) are the specified flight coordinates for the horizontal section of the trajectory (Fig. 9. Fig. 12, operator 5) A (Khzad = Xa, Yzad = Ya, Zzad = Za).

The trajectory (section No. 2) of the flight along the glide path along the line of the generatrix of the landing cone from point A (Xa, Ya, Za) to the point (Okp) is the top of the landing cone above the center of the runway of the ship. The coordinates of the point Окп (Xf (1), Yf (1), Zf (1)) are the specified coordinates of the flight (Khzad = Xf (1), Yazad = Yf (1), Zazad = Zf (1)) along the line of the generatrix of the cone landing.

The calculated parameters from the block for calculating the analytical parameters of the landing cone (KP) 29 are received (Fig. 12) in the block of the automatic flight control system (SAUP) 10.

In the block of the automatic flight control system (SAUP) 10, the first input (Fig. 1) of the block of initial conditions for the trajectory computer (NU TV) 40 receives the parameters that vary during the flight: the current mass of the helicopter, the coordinates of the current position of the center of mass of the helicopter in the earth coordinate system, inertial-mass characteristics for the connected axes of the helicopter coordinate system, the current value of the longitudinal distance from the center of mass of the helicopter to the rotor axis Xt (t), the current value of the helicopter flight speed, the current projection of the vector angular speed, the current angular position of the helicopter (pitch, yaw, roll), the current angular position of the runway of the ship (equal to the current angular position of the ship in the angle of trim, yaw, roll), the current value of the angle of rotation of the helicopter trajectory, the current value of the angle of inclination of the helicopter trajectory, the module of the current vector of the average wind speed, the coordinates of the point of the trajectory to which the helicopter moves on a programmable route (section No. 1, section No. 2) during approach: - software-defined range on the route those (Khzad), is the programmable helicopter flight altitude on the route (Yzad), is the programmable lateral deviation of the helicopter’s flight (Zzad) in accordance with the exchange protocol (PO-10), and 40 initial conditions for the second input of the unit (NU TV) the path calculator receives unchanging parameters: the spatial position (N) of the landing gear in the coordinate system associated with the helicopter and the coordinates of the center of the ship's runway center (ΔХп, ΔYп, ΔZп) relative to the center of mass of the ship, in accordance with the exchange protocol (PO 11).

In the block of initial conditions of the trajectory computer (NU TV) 40, the received parameters by the exchange protocols (PO 10, PO 11) are converted to the initial conditions. Moreover, the initial conditions: calculated vectors of predicted forces and calculated vectors of predicted moments are assigned a zero value. The initial value of the predicted coefficient of the scale of the flight speed of the aircraft is assigned a value equal to one (Kmv = 1). The predicted coefficient of the scale of the flight speed of an aircraft is a parameter that allows you to change the value of a given helicopter flight speed (Vset = Vset * Kmv) in the second section of the trajectory (section No. 2), which is important when solving the problem of joint spatial motion of a helicopter and spatial motion of a ship’s runway, in order to exclude possible transcendental values of dynamic parameters on the landing gear, causing catastrophic consequences in the form of broken landing gear or collision of the rotor blades.

From the output of the block of initial conditions of the trajectory computer (NU TV) 40, the generated array of initial conditions is supplied (Figure 13) via the exchange protocol (PO 12) to the input of the block of the trajectory computer (TV) 39 to solve the system of differential equations for the joint spatial motion of the ship’s runway and spatial motion helicopter (hereinafter referred to as the "system of differential equations"). The dynamic parameters of the helicopter flight in the first section will be calculated as long as the length of the first section No. 1 of the trajectory is greater than the predetermined value (the range of the given spatial path of the helicopter in the straight horizontal section No. 1 is indicated in figure 9 as (Su)) ( Su> ΔS), where (ΔS is the predetermined value of the algorithm for the trajectory calculator of the landing cone). If the length of the plot No. 1 of the horizontal flight path of the helicopter from point (VRT) to point (A) is less than the predetermined value (Su <ΔS), then from the calculation unit for the analytical parameters of the landing cone (KP) 29 to the automatic flight control system (SAUP) 10, the parameters of the second section No. 2 (Fig. 9) of the helicopter’s flight path will arrive from point (A) - the end of the horizontal section of the flight path (Khzad = Xf (Ytek), Yset = Ytek, Zset = Zf (Ytek)) to the point of the top of the cone landing, in which the given trajectory of the helicopter along the glide path ends ( kn (Hzad = XF (1) Yzad = Yf (1) Zzad = Zf (1))) on the ship VPPl. The “Okp” point is the top of the landing cone, (figure 10, figure 11) for a ship changing its spatial and angular position, it will be located at the programmable helicopter flight altitude to execute the command “remove landing gear” / “lower landing gear” on the center path masses of the ship in the earth's coordinate system above the center of the runway of the ship (Nkp = Nshas). Since the coordinate system of the landing cone (OkpXkpYkpZkp) does not change its spatial position during the rolling of the ship relative to the Earth's coordinate system (OgXgYgZg), therefore, the spatial coordinates of the array of numerical values of the generatrix of the cone obtained in the calculation unit for the analytical parameters of the landing cone (KP) 29 landing (Xf, Yf, Zf), also do not depend on the spatial position of the ship during pitching. When flying along the glide path (section No. 2) in manual or automatic control mode, the main thing for the pilot is the predicted safe landing of the helicopter on the runway of the ship, in which the outrageous dynamic loads on the landing gears are excluded.

