CN100587761C - Failure simulation method for unmanned airplane fly simulation training - Google Patents
Failure simulation method for unmanned airplane fly simulation training Download PDFInfo
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Abstract
The present invention provides a fault simulation method used in robomb for simulation training. The method can perform fidelity simulation to some common faults in realized simulation equipment robomb stimulation training based on prior flying simulation training system and aimed at various fault features. The flying operator can fully sense and taste the reaction and state of the robomb when fault occuring, and the operator's abilities of fault judgement and emergency action are increased, the operator can make preparations in technique and psychology for processing analogue. The method hasgreat value for engineering application.
Description
Technical field
The present invention relates to a kind of failure simulation method that is applied to the unmanned plane during flying simulated training, belong to unmanned plane during flying emulation field.
Background technology
Along with the unmanned plane technology rapid development, the unmanned plane function is become stronger day by day, and system is also complicated more.The complicacy of UAS makes that simulated training efficiently is important unusually.Training is the only way which must be passed that improves combat effectiveness of the troops, and is the important technology approach that solve this demand based on the military training of analogue technique means, has characteristics such as disguise, security, economy.
The Flight Simulated Training System of present domestic unmanned plane especially to the demand of large-scale unmanned plane during flying simulated training system, seems especially urgent.General unmanned plane during flying simulated training system is made up of flight Simulation System, flight control and management simulation software, visual simulation demonstration, remote-control romote-sensing analogue system, and wherein flight Simulation System comprises aircraft dynamics emulation, engine emulation, undercarriage emulation, sensor Simulation, the link emulation of rudder loop.
Unmanned plane with have man-machine equally, even each parts of each system of aircraft have all passed through all detection inspections before taking off, in flight course, still can produce paroxysmal fault or damage, such as rudder face might take place stuck, pine is floating or fault such as damage.These faults all can make aircraft produce certain asymmetric power and moment, destroy original aerodynamic arrangement balance, make aircraft produce lift-over, driftage or the luffing of not expecting; If untimelyly take measures to eliminate these asymmetric power and moment, aircraft might be out of hand at short notice, causes the accident.For example: stuck, the permanent change in gain of output might take place and export fault such as permanent deviation inefficacy in sensor, and these fault datas may provide wrong information to control, then can't reach original control effect, also can cause the accident when serious.And for example: as the source of aircraft power, the fault that engine system takes place is just more complicated, and wherein any one parts unusually all might cause dynamic failure even motorless serious consequence.
In the unmanned plane during flying simulated training system, how the fault that may occur in the flight course is carried out the important content that simulation true to nature is a Flight Simulated Training System.If study simulation from the characteristics and the mechanism of fault itself, in these so above-mentioned faults only the fault that takes place of rudder face be exactly the problem of a needs further investigation, the research of this respect is always many, has also obtained great success; And in fly simulation training, less to the research of fault simulation, and remain deeply.If only, can only simulate effect or consequence that flight causes in fact, walk a shortcut easily from these faults from the purpose of fly simulation training.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of failure simulation method that is applied in the unmanned plane during flying simulated training is provided.Use this method, can be on the basis of original Flight Simulated Training System, at the different faults feature, some most common failures in all emulator unmanned planes simulated training that has realized are carried out realistic simulation, make flight control person fully to experience and know from experience the reaction and the state of aircraft when breaking down by training, improve its fault judgement and emergency disposal ability, can handle analogue quickly and effectively when executing the task to carry out technology and psychological preparation.
For reaching this purpose, design of the present invention is:
(1) at various most common failure, according to its fault signature, the influence and the result that finally cause from all kinds fault simulate, rather than simulate from the mechanism or the principle that produce this fault, can simply and effectively realize fault simulation like this.
(2) on the basis of former simulation training system, carry out fault simulation and handle, make and original system is changed less, promptly obtain the emulated data of former emulation equipment, according to the fault signature of this equipment former emulated data is carried out fault simulation and handle, export the data after the fault simulation at last.
According to above-mentioned thinking, failure simulation method of the present invention comprises following six steps:
Step 1: select fault type:
By the man-machine interface of training software, need to select the fault type and the corresponding failure parameter of simulation;
Fault type comprises: the inclined to one side fault of rudder, sensor fault, engine failure, undercarriage fault, distant control chain circuit fault; Wherein, the inclined to one side fault of rudder comprises aileron fault, yaw rudder fault, elevating rudder fault; Sensor fault comprises rate gyro fault, boat appearance fault, navigation fault, air data computer fault, air speed deviation fault, pressure altitude variation fault; Engine failure comprises joint damper faults, power wear-out failure again;
Wherein, aileron fault, yaw rudder fault, elevating rudder fault, air speed deviation fault, pressure altitude variation fault, joint damper faults, power wear-out failure are the tape jam parameters.