To do this, in the block of the trajectory computer (TV) 39 according to the input parameters of the current values of the pitch, yaw and roll of the helicopter (υ ° tech, ϕ ° tech, γ ° tech), a transition matrix from the connected coordinate system of the helicopter to the earth coordinate system is compiled,

The transition matrix from the Earth coordinate system (OgXgYgZg) to the ship coordinate system (Ok-XKYkZk) and from the Earth coordinate system to is constructed from the ship’s roll angle (γ ° k), ship’s trim angle (υ ° k) and ship’s yaw angle (φ ° k) coordinate system associated with the plane of the ship’s runway (OpXpYpZp) with recalculation to the spatial position of the distance from the ship’s center of mass to the center of the ship’s runway (ΔXp, ΔYp, ΔZp) relative to the ship coordinate system (OkxkYkZk).

The coordinates of the unchanged spatial position (N) of the landing gear in the coordinate system associated with the helicopter are converted into the coordinates of the earth's coordinate system and projected onto the ship's runway. Then (Fig. 13), the difference value (ΔНпр) (hereinafter referred to as the "difference value (ΔНпр)") equal to (ΔНпр (Ншси-Нвппл)) for all landing gear, where: (Ншassis) is the predicted the spatial position of the landing gear wheels, (Nvppl) - the coordinate of the projection of the predicted spatial position of the landing gear wheels on the runway of the ship. In the block of the trajectory computer (TV) 39 until the landing gear contacts the runway of the ship (Fig. 13), the difference is considered positive (ΔНпр> 0), therefore, when solving the system of differential equations for this moment in time, the prohibitive values of the dynamic parameters on the landing gears are not predicted . In the block of the trajectory computer (TB) 39 identifiers denoting the reaction force from compression of the elastic elements of the landing gear (R = 0), and identifiers denoting the moment from the reaction force (Mr = 0), the values are equal to zero, and the predicted coefficient of the speed of flight The aircraft retains a value equal to unity (Kmv = 1).

If the difference value (ΔНпр) becomes equal to zero or a negative value (ΔНпр≤0) (Fig. 13), which corresponds to the beginning of compression or continued compression of the elastic elements of the landing gears, then the predicted calculation unit is called from the block of the trajectory computer (TV) 39 forces and moments acting on the center of mass of the helicopter during compression of the elastic elements of the landing gear (PSM) 30 with the parameter absolute difference (abs (ΔНпр)), which calculates the reaction force from the compression of the elastic elements of the landing gear (R≥0), as a function empirical dependence (R = f ( abs (ΔНпр))). Based on the calculated value of the reaction force from compression of the elastic elements of the landing gear (R≥0) and the numerical value of the vector of the spatial position of the landing gear in the coordinate system associated with the helicopter (L), the vector of the moment of the reaction force from compression of the elastic landing gear (Mr = L * R). The absolute value of the difference (abs (ΔНпр)) is compared with the value of the limiting compression of the elastic element of the landing gear (ΔНпред) (Fig. 13), at which transcendent values of dynamic parameters on the landing gear are possible. The comparison value, (ΔSpred) is the difference between the ultimate compression of the elastic element of the landing gear (ΔНпред) and the absolute value of the difference (abs (ΔНпр)). The comparison value (Fig. 13) (ΔSpred = (ΔPpred- (avs (Δpp)))) is transmitted to the logical operator. If the comparison value is zero or negative (ΔSpred≤0), then the prohibitive values of the dynamic parameters on the landing gear are predicted, at which a dynamic impact is possible, causing catastrophic consequences, so the predicted coefficient of the flight speed of the aircraft (Kmv) is assigned a numerical value not equal to "unit ”, As an example,“ 1.20 ”(Кmv≈1.20). The calculated predicted values of the reaction force (R≥0) from the compression of the elastic elements of the landing gear, the predicted values of the moment of the reaction force (Mr≥0) and the predicted value of the flight speed scale factor (Kmv≈1.20) are formed in the exchange protocol (PO 13) (R, Mr, Kmv) and transmitted to the trajectory computer (TV) block 39, where when solving the system of differential equations for the joint spatial motion of the ship’s runway and the spatial motion of the helicopter, the angular and spatial position of the helicopter is predicted, the force is not significant on screws and other dynamic parameters that affect the spatial movement of the helicopter. Simultaneously with the output of the trajectory computer (TV) block 39, the predicted value of the flight speed scale factor (Kmv≈1.20) is transmitted to the automatic flight control system (SAUP) 10 block, where the value of the given helicopter flight speed (V back) is adjusted by the value of the predicted scale factor value aircraft flight speed (Kmv) (Vset = Vset * (Kmv≈1.20)) and transmitted to the input of the helicopter flight speed coefficient (mV) 19 calculation unit, as a result, on the display field (3) of the screen (1) the scale of the Leader index (4) increase That will attract the attention of the pilot. The pilot will timely reduce the speed of descent (Vy) along the generatrix of the landing cone (Xf, Yf, Zf), in order to wait for the change in the rocking phase of the runway of the ship, at which a safe landing of the helicopter will be guaranteed. In the next steps of integrating the system of differential equations, the calculated parameters in the block of the trajectory computer (TV) 39 are taken as initial values.

Thus, when the pilot in the second section No. 2 of the trajectory moves along the generatrix of the landing cone to the hovering point above the runway of the Okp ship, the dynamic process of landing the helicopter on the rocking plane of the ship is predicted in the on-board calculator of the landing cone taking into account the spatial and angular position of the helicopter. A pilot of any qualification has the opportunity, in difficult weather conditions, to evaluate the process of helicopter landing on the rocking plane of the ship and to control the landing process with minimal expenditure of nervous energy and maximum guarantee of flight safety.

In the figures (14-17), the process of calculating a helicopter landing on the ship’s runway in the on-board computer is graphically presented. For a visual representation of the helicopter landing algorithm on the runway of the ship, the following notations are accepted: - the coordinate system OX1Y1Z1 associated with the helicopter,

- axis OX1 (not shown) is directed away from the viewer, perpendicular to the plane of the sheet;

- the axis (OY1) is perpendicular to the axis (OX1) associated with the helicopter coordinate system (located in the longitudinal plane of symmetry of the helicopter perpendicular to the sheet plane);

- structural axis of the motor shaft (OYδ);

- the displacement of the center of mass of the helicopter relative to its longitudinal plane of symmetry (ΔZ);

- the angle of deviation (δ °> 0) of the structural axis of the engine shaft from the longitudinal plane of symmetry of the helicopter (OY1);

- solid angle of thrust vector control margin (η °);

- vertical helicopter descent speed (Vy);

- the center of mass of the helicopter (O);

- helicopter weight force (P) where: (P = Mв * g; Мв - current mass of the helicopter, g - gravity acceleration);

- rotor traction force (T);

- lateral component of the thrust of the rotor (Tz);

- the vertical component of the thrust of the rotor (Tu);

- reaction force from compression of the elastic elements of the landing gear upon contact of the landing gear wheels with the runway of the ship (R) and the moment of the reaction force (Mr);

- the magnitude of the moment from the lateral component of the thrust of the rotor (Mtz);

- point of contact with the wheel of the runway of the ship (K);

- current angle (λ ° tech) of the thrust vector deviation relative to the axis (OYδ); the minimum angle of deviation of the thrust vector (λ ° min) relative to the axis (OYδ), equal to the difference between the values of half the solid angle of the margin of control of the thrust vector (η ° / 2) and the angle of deviation (δ °) of the structural axis of the motor shaft (OYδ) from the longitudinal plane of symmetry helicopter (OY1) (λ ° min = ((η ° / 2) -δ °));

- the maximum angle of deviation of the thrust vector (λ ° max) relative to the axis (OYδ), equal to the sum of the values of half the solid angle of the margin of control of the thrust vector (η ° / 2) and the angle of deviation (δ °) of the structural axis of the motor shaft (OYδ) from the longitudinal plane helicopter symmetry (OY1) (λ ° max = ((η ° / 2) + δ °));

- roll angle of the ship runway (γ ° _runway );

- the predicted increment of the roll angle of the ship's runway (Δγ ° _runway );

- angular rocking speed of the runway of the ship (ωхк)

Given the accepted notation, figure 14 graphically shows the process of helicopter landing on the runway of the ship, when the helicopter moves along the line of the generatrix of the landing cone (plot No. 2) with the helicopter’s vertical descent speed (Vy), deflection angle (δ °> 0) of the shaft axis the engine from the longitudinal plane of symmetry of the helicopter (OY1) and the positive offset of the center of mass (ΔZ> 0). The runway of the ship has an initial positive roll angle (γ ° _Runway > 0) and the initial positive angular velocity of swing of the runway of the ship (ωхк> 0).

According to the parameters of the exchange protocol (PO 12), in the block of the trajectory computer (TV) 39, the system of differential equations of the dynamics of the joint motion of the helicopter and the runway of the ship is integrated and it is predicted, starting from the moment the landing gear wheel contacts the runway of the ship, the dynamic process of helicopter landing on the runway of the ship with simultaneous analysis of the spatial and angular position of the helicopter.