Step 2: the inclined to one side fault simulation of rudder:
The inclined to one side fault simulation of rudder comprises aileron fault simulation, yaw rudder fault simulation and elevating rudder fault simulation;
Concrete grammar is:
(1), obtains fault type (aileron fault, yaw rudder fault and elevating rudder fault) and parameter (fault drift angle DeltErr) according to step 1;
(2) obtain the inclined to one side emulated data Delt of rudder from the emulation of steering wheel link, if the inclined to one side fault of rudder is effective, angle of rudder reflection the Delt '=Delt+DeltErr after the fault simulation then; If the inclined to one side fault of rudder is invalid, Delt '=Delt then; Wherein, the inclined to one side fault of rudder comprises aileron fault, yaw rudder fault and elevating rudder fault;
(3) Delt ' is exported to aircraft dynamics emulation;
Can realize the inclined to one side fault simulation of rudder according to the method described above, simple and true to nature.
Step 3: sensor fault simulation:
The sensor fault simulation has two types: no datat output and data deviation;
First kind: the fault simulation of no datat output.This class fault simulation comprises rate gyro fault simulation, boat appearance fault simulation, navigation fault simulation and air data computer fault simulation, concrete grammar is: according to step 1, obtain fault type (gyro failure, boat appearance fault, navigation fault and air data computer fault), obtain the respective sensor emulated data from each sensor Simulation then, these sensor Simulation data are remained on fixed value, after trouble shooting, obtain more new data and output from sensor Simulation again.
Second kind: the fault simulation of data deviation.This class fault simulation comprises the simulation of air speed deviation fault, pressure altitude variation fault simulation, and concrete grammar is:
(1), obtains fault type (air speed deviation fault, pressure altitude variation fault) and parameter (air speed deviate VkErr, pressure altitude variation value HbErr) according to step 1;
(2) from the output of air data computer emulation, obtain air data computer emulated data Vk and Hb, if fault type is the air speed deviation fault, the air speed deviation fault is effective, air speed deviate VkErr then superposes on the air speed Vk in the air data computer emulated data, the air speed Vk ' after the fault simulation=Vk+VkErr then, if it is invalid that the air speed deviation is put barrier, then Vk '=Vk; If fault type is the pressure altitude variation fault, the pressure altitude variation fault is effective, then be superimposed with pressure altitude variation value HbErr on the barometer altitude Hb in the air data computer emulated data, the barometer altitude Hb ' after the fault simulation=Hb+HbErr then, if the pressure altitude variation fault is invalid, Hb '=Hb then;
(3) Vk ' and Hb ' are exported to flight control and management emulation.
Step 4: engine failure simulation:
Engine breaks down, and two kinds of results that finally cause influence motor power, and a kind of situation is to also have part thrust to use, and another kind of situation is a complete engine failure; This class fault simulation comprises joint damper faults, power wear-out failure, and concrete grammar is respectively:
The simulation of joint damper faults:
(1), obtains fault type (joint damper faults) and parameter (joint damper faults drift angle DeltPErr) according to step 1;
(2) obtain joint air door emulated data DeltP from the emulation of joint air door link, if the joint damper faults is effective, joint air door drift angle the DeltP '=DeltPErr after the fault simulation then; If the joint damper faults is invalid, then DeltP '=DeltP;
(3) DeltP ' is exported to engine emulation.
The simulation of power wear-out failure:
(1), obtains fault type (power wear-out failure) and parameter (attenuation coefficient r) according to step 1;
(2) from engine emulation, obtain motor power P, then the thrust P '=P * r after the power decay;
(3) P ' is exported to aircraft dynamics emulation;
Wherein, the scope of r is [0,1], and r represented that engine cut-off, thrust were 0 at 0 o'clock; R is that 1 expression engine is normal, and thrust is normal.
Step 5: undercarriage fault simulation:
Can't pack up or can't put down no matter which kind of undercarriage fault, net result generally all are undercarriages, concrete grammar is:
(1), obtains fault type (undercarriage fault) according to step 1;
(2) obtain the undercarriage state from undercarriage emulation,, then the undercarriage state is remained current state,, then remain down state, can not pack up if be down state originally promptly if the undercarriage fault is effective; If be collapsed state originally, then remain collapsed state, can not put down; If the undercarriage fault is invalid, then cancellation maintenance undercarriage is a current state, can normally pack up or put down;
(3) this state is exported to flight control and management emulation;
Can realize the simulation of undercarriage fault according to the method described above.
Step 6: distant control chain circuit fault simulation:
According to step 1, obtain fault type (remote control trouble), if remote control trouble is effective, then the remote-control data in the remote-control romote-sensing emulation is sent and close; If remote control trouble is invalid, then the remote-control data in the remote-control romote-sensing emulation is sent and open; Thereby realize the distant control chain circuit fault simulation.
The invention has the advantages that:
(1) by analysis to the different faults feature, adopt analogy method to fault impact and result, effectively simple, guaranteed the fault simulation fidelity again;
(2) make full use of the original system function and carry out the fault simulation processing, change to former Flight Simulated Training System is very little, therefore this failure simulation method both can use in the Flight Simulated Training System of development newly, also can use in existing Flight Simulated Training System.
Description of drawings
Fig. 1 is that certain unmanned plane during flying simulated training system is formed synoptic diagram;
Fig. 2 is certain unmanned plane during flying simulated training system schematic diagram;
Fig. 3 is the refinement figure of Fig. 2;
Fig. 4 is the schematic block diagram of failure simulation method of the present invention;
Fig. 5 is the principle schematic that inclined to one side failure simulation method of failure simulation method centered rudder of the present invention and sensor fault analogy method are applied to certain unmanned plane.
Embodiment
Below in conjunction with accompanying drawing implementation step of the present invention is described further.
Below be applied to an embodiment of certain unmanned plane during flying simulated training for the method for the invention.
This unmanned plane during flying simulated training system mainly is made up of training station computing machine, coach's platform computing machine, flight control control computer and external control box etc.
Fig. 1 is that certain unmanned plane during flying simulated training system is formed synoptic diagram.
As shown in Figure 1, in this Flight Simulated Training System, the training station computing machine mainly moves the visual simulation software for display, is used for geographical environments such as simulated aircraft flight and peripheral topography and geomorphology, make the landing operator that vision feeling of immersion preferably be arranged, use for the landing operator; Coach's platform computer run flight Simulation System software, flight control and management simulation software and training software use for the trainer.Wherein, flight Simulation System software is used for the emulation to aircraft dynamics, sensor, engine, steering wheel link etc., is the mathematical model of virtual aircraft system; Flight control and management simulation software are used to realize flight control and the management function to the virtual aircraft system, are the emulation of airborne flight control and management software; Training software is used at training process, and the trainer is according to training requirement, by the training software man-machine interface, implements that training process management as training beginning, training finish, data are preserved, training environment is provided with etc., realizes the training to the trainer.Coach's platform computing machine and training station computing machine are by the Ethernet interaction data; The flight control control computer is mainly moved the remote-control romote-sensing simulation software, being used for the emulation ground control station sends remote-control data and receives telemetry, and provide the flight control interface, use for flight control person, flight control person is by remote control and the monitoring of flight control interface enforcement to unmanned plane, and the flight control control computer is carried out exchanges data with coach's platform computing machine by cable; The external control box uses for the landing operator, and landing operator and flight control person closely cooperate, and by external control box and enforcement the remote control in unmanned plane takeoff phase and glide landing stage is controlled, and this external control box is connected by cable with the flight control control computer.
Fig. 2 is certain unmanned plane during flying simulated training system principle schematic.
As shown in Figure 2, flight control receives telecommand with management emulation by remote-control romote-sensing emulation, or to its transmission telemetry intelligence (TELINT), flight control is utilized the sensor Simulation data with management emulation, according to telecommand or flight course, calculating rudder according to predefined control law instructs partially, and send to the emulation of steering wheel link, the mathematical model that the emulation of steering wheel link is then set up according to the characteristic (comprising time constant, gap etc.) of actual steering wheel link, calculate the inclined to one side emulated data of rudder, and deliver to aircraft dynamics emulation; Simultaneously, flight control and some discrete magnitude instructions that management emulation also will obtain by the telecommand of remote-control romote-sensing emulation are delivered to discrete magnitude emulation, afterwards the discrete magnitude state after the discrete magnitude simulation process are sent to aircraft dynamics emulation; Aircraft dynamics emulation according to the aircraft dynamics model, calculates various sensing datas, status information according to the inclined to one side emulated data of rudder, the discrete magnitude state that obtain, gives sensor Simulation with sensing data on the one hand; Sensor Simulation is that the characteristic according to each sensor, the sensor calculated with mathematical model of principle foundation obtain the various sensing datas of flight control and administrative institute's need, and be sent to flight control and manage emulation, like this, form a control closed loop, realized control and management virtual unmanned plane.On the other hand, aircraft dynamics emulation also sends to visual simulation with information such as the position of aircraft, speed, states and shows, visual simulation shows according to the information that obtains simulates the flight attitude of aircraft, speed etc., generates one with flight control and the corresponding virtual aircraft of the management scene of flying.