By solving the system of differential equations, an increase in the roll angle of the ship’s runway and a simultaneous increase in the compression of the elastic elements of the landing gear (Figure 13) is predicted to a value of comparison equal to zero (ΔSred = 0) and, simultaneously, a disturbing (clockwise) reaction force acting on the helicopter from compression of the elastic elements of the landing gear at the contact of the landing gear wheels (point “K” in figure 14) with the ship's runway (R) and the moment of reaction force (Mr) (hereinafter referred to as the disturbing reaction force (R) and the moment from s reaction (Mr)), thus increasing the current roll angle of the helicopter. To parry the increasing angle of the heel of the helicopter from the action of the disturbing reaction force (R) and the moment from the reaction force (Mr) in the block of the trajectory computer (TV) 39, an increase in the current angle of thrust vector deviation (λ ° tech) to the limit value (counterclockwise) is simulated ) the minimum angle of deviation of the thrust vector (λ ° min <((η ° / 2) -δ °)) relative to the axis (OYδ) (λ ° tech = λ ° min). As a result, the total effect on the helicopter of the lateral component of the thrust of the rotor (Tz) and the moment of the lateral component of the thrust of the rotor (Mtz) increases (counterclockwise in the plane of the sheet), but it (in the first steps of integration) cannot overcome the inertial helicopter movement from the action of the disturbing reaction force (R) and the moment from the reaction force (Mr). The predicted angular position of the helicopter continues to increase dangerously. The load on the landing gear, which caused a disturbing reaction force (R) and the moment from the reaction force (Mr), is gradually reduced and in the block trajectory computer (TV) 39, the load on the opposite landing gear is predicted. The simulated increase in the current angle of deviation of the helicopter's thrust vector reaches the limit value (λ ° min = (η ° / 2) -δ °), and the landing gear, which caused the disturbing reaction force (R) and the moment from the reaction force (Mr), no longer touches the runway of the ship, but the opposite landing gear is loaded (in figure 14, the point "K2"). The lateral component of the thrust of the rotor (Tz) and the moment from the lateral component of the force of thrust of the rotor (Mtz), acting simultaneously with the disturbing reaction force when the elastic element is compressed from the contact of the wheel of the opposite landing gear with the runway of the ship (R2) and the moment of reaction force ( Mr2), they cannot stop the predicted inertial spatial and angular motion of the helicopter, which tends to a dangerous angular value. In real helicopter flight conditions, this would correspond to landing on a ship’s runway having a roll angle equal to the sum of the roll’s roll angle of the ship (γ ° _runway ) and the angle of the predicted roll increment of the ship’s runway (Δγ ° _runway ), which is unacceptable for flight safety - ((γ ° _Runway ) + (Δγ ° _Runway )), therefore, for a helicopter with this feature, the positive deviation of the structural axis of the engine shaft (δ °> 0) (clockwise in the sheet plane) from the longitudinal plane of symmetry of the helicopter (OY1) in the time cycle of integrating the differential system equalized and, under the given initial conditions of the exchange protocol (PO 12), an emergency landing is predicted. For a safe landing of the helicopter on the runway of the ship, from the output of the trajectory computer unit (TV) 39 according to the exchange protocol (PO 14) (Kmv), the numerical value of the predicted aircraft speed scale factor is transferred to the automatic flight control system (SAUP) 10 unit equal to unity “1.2” (Кmv = 1.2), where the value of the given helicopter flight speed (Vset) is adjusted by the value of the predicted value of the aircraft speed scale factor (Kmv) (Vset = Vset * (Kmv≈1.2)). From the output of the automatic flight control system unit SAUP 10 to the flight control indicator (KPI) 9 unit to the input of the helicopter flight speed coefficient (mV) 19 calculation unit, an increased parameter of the helicopter flight speed is set (Vset = Vset * (Kmv = 1.2)) and on the display field (3) of the screen (1), the scale of the Leader index (4) will increase. The pilot sees on the display field (3) of the screen (1) the predicted increase in the scale of the Leader index (4) and, at the given moment of the real time of the helicopter’s flight to the ship’s runway, decreases the helicopter’s descent rate (Vy).

In the block of the trajectory computer (TV) 39, the system of differential equations of the mathematical model of the dynamics of the joint movement of the helicopter and the runway of the ship is integrated and the predicted solution of the system of differential equations is modeled by constantly receiving new data of the current spatial parameters of the ship's runway and the current dynamic parameters of the helicopter for a safe landing. The helicopter moves along the generatrix of the landing cone with a new value of the vertical descent rate parameter (Vy), and the system of differential equations with the new initial values of the roll angle of the ship's runway (γ ° _runway ) and the new initial values of the angular velocity of _{rotation are} integrated in the block of the trajectory computer (TV) 39 Runway of the ship (ωхк).

A safe (FIG. 15) landing option for a pilot hovering over the ship’s runway is the dynamic parameter of the helicopter with a lower vertical speed of descent (Vy), a deviation angle (δ °> 0) of the structural axis of the engine shaft from the longitudinal plane of symmetry of the helicopter (OY1), positive offset center of mass (ΔZ> 0), the initial positive roll angle of the ship's runway (γ ° _runway > 0) and the initial negative angular velocity of the runway of the ship (ωхк <0). For this landing option, the predicted disturbing reaction force (R) and the moment from the reaction force (Mr) tend to raise the helicopter's center of mass above the ship’s runway and increase the helicopter roll angle (clockwise in the sheet plane), and the ship’s negative runway angular velocity tends to decrease current runway angle of the ship. To parry the increasing angle of the heel of the helicopter from the action of the disturbing reaction force (R) and the moment from the reaction force (Mr) in the block of the trajectory computer (TV) 39, an increase in the current angle of deviation of the helicopter thrust vector (λ ° tech) relative to the axis (OYδ) is modeled to the value the minimum deviation angle of the thrust vector (λ ° max <((η ° / 2) -δ °)) relative to the axis (OYδ). As a result, the lateral component of the rotor thrust force (Tz) and the moment from the side component of the rotor thrust force (Mtz) increase (counterclockwise in the plane of the sheet), which leads to a decrease in the angle of heel of the helicopter. In the block of the trajectory computer (TB) 39, the spatial and angular position of the helicopter is analyzed from the simultaneous action of the disturbing reaction force (R) on the helicopter, the moment from the reaction force (Mr), the lateral component of the thrust of the rotor (Tz), the moment from the lateral component of the thrust rotor (MTz) and reduction of the current roll angle of the ship's runway. The predicted increase in the current angle of deviation of the thrust vector (λ ° tech) relative to the axis (OYδ) is sufficient for the total impact of the increasing lateral component of the thrust of the rotor (Tz) and the moment from the lateral component of the thrust of the rotor (Mtz), at the same time decreasing and tending to the horizontal angle of the runway of the ship, to overcome the increase in the inertial spatial and angular position of the helicopter. The predicted solution of the system of differential equations of helicopter landing dynamics guarantees the pilot, at a given vertical helicopter descent speed (Vy) and at the same time reducing the runway angle of the ship, ensuring a safe landing of the helicopter on the runway of the ship. Under this condition, from the output of the block of the trajectory computer (TV) 39 according to the exchange protocol (PO 14) (Kmv), the numerical value of the predicted coefficient of the scale of the flight speed of the aircraft equal to the unit “1.0” (Кmv = 1.0). where the value of the given helicopter flight speed (Vset) is adjusted by the value of the predicted value of the aircraft speed scale factor (Kmv) (Vset = Vset * (Kmv≈1.0)). From the output of the automatic flight control system unit SAUP 10 to the flight control indicator (KPI) 9 unit, to the input of the helicopter flight speed coefficient (mV) 19 calculation unit, the unchanged parameter of the given helicopter flight speed is transmitted (Vset = Vset * (Kmv = 1.0)) and on the display field (3) of the screen (1) the scale of the Leader index (4) also does not change. The pilot, observing on the display field (3) of the screen (1) the unchanged scale of the Leader index (4), confidently lands from the OKP point on the runway of the ship.

The figure (16) considers a variant of the predicted solution of the system of differential equations for the vertical helicopter lowering velocity (Vу), the deviation angle (δ °> 0) of the structural axis of the engine shaft from the longitudinal plane of symmetry of the helicopter (OY1), and the positive displacement of the center of mass (ΔZ> 0 ), the initial negative roll angle of the ship's runway (γ ° _runway <0) and the initial positive angular rocking speed of the ship's runway (ωхк> 0). The predicted contact of the landing gear wheels with the ship’s runway (point “K”) at a given descent rate (Vy) shows that the disturbing reaction force from compression of the elastic elements of the landing gear (R) tends to raise the center of mass of the helicopter above the ship’s runway, and the moment from the reaction force (Mr) seeks to increase the angular position of the helicopter (counterclockwise in the plane of the sheet), but the positive angular velocity of the ship’s runway swing seeks to decrease the current runway angle of the ship. According to the received input data of the exchange protocol (PO 12), in the block of the trajectory computer (TV) 39, an increase in the current angle of deviation of the helicopter thrust vector (λ ° tech) relative to the axis (OYδ) to the value of the maximum angle of deviation of the thrust vector (λ ° max <( η ° / 2) + δ °)) with respect to the axis (OYδ). As a result, the lateral component of the rotor thrust force (Tz) and the moment from the lateral component of the rotor thrust force (Mtz) increase (clockwise in the sheet plane), which leads to a decrease in the angle of heel of the helicopter. In the block of the trajectory computer (TB) 39, the spatial and angular position of the helicopter is analyzed from the simultaneous action of the disturbing reaction force (R) on the helicopter, the moment from the reaction force (Mr), the lateral component of the thrust of the rotor (Tz), the moment from the lateral component of the thrust rotor (MTz) and reducing the current angle of the ship's runway (γ ° _runway ). The predicted increase in the current angle of deviation of the thrust vector (λ ° tech) relative to the axis (OYδ) to the value of the maximum angle of deviation of the thrust vector (λ ° max = (η ° / 2) + δ °) is sufficient for the total effect of the increasing lateral component rotor thrust force (Tz) and the moment from the side component of the rotor thrust force (MTz), while decreasing and tending to the horizontal angle of the runway of the ship, to overcome the increase in inertial spatial and angular position of the helicopter. Under this condition, in the block of the trajectory computer (TV) 39, a safe landing of the helicopter is predicted on the runway of the ship, therefore, from the output of the block of the trajectory computer (TV) 39 via the exchange protocol (PO 14) (Kmv), to the block of the automatic flight control system (SAUP) 10, the numerical value of the predicted coefficient of the scale of the flight speed of the aircraft equal to the unit "1.0" (Kmv = 1.0), where the value of the specified speed of the helicopter (Vset) is adjusted by the value of the predicted value of the scale factor of the flight speed of the aircraft (Kmv) (Vset = Vset * (Kmv ≈1 .0)). From the output of the automatic flight control system unit SAUP 10 to the flight control indicator (KPI) 9 unit, to the input of the helicopter flight speed coefficient (mV) 19 calculation unit, the unchanged parameter of the given helicopter flight speed is transmitted (Vset = Vset * (Kmv = 1.0)) and on the display field (3) of the screen (1) the scale of the Leader index (4) also does not change. The pilot sees on the display field (3) of the screen (1) the unchanged scale of the Leader index (4) and, controlling the process of helicopter landing, confidently sits along the path of the generatrix of the landing cone on the runway of the ship.