Fig. 3 is the refinement figure of Fig. 2.
As shown in Figure 3, the emulation of yaw rudder link, the emulation of aileron link, the emulation of elevating rudder link, the emulation of joint air door link all belong to the steering wheel link emulation among Fig. 2, undercarriage emulation and other discrete magnitude emulation all belong to the discrete magnitude emulation among Fig. 2, and air data computer emulation, radio altimeter emulation, rate gyro emulation, navigation simulation and the emulation of boat appearance all belong to the sensor Simulation among Fig. 2.Its principle and Fig. 2 basically identical, need to prove, after flight control will save the emulation of air door drift angle instruction transmission joint air door link with management emulation, obtain saving the air door emulated data and will deliver to engine emulation, engine emulation obtains motor power according to the engine calculated with mathematical model, and motor power is delivered to aircraft dynamics emulation use.
Fig. 4 is the schematic block diagram of failure simulation method of the present invention.As shown in Figure 4, man-machine interface by training software is selected fault type and fault parameter, and deliver to corresponding fault simulation, be respectively the inclined to one side fault simulation of rudder, sensor fault simulation, engine failure simulation, undercarriage fault simulation, distant control chain circuit fault simulation, after carrying out corresponding fault simulation processing, at last the data after the fault simulation are exported.
Fig. 5 is the principle schematic that inclined to one side failure simulation method of failure simulation method centered rudder of the present invention and sensor fault analogy method are applied to certain unmanned plane.Do not adopt the preceding system of failure simulation method of the present invention as shown in Figure 2, after adopting this failure simulation method, as shown in Figure 5, originally be sent to the inclined to one side emulated data of rudder and the sensor Simulation data of aircraft dynamics emulation and flight control and management emulation respectively by a dotted line, to be obtained by corresponding fault simulation intercepting, be that the inclined to one side emulated data of rudder will be obtained by the inclined to one side fault simulation intercepting of rudder, the sensor Simulation data are obtained by sensor fault simulation intercepting; Fault simulation is carried out fault simulation according to the emulated data of the fault type of selecting and fault parameter and acquisition and is handled, data after then fault simulation being handled are sent to aircraft dynamics emulation and flight control and management emulation respectively, finish inclined to one side fault simulation of rudder and sensor fault simulation process since then.The simulation process that the simulation process of other failure simulation methods of the present invention---engine failure simulation method, undercarriage failure simulation method, distant control chain circuit failure simulation method and the inclined to one side failure simulation method of above-mentioned rudder and sensor fault analogy method are applied to certain unmanned plane is similar, as seen from Figure 5, use failure simulation method of the present invention, can organically combine with the original system function, change very little system.
The specific implementation step that failure simulation method of the present invention is applied to above-mentioned unmanned plane during flying simulated training system is as follows:
Step 1: select fault type:
By the man-machine interface of training software, need to select the fault type and the corresponding failure parameter of simulation.
Fault type comprises: the inclined to one side fault of rudder, sensor fault, engine failure, undercarriage fault, distant control chain circuit fault; Wherein, the inclined to one side fault of rudder comprises aileron fault, yaw rudder fault, elevating rudder fault; Sensor fault comprises rate gyro fault, boat appearance fault, navigation fault, air data computer fault, air speed deviation fault, pressure altitude variation fault; Engine failure comprises joint damper faults, power wear-out failure again;
Wherein, aileron fault, yaw rudder fault, elevating rudder fault, air speed deviation fault, pressure altitude variation fault, joint damper faults, power wear-out failure are the tape jam parameters.
Step 2: the inclined to one side fault simulation of rudder:
In the unmanned plane during flying process, flight-control computer provides rudder according to the deviation between desirable state of flight and the aircraft current flight state and instructs partially, actuator partially drives control surface deflection under the control action of instruction at rudder, the deflection angle of rudder face is followed fly the control instruction to change.Under this meaning, actuator and rudder face have constituted end effector jointly, in order to realize flying the control action of control machine to aspect.The fault of actuator and rudder face all can make the control effect of end effector change.