The figure (17) graphically shows the predicted process of landing the helicopter on the runway of the ship. The variant of the predicted solution of the system of differential equations of the dynamics of helicopter landing is analyzed, with the vertical helicopter descent rate (Vy), the deviation angle (δ °> 0) of the structural axis of the engine shaft from the longitudinal plane of symmetry of the helicopter (OY1) and a positive center of mass displacement (ΔZ> 0) , with the initial negative roll angle of the ship's runway (γ ° _runway <0) and the initial negative angular roll speed of the runway of the ship (ωхк <0), which tends to increase the roll angle of the ship's runway (γ ° _runway ). Analysis of the predicted spatial and angular position of the helicopter in the on-board calculator of the landing cone starts from the moment the landing gear wheel contacts the ship’s runway (point “K”). With the initial negative roll angle of the ship’s runway (γ ° _runway <0) and the initial negative angular rocking speed of the ship’s runway (ωхк <0), an increase in the roll angle of the ship’s runway and the compression force of the elastic elements of the landing gear (figure 13) are predicted to the limit value (ΔSred = 0) and a simultaneous increase in the perturbing (counterclockwise) reaction force (R) and the moment of reaction force (Mr) (in figure 17, the positions (R) and (Mr) at point (K) are not shown, but their positions coincide with the position in figure 16). As a result, the current roll angle of the helicopter begins to increase. To fend off the helicopter’s increasing roll angle, an increase in the current thrust vector deflection angle (λ ° tech) is simulated, this increases the total effect of the side component of the rotor thrust (Tz) on the helicopter and the moment from the side component of the rotor thrust (Mtz) (clockwise in the sheet plane), but it in the first period of integration of the system of differential equations cannot overcome the inertial motion of the helicopter and is therefore numerically smaller than the total effect of the disturbing reaction force (R) and the moment about t reaction force (Mr). It is predicted that at this time the disturbing reaction force (R) and the moment from the reaction force (Mr) maximize the angular position of the helicopter. The angular position of the helicopter continues to dangerously increase due to the inertial-mass characteristics, although the load on the landing gear (point "K"), which caused the disturbing reaction force (R) and the moment from the reaction force (Mr), is gradually reduced. The predicted increase in the current angle of deviation of the helicopter's thrust vector did not reach the maximum limit value (λ ° max = (η ° / 2) + δ °), but according to the forecast, the landing gear caused the disturbing reaction force (R) and the moment from the reaction force (Mr) , does not concern the runway of the ship, but the opposite landing gear is loaded (point "K2"). The angular position of the helicopter along the angle of heel increases by (Δγ ° _runway > 0). In the block of the trajectory computer (TB) 39, the value of the current angle of deviation of the thrust vector relative to the axis (OYδ) (λ ° tech) increases to the value of the maximum angle of deviation of the thrust vector relative to the axis (OYδ) (λ ° max = ((η ° / 2) + δ °)). The lateral component of the thrust of the rotor (Tz) and the moment from the lateral component of the force of thrust of the rotor (Mtz), acting simultaneously with the disturbing reaction force when the elastic element is compressed from the contact of the wheel of the opposite landing gear with the runway of the ship (R2) and the moment of reaction force ( Mr2) (point "K2"), overcome the predicted (counterclockwise in the plane of the sheet) inertial spatial and angular motion of the helicopter. But in the time cycle of integrating the system of differential equations, with an increasing angle of the runway of the ship, it is predicted that in the block of calculation of the predicted forces and moments acting on the center of mass of the helicopter during compression of the elastic elements of the landing gear (PSM) 30, there will be no destruction of the landing gear. In the block of the trajectory computer (TV) 39, under this condition, a safe landing of the helicopter is predicted on the runway of the ship. From the output of the trajectory computer (TV) block 39 according to the exchange protocol (PO 14) (Kmv), the numerical value of the predicted coefficient of the flight speed scale of the aircraft equal to “1.0” (Кmv = 1.0) is transferred to the block of the automatic flight control system (SAUP) 10. where the value of the given helicopter flight speed (Vset) is adjusted by the value of the predicted value of the aircraft speed scale factor (Kmv) (Vset = Vset * (Kmv≈1.0)). From the output of the automatic flight control system unit SAUP 10 to the flight control indicator (KPI) 9 unit, to the input of the helicopter flight speed coefficient (mV) 19 calculation unit, the unchanged parameter of the given helicopter flight speed is transmitted (Vset = Vset * (Kmv = 1.0)) and on the display field (3) of the screen (1) the scale of the Leader index (4) also does not change. The pilot sees on the display field (3) of the screen (1) the unchanged scale of the Leader index (4) and, controlling the process of landing the helicopter, confidently sits along the path of the generatrix of the landing cone on the runway of the ship.