That the failure mode of aircraft rudder surface mainly contains is stuck, the pine floating and Control Surface Damage etc.If stuck or loose floating fault takes place certain rudder face, the actuator that then comprises this rudder face is no longer made correct response to the variation that flies the instruction of control machine, and therefore actuator shows as constant control effect to aircraft in this case.But general rudder face is two of left-right symmetric, and the situation that stuck or loose floating fault take place simultaneously for two rudder faces is considerably less, and what this fault took place usually is one of them rudder face, therefore can cause the reduction of the inclined to one side efficient of rudder.If the damage fault takes place in rudder face, the actuator that then comprises this rudder face still can correctly respond the variation that flies the instruction of control machine, but Control Surface Damage has caused the reduction of himself pneumatic efficiency, and promptly actuator is compared with normal condition the control effect of aircraft and made a discount, and just the inclined to one side efficient of rudder reduces.
Therefore, from the angle of failure simulation method of the present invention, by to the inclined to one side faults analysis of above several rudders, the final as can be known result that influences is that the inclined to one side efficient of rudder reduces.
The inclined to one side failure simulation method of concrete rudder is: according to step 1, obtain fault type (aileron fault, yaw rudder fault and elevating rudder fault) and parameter (fault drift angle DeltErr), obtain the inclined to one side emulated data Delt of rudder from the emulation of steering wheel link then, stack fault drift angle DeltErr on Delt, then angle of rudder reflection the Delt '=Delt+DeltErr after the fault simulation exports to Delt ' aircraft dynamics emulation at last.
1, aileron fault simulation.According to step 1, obtain fault type (aileron fault) and parameter (aileron fault drift angle DeltXErr), obtain aileron emulated data DeltX from the emulation of aileron link then, if the aileron fault is effective, angle of rudder reflection the DeltX '=DeltX+DeltXErr after the aileron fault simulation then; If the aileron fault is invalid, DeltX '=DeltX then.At last DeltX ' is exported to aircraft dynamics emulation.
2, yaw rudder fault simulation.Similar with the aileron fault simulation, according to step 1, obtain fault type (yaw rudder fault) and parameter (yaw rudder fault drift angle DeltYErr), obtain yaw rudder emulated data DeltY from the emulation of yaw rudder link then, if the yaw rudder fault is effective, angle of rudder reflection the DeltY '=DeltY+DeltYErr after the yaw rudder fault simulation then; If the yaw rudder fault is invalid, DeltY '=DeltY then.At last DeltY ' is exported to aircraft dynamics emulation.
3, elevating rudder fault simulation.Similar with the aileron fault simulation, according to step 1, obtain fault type (elevating rudder fault) and parameter (elevating rudder fault drift angle DeltZErr), obtain elevating rudder emulated data DeltZ from the emulation of elevating rudder link then, if the elevating rudder fault is effective, angle of rudder reflection the DeltZ '=DeltZ+DeltYErr after the elevating rudder fault simulation then; If the elevating rudder fault is invalid, DeltZ '=DeltZ then.At last DeltZ ' is exported to aircraft dynamics emulation.
Step 3: sensor fault simulation:
In flight course, sensor might no-output, the permanent change in gain of output and export fault such as permanent deviation inefficacy, and these fault datas may provide wrong information to control, just can't reach original control effect, also can cause the accident in the time of seriously.From the angle of failure simulation method of the present invention, the sensor fault simulation can be divided into two kinds: no datat output and data deviation.
First kind: the fault simulation of no datat output.This class fault simulation comprises rate gyro fault, boat appearance fault, navigation fault, air data computer fault.Concrete failure simulation method is, according to step 1, obtain fault type (rate gyro fault, boat appearance fault, navigation fault and air data computer fault), obtain the respective sensor emulated data from sensor Simulation then, these sensor Simulation data are remained on fixed value, after trouble shooting, obtain more new data and output from sensor Simulation again.
1, rate gyro fault simulation.According to step 1, if the rate gyro fault is effective, then obtain this moment roll angle speed Wx, yawrate Wy, angle of pitch speed Wz, and be divided into and be designated as Wx0, Wy0, Wz0, then the Wx ' after the fault simulation=Wx0, Wy '=Wy0, Wz '=Wz0 from the speed gyroscope simulation; If the rate gyro fault is invalid, then obtain Wx, Wy, the Wz of renewal, i.e. Wx '=Wx, Wy '=Wy, Wz '=Wz from the speed gyroscope simulation.At last Wx ', Wy ', Wz ' are exported to flight control and management emulation.
2, boat appearance fault simulation.Similar with the rate gyro fault simulation, according to step 1, if boat appearance fault is effective, then obtain this moment roll angle Gama, crab angle Pusi, angle of pitch Theta from boat appearance emulation, and be divided into and be designated as Gama0, Pusi0, Theta0, the Gama ' after the fault simulation=Gama0, Pusi '=Pusi0, Theta '=Theta0 then; If boat appearance fault is invalid, then obtain Gama, Pusi, the Theta of renewal, i.e. Gama '=Gama, Pusi '=Pusi, Theta '=Theta from the emulation of boat appearance.At last Gama ', Pusi ', Theta ' are exported to flight control and management emulation.
3, navigation fault simulation.Similar with the rate gyro fault simulation, according to step 1, if the navigation fault is effective, then obtain geographic longitude L, geographic latitude B this moment, geographical height H from navigation simulation, east orientation ground velocity Ve, north orientation ground velocity Vn, sky are to ground velocity Vy, and be divided into and be designated as L0, B0, H0, Ve0, Vn0, Vy0, the L ' after the fault simulation=L0, B '=B0, H '=H0, Ve '=Ve0, Vn '=Vn0, Vy '=Vy0 then; If the navigation fault is invalid, then obtain L, B, H, Ve, Vn, the Vy of renewal, i.e. L '=L, B '=B, H '=H, Ve '=Ve, Vn '=Vn, Vy '=Vy from navigation simulation.At last L ', B ', H ', Ve ', Vn ', Vy ' are exported to flight control and management emulation.
4, air data computer fault simulation.Similar with the rate gyro fault simulation, according to step 1, if the air data computer fault is effective, then obtain this moment barometer altitude Hb, air speed Vk, rising or falling speed Hbd from air data computer emulation, and be divided into and be designated as Hb0, Vk0, Hbd0, the Hb ' after the fault simulation=Hb0, Vk '=Vk0, Hbd '=Hbd0 then; If the air data computer fault is invalid, then obtain Hb, Vk, the Hbd of renewal, i.e. Hb '=Hb, Vk '=Vk, Hbd '=Hbd from air data computer emulation.At last Hb ', Vk ', Hbd ' are exported to flight control and management emulation.
Second kind: the fault simulation of data deviation.This class fault simulation comprises air speed deviation fault, pressure altitude variation fault.Air data computer is to obtain atmosphere stagnation pressure and static pressure by pitot, and then calculates data such as barometer altitude, air speed, if pitot takes place to stop up or other faults, barometer altitude and air speed may occur then that height refers to or the low phenomenon of the failure that refers to.
Concrete failure simulation method is, according to step 1, obtain fault type (air speed deviation fault, the pressure altitude variation fault) and parameter (air speed deviate VkErr, pressure altitude variation value HbErr), from the output of air data computer emulation, obtain air data computer emulated data Vk and Hb then, if fault type is the air speed deviation fault, the air speed deviation fault is effective, air speed deviate VkErr then superposes on the air speed Vk in the air data computer emulated data, the air speed Vk ' after the fault simulation=Vk+VkErr then, if the air speed deviation fault is invalid, Vk '=Vk then; If fault type is the pressure altitude variation fault, the pressure altitude variation fault is effective, then be superimposed with pressure altitude variation value HbErr on the barometer altitude Hb in the air data computer emulated data, the barometer altitude Hb ' after the fault simulation=Hb+HbErr then, if the pressure altitude variation fault is invalid, Hb '=Hb then.At last Vk ' and Hb ' are exported to flight control and management emulation.
Step 4: engine failure simulation:
Engine system is that collection is mechanical, electric, hydraulic technique is an one, utilizes thermodynamic principles to produce the complication system of propelling power.Engine is the source that aircraft obtains thrust, and control system is by the control to the deflection of joint air door, thereby realization is to the adjustment of motor power.In case engine breaks down, the safety of aircraft will be had a strong impact on, always because the airplane crash that engine failure causes is too numerous to enumerate.From failure simulation method angle of the present invention, no matter that part in the engine system goes wrong, whether the problem that finally causes all can also be for aircraft provides thrust, and a kind of situation is the thrust partial failure, another kind of situation is a complete engine failure, no thrust.
Concrete engine failure simulation method is:
1, joint damper faults simulation.According to step 1, obtain fault type (joint damper faults) and parameter (joint damper faults drift angle DeltPErr), obtain joint air door emulated data DeltP from the emulation of joint air door link then, if the joint damper faults is effective, joint air door drift angle the DeltP '=DeltPErr after the fault simulation then; If the joint damper faults is invalid, then DeltP '=DeltP; Then DeltP ' is exported to engine emulation.