The figures (18-19) show the predicted solution of the complete system of differential equations for the joint spatial motion of the helicopter during landing on the ship’s runway and the ship’s spatial runway motion. The physical properties of the elastic elements of the helicopter landing gear struts were adopted different for the front struts and rear struts.

The graph of figure (18) shows the predicted solution of the system of differential equations from the moment of hovering above the ship’s runway at the point (Okp) - the top of the landing and landing cone on the ship’s runway. The helicopter hovered at the point (OKP) To = 0 seconds. Helicopter landing on the runway of the ship from To = 38 seconds to Tk = 44 seconds. The graph shows that landing on the runway of a ship with a negative angle of heel increases the load on the right front and right rear landing gear compared to the load on the left front and left rear strut from 250 kg to 500 kg.

The graph of figure (19) shows the predicted solution of the system of differential equations from the moment of hovering above the ship’s runway at the point (Okp) - the top of the landing cone, landing on the ship’s runway and being on the ship’s runway after landing. The helicopter hovered at the point (OKP) To = 0 seconds. Helicopter landing on the runway of the ship from To = 38 seconds to Tk = 44 seconds. Finding a helicopter on the runway of the ship after landing from To = 44 seconds to Tk = 200 seconds. The graph shows that the loads on the landing gear shock absorb the weight of the helicopter while swinging the ship's runway in the range of ± 35 kg. The phase of the loads on the left landing gear is the opposite of the phase of the loads on the right landing gear of the helicopter when the ship runway is swinging. The solution of the system of differential equations in the graph of figure (19) corresponds to the safe landing of the helicopter, since the predicted spatial-angular position of the helicopter during landing on the runway of the ship does not exceed the empirical parameters of the spatial-angular position, under which the conditions of safe landing of the helicopter on the runway of the ship are ensured.

Used drawings from the book AS Braverman and others.

“Balancing a single-rotor helicopter,” p. 98, 105. 106.

Claims (1)