2, power wear-out failure.According to step 1, obtain fault type (power wear-out failure) and parameter (attenuation coefficient r), from engine emulation, obtain motor power P then, then the thrust P '=P * r after the power decay exports to P ' aircraft dynamics emulation then.Wherein, the scope of r is [0,1], and r represented that engine cut-off, thrust were 0 at 0 o'clock; R is that 1 expression engine is normal, and thrust is normal.
Step 5: undercarriage fault simulation:
Before aircraft enters approach for landing, should guarantee that undercarriage normally puts down.If undercarriage can't put down, directly influence decision-making generally, should bleed off the fuel oil on the aircraft or exhaust just forced landing.If take off climb in undercarriage can't pack up, also can influence decision-making, consider whether continue to execute the task.Concrete failure simulation method is:
According to step 1, obtain fault type (undercarriage fault), then the undercarriage state that obtains from undercarriage emulation, if the undercarriage fault is effective, then the undercarriage state is remained current state, if promptly be down state originally, then remain down state, can not pack up; If be collapsed state originally, then remain collapsed state, can not put down; If the undercarriage fault is invalid, then cancellation maintenance undercarriage is a current state, can normally pack up or put down.At last this state is exported to flight control and management emulation, thereby realized the simulation of undercarriage fault.
Step 6: distant control chain circuit fault simulation:
Distant control chain circuit is the up-link in the ground observing and controlling system data chainning, mainly finish the transmission of land station to the telecommand of unmanned plane, under complex electromagnetic environments, because the antijamming capability of data chainning itself is limited, link may interrupt, perhaps airborne antenna is blocked to influence and receives, and also can cause link down, and the ground staff can lose the remote control to unmanned plane.From the angle of failure simulation method of the present invention, the result that this fault finally causes is that unmanned plane can't receive remote-control data.
The analogy method of this fault is: according to step 1, obtain fault type (remote control trouble), if remote control trouble is effective, then the remote-control data in the remote-control romote-sensing emulation is sent and close; If remote control trouble is invalid, then the remote-control data in the remote-control romote-sensing emulation is sent and open.
Failure simulation method of the present invention has obtained practice test by the enforcement of above-mentioned unmanned plane during flying simulated training system, Illustrate that the method is respond well, have important engineering using value.
Claims (9)
1, a kind of failure simulation method that is used for the unmanned plane during flying simulated training is characterized in that, this method comprises following six steps:
Step 1: select fault type:
By the man-machine interface of training software, need to select the fault type and the corresponding failure parameter of simulation;
Fault type comprises: the inclined to one side fault of rudder, sensor fault, engine failure, undercarriage fault, distant control chain circuit fault; Wherein, the inclined to one side fault of rudder comprises aileron fault, yaw rudder fault, elevating rudder fault; Sensor fault comprises rate gyro fault, boat appearance fault, navigation fault, air data computer fault, air speed deviation fault, pressure altitude variation fault; Engine failure comprises joint damper faults, power wear-out failure again;
Wherein, aileron fault, yaw rudder fault, elevating rudder fault, air speed deviation fault, pressure altitude variation fault, joint damper faults, power wear-out failure are the tape jam parameters;
Step 2: the inclined to one side fault simulation of rudder:
Concrete grammar is:
(1), obtains fault type and parameter, i.e. fault drift angle DeltErr according to step 1;
(2) obtain the inclined to one side emulated data Delt of rudder from the emulation of steering wheel link, if the inclined to one side fault of rudder is effective, angle of rudder reflection the Delt '=Delt+DeltErr after the fault simulation then; If the inclined to one side fault of rudder is invalid, Delt '=Delt then; Wherein, the inclined to one side fault of rudder comprises aileron fault, yaw rudder fault and elevating rudder fault;
(3) Delt ' is exported to aircraft dynamics emulation;
Step 3: sensor fault simulation:
The sensor fault simulation comprises: the fault simulation of no datat output and the fault simulation of data deviation;
The concrete grammar of the fault simulation of no datat output is: according to step 1, obtain fault type, obtain the respective sensor emulated data from each sensor Simulation then, these sensor Simulation data are remained on fixed value, after trouble shooting, obtain more new data and output from sensor Simulation again;
The concrete grammar of the fault simulation of data deviation is:
(1), obtains fault type and parameter, i.e. air speed deviate VkErr and pressure altitude variation value HbErr according to step 1;