A flight indicator of a helicopter containing a screen on which the reference index “Aircraft” is displayed, fixed relative to the center of the display field of the screen, made in the form of one horizontal line symbolizing the wings of an aircraft (LA), and one vertical line symbolizing the keel of the aircraft, and intersecting a horizontal line in its center at a right angle, with the ability to rotate around its center of symmetry and indicating the current position of the helicopter in space, the movement displayed on the screen Leader index, made in the form of one horizontal line symbolizing the wings of an aircraft and one vertical line symbolizing the keel of an aircraft and intersecting the horizontal line at its center at a right angle, with the ability to rotate around its center of symmetry, as well as move vertically and horizontally relative to the index “Aircraft” and indicating the desired position in space, a symbol generator connected to the screen, controls for the movable index “Leader”, made in the form of character computing units the leader’s source, namely: - the unit for calculating the parameters of the current sliding angle, - the unit for calculating the value of the estimated roll angle, - the unit for calculating the estimated angle of sliding, - the unit for calculating the aircraft deviation in flight altitude and the scale factor for the deviation of the aircraft altitude, - the calculation unit values of the calculated pitch angle, - the unit for calculating the lateral deviation and the scale factor of the lateral deviation of the aircraft, the inputs of which receive signals from the aircraft systems, and from the outputs of which the signal generator receives signals in accordance with the cause of altitude control errors, ensuring the movement of the Leader index along the display field in the vertical direction, with the possibility of indicating the "radio height" index and a fixed uneven scale of the value of the flight height, indicated on the vertical side of the border of the display field of the screen with a zero height value, located at the level horizontal line passing through the center of the display field of the screen, while the index "Aircraft" and the index "Leader" are made with the possibility of simultaneous display of the angle and pitch angle, by indicating a triangle whose base is equal to the length of a horizontal straight line symbolizing the wings of the aircraft, and the position of the top of the triangle corresponds to the current value of the pitch angle and glide angle by the Airplane index and the deviation from the set value of the pitch angle and glide angle by the Leader index “rotation of the Leader index around the center of symmetry in accordance with the error in roll angle, increase or decrease in linear dimensions of the Leader index with increase or decrease, respectively , a given flight speed in such a way that, at zero error values for all controlled parameters, the Leader index is combined with the Airplane index, the control and flight indicator indicators additionally use: - a helicopter payload flow meter in flight, - a block, indicating helicopter flight speed indicator, helicopter flight speed indicator with a numerical scale, index of the indicator of the current helicopter flight speed, index of the indicator of the given helicopter flight speed, - calculation unit the coordinate system of the spatial position of the center of mass, the moments of inertia of the helicopter in flight and the value of the longitudinal distance parameter from the center of mass of the helicopter to the axis of the rotor connected to the helicopter — the unit for calculating the predicted helicopter flight speed and the switch of the autopilot blocks for automatic stabilization of pitch, height and speed characterized in that it is additionally equipped with: - a receiver for the parameters of the spatial position of the landing cone, - a data entry parameter for the landing cone parameters, - a unit for calculating the analytical parameters of the landing cone, - a unit for calculating the predicted forces and moments acting on the center of mass of the helicopter during compression of the elastic elements of the landing gears, - a block for the trajectory calculator, - a block for the initial conditions of the trajectory calculator, - a block for the ship transmitting the parameters of the landing cone along the channel “ship-helicopter” communication, and the output of the ship’s block transmitting the landing cone parameters via the “ship-helicopter” communication channel is connected to the input of the receiver of the spatial position parameters of the con sa landing on the ship-helicopter communication channel according to the parameters of the landing cone: - current time, - projections of the ship's speed in the earth's coordinate system, - the current angle of the ship's course, - the module of the current average wind speed vector, - the direction of the wind, - the values of the angles, providing a safe approach to the hovering point above the ship’s runway, - the glide path angle, - the distance from the ship’s center of mass to the center of the ship’s runway plane, - the programmable helicopter flight altitude to execute the “remove landing gear” / “lower landing gear” command, the angular position of the ship at the angles of trim, yaw and roll, is the coordinate of the ship’s center of mass in the earth coordinate system, the output of which is connected to the first input of the landing cone analytical parameters calculation block, in which the second input is through the input switch of the landing cone parameters according to the landing cone parameters according to the coordinate parameters of the current position of the center of mass of the helicopter in the earth's coordinate system and the output according to the parameters: - an array of numerical values of the surface of the landing cone, - an array of numerical values of developing landing cone, - the calculated value of the glide path angle, - the specified direction of the resulting air flow vector, - the programmable coordinates of the end point of the flight path section are connected to the block of the automatic flight control system, in which the output according to the parameters changing in flight: - current helicopter mass, - the coordinates of the current position of the center of mass of the helicopter in the earth's coordinate system, - the inertial-mass characteristics for the associated axes of the helicopter coordinate system, - the current value the longitudinal distance from the rotor axis to the center of mass of the helicopter, - the current value of the helicopter flight speed, - the current projections of the angular velocity vector, - the current angular position of the helicopter (pitch angle, yaw angle, roll angle), - the current angular position of the plane of the runway of the ship (along trim angle, yaw angle and roll angle), - the current value of the angle of rotation of the trajectory of the helicopter, - the current value of the angle of inclination of the trajectory of the helicopter, - the module of the current vector of average wind speed, - the coordinates of the trajectory point to which a swarm moves a helicopter on a programmable route when approaching the swaying plane of the ship's runway (programmable range on the route, programmable helicopter flight altitude on the route, programmable lateral deviation of the helicopter flight) is connected to the first entrance, and the exit via parameters: - the values of the unchanged spatial position of the landing gear in the coordinate system associated with the helicopter, - the distance from the center of mass of the ship to the center of the plane of the runway of the ship is connected to the second input ohm of the block of initial conditions of the trajectory calculator, the output of which is connected to the first entrance to the block of the trajectory calculator according to the parameters: - the current mass of the helicopter, - the current coordinates of the spatial position of the center of mass of the helicopter in the earth coordinate system, - the calculated inertial-mass characteristics for the connected axes of the helicopter coordinate system , - the current value of the longitudinal distance from the axis of the rotor to the center of mass of the helicopter, - the projections of the vector of the current flight speed of the helicopter, - the current projections of the angular vector speed, - the current angular position of the helicopter (pitch angle, yaw angle, roll angle), - the current value of the angle of rotation of the trajectory of the helicopter, - the current value of the angle of inclination of the trajectory of the helicopter, - the current horizontal projections of the vector of the average wind speed in the earth coordinate system, - the values calculated vectors of predicted forces in the earth's coordinate system, - the values of the computed vectors of predicted moments in a connected coordinate system, - the values of the unchanged spatial position of the landing gears in the coordinate system with the helicopter, - the current angular position of the ship's runway plane (in terms of trim, yaw angle and roll angle), - the predicted scale factor of the aircraft flight speed, - the distance from the ship’s center of mass to the center of the ship’s runway plane, the first exit of which is connected for all landing gear according to the parameter of the difference in the predicted spatial position of the landing gear wheels and the projection coordinates of the forecast spatial position of the landing gear wheels on the runway of the ship with the input to the calculation unit the predicted forces and moments acting on the center of mass of the helicopter during compression of the elastic elements of the landing gears, the output of which is connected by the parameters: - values of the calculated vectors of the predicted forces in the earth coordinate system, - values of the calculated vectors of the predicted moments in the associated coordinate system and the predicted value of the scale factor flight speed of the aircraft with a second input to the trajectory calculator unit, the second output of which is connected by the parameter of the predicted value of the velocity scale factor that aircraft with an entrance to the block of the automatic flight control system, the output of which is determined by the parameter of the given helicopter flight speed multiplied by the predicted value of the aircraft speed scale factor, is connected to the entrance to the block for calculating the helicopter flight speed coefficient and the entrance to the block indicating the speed indicator helicopter flight, helicopter flight speed indicator with a numerical scale, index of the indicator of the current helicopter flight speed, index of the indicator of the given helicopter flight speed, cat outputs They are connected to a symbol generator, which is configured to display a helicopter flight speed indicator device with a numerical scale, an index of a current helicopter flight speed index, and an index of a given helicopter flight speed index.

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