(2) from the output of air data computer emulation, obtain air data computer emulated data Vk and Hb, if fault type is the air speed deviation fault, the air speed deviation fault is effective, air speed deviate VkErr then superposes on the air speed Vk in the air data computer emulated data, the air speed Vk ' after the fault simulation=Vk+VkErr then, if the air speed deviation fault is invalid, Vk '=Vk then; If fault type is the pressure altitude variation fault, the pressure altitude variation fault is effective, then be superimposed with pressure altitude variation value HbErr on the barometer altitude Hb in the air data computer emulated data, the barometer altitude Hb ' after the fault simulation=Hb+HbErr then, if the pressure altitude variation fault is invalid, Hb '=Hb then;
(3) Vk ' and Hb ' are exported to flight control and management emulation;
Step 4: engine failure simulation:
Engine breaks down to simulate and comprises simulation of joint damper faults and the simulation of power wear-out failure, and concrete grammar is respectively:
The simulation of joint damper faults:
(1) according to step 1, obtain fault type and parameter, promptly save damper faults drift angle DeltPErr;
(2) obtain joint air door emulated data DeltP from the emulation of joint air door link, if the joint damper faults is effective, joint air door drift angle the DeltP '=DeltPErr after the fault simulation then; If the joint damper faults is invalid, then DeltP '=DeltP;
(3) DeltP ' is exported to engine emulation;
The simulation of power wear-out failure:
(1), obtains fault type and parameter, i.e. attenuation coefficient r according to step 1;
(2) from engine emulation, obtain motor power P, then the thrust P '=P * r after the power decay;
(3) P ' is exported to aircraft dynamics emulation;
Wherein, the scope of r is [0,1], and r represented that engine cut-off, thrust were 0 at 0 o'clock; R is that 1 expression engine is normal, and thrust is normal;
Step 5: undercarriage fault simulation:
Can't pack up or can't put down no matter which kind of undercarriage fault, net result generally all are undercarriages, concrete grammar is:
(1), obtains fault type, i.e. the undercarriage fault according to step 1;
(2) obtain the undercarriage state from undercarriage emulation,, then the undercarriage state is remained current state,, then remain down state, can not pack up if be down state originally promptly if the undercarriage fault is effective; If be collapsed state originally, then remain collapsed state, can not put down; If the undercarriage fault is invalid, then cancellation maintenance undercarriage is a current state, can normally pack up or put down;
(3) this state is exported to flight control and management emulation;
Step 6: distant control chain circuit fault simulation:
According to step 1, obtain fault type, i.e. remote control trouble; If remote control trouble is effective, then the remote-control data in the remote-control romote-sensing emulation is sent and close; If remote control trouble is invalid, then the remote-control data in the remote-control romote-sensing emulation is sent and open; Thereby realize the distant control chain circuit fault simulation.
2. a kind of failure simulation method that is used for the unmanned plane during flying simulated training according to claim 1 is characterized in that: the inclined to one side fault simulation of the rudder described in the step 2 comprises aileron fault simulation, yaw rudder fault simulation and elevating rudder fault simulation.
3. a kind of failure simulation method that is used for the unmanned plane during flying simulated training according to claim 1 is characterized in that: the fault type described in the step 2 comprises aileron fault, yaw rudder fault and elevating rudder fault.
4. a kind of failure simulation method that is used for the unmanned plane during flying simulated training according to claim 1 is characterized in that: the fault simulation of the no datat output described in the step 3 comprises rate gyro fault simulation, boat appearance fault simulation, navigation fault simulation and air data computer fault simulation.
5. a kind of failure simulation method that is used for the unmanned plane during flying simulated training according to claim 1 is characterized in that: the fault type described in the fault simulation of no datat output comprises gyro failure, boat appearance fault, navigation fault and air data computer fault in the step 3.
6. a kind of failure simulation method that is used for the unmanned plane during flying simulated training according to claim 1 is characterized in that: the fault simulation of the data deviation described in the step 3 comprises simulation of air speed deviation fault and pressure altitude variation fault simulation.
7. a kind of failure simulation method that is used for the unmanned plane during flying simulated training according to claim 1 is characterized in that: the fault type described in the fault simulation of data deviation comprises pressure altitude variation fault and air speed deviation fault in the step 3.
8. a kind of failure simulation method that is used for the unmanned plane during flying simulated training according to claim 1 is characterized in that: the fault type described in the simulation of joint damper faults is the dactylus damper faults in the step 4.
9. a kind of failure simulation method that is used for the unmanned plane during flying simulated training according to claim 1 is characterized in that: the fault type described in the simulation of step 4 medium power wear-out failure is meant the power wear-out failure.
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