CN103984353A - Lateral track motion estimation and compensation method based on motion platform - Google Patents

Abstract

The invention discloses a lateral track motion estimation and compensation method based on a motion platform, and belongs to the technical field of control law design. In order to guarantee the fact that an airplane can track an ideal landing point synchronously, a guidance system must be compensated synchronously. The method aims to the last stage of a motion platform landing stage, the influences of sailing motions and swaying motions of the motion platform on ideal landing point positions are taken into comprehensive consideration, and estimation and compensation of track motions on the motion platform are carried out. Deck lateral motion signals are introduced into a lateral guidance system after estimation and compensation so that the dynamic performance of the system can be improved, errors are restrained, and the tracking precision of the airplane is improved.

Description

A kind of side direction runway Motion estimation and compensation method based on motion platform

Technical field

The present invention is that a kind of runway sideway movement based on motion platform is estimated and compensation method, belongs to design of control law technical field.

Background technology

Compare with general aircraft landing situation, landing environment based on motion platform aircraft is more severe, be mainly reflected in that afterbody exists complicated flow perturbation and wave causes that deck motion causes the variation of desirable landing point, these bring larger adverse effect will to landing precision, security.For example deck raises suddenly, may cause aircraft to clash in advance deck and even knock motion platform afterbody; Or deck reduces suddenly, may make aircraft landing hook hang up arrester wires and be forced to carry out deck and escape and to go around.Therefore, need in approaching and landing system system, introduce Deck Motion Compensator (DMC), to compensate the variation of the landing point position that deck motion causes.When the full-automatic landing system using based on motion platform, runway motion compensation must start at aircraft and the engagement of motion platform soft strip for first 12～13 seconds.

Surging, swaying, rolling and yawing that motion platform sways in motion all may cause desirable landing point generation sideway movement.In addition the angle that, motion platform navigation direction of motion and its angled deck centreline space exist also can exert an influence to the sideway movement of desirable landing point.Therefore, must compensate above-mentioned motion platform motion, so that the aircraft in gliding can accurately be followed the tracks of desirable glide path, eliminate the aircraft side direction landing deviation being caused by motion platform motion.Four kinds of above-mentioned motion platform sway motion and navigation motion is the major consideration in the Deck Motion Compensator design process of horizontal course.

On the other hand, the radar on motion platform is when survey aircraft side direction parameter, and its reference frame initial point is fixed on desirable landing point; In the same way, and level is pointed to motion platform the place ahead for x axle and angled deck center line; Xy plane is measuring basis plane, remains level.Therefore, motion platform is when navigating by water motion and swaying motion (being mainly yawing), radar is surveyed Aircraft Lateral course parameter and will be included that Yin Leida reference frame does not overlap with motion platform deck axle and the error that produces, with the radargrammetry result of steady-state error, also can cause aircraft side direction landing deviation.

The side direction landing deviation that above-mentioned two kinds of motion platforms motion causes can be eliminated by horizontal course DMC.

Summary of the invention

The object of this method:

The object of runway Motion prediction and compensation technique is to adopt runway Motion prediction technology to eliminate phase place to lag behind, runway forecast information is compensated to the full-automatic landing system of aircraft based on motion platform, come Reducing overshoot elimination delay effectively, realize the accurate tracking of aircraft to deck motion, improve accuracy and the security of aircraft landing.

Technical scheme of the present invention:

Side direction runway Motion estimation and a compensation method based on motion platform, is characterized in that, comprises the steps:

The first, motion platform movement definition

The landing environment of aircraft is the motion platform deck in motion, and this is the principal feature that aircraft is different from land airplane.The motion of motion platform comprises two parts: a part be it along the navigation of a vectoring, and there is angle in this course and its angled deck centerline direction another part is that the motion platform that wave disturbance causes sways motion, and comprising hangs down swings (having another name called heave), surging and three kinds of translations of swaying, and yawing, pitching and three kinds of rotations of rolling, and the definition of these six kinds of motions as shown in Figure 1.

The second, deck motion compensation structural design.

The side direction landing deviation that motion platform motion causes can be eliminated by horizontal course DMC, and the structure of this kind of deck motion compensation as shown in Figure 2.In Fig. 2, DMC navigates by water motion platform and sway the Aircraft Lateral course parameter measurement error of bringing and is added in aircraft lateral position deviation signal by Deck Motion Compensator I, eliminates the error that radar reference frame does not overlap and causes with motion platform deck axle; Meanwhile, by Deck Motion Compensator II, the motion of this two type games platform is carried out to phase place leading, the prediction signal obtaining is turned to roll angle compensating signal △ φ _c, control aircraft and reduce lateral deviation.

In figure, symbol definition is as follows:

ψ _s---the yaw angle of motion platform in motion platform body coordinate system;

V _s---motion platform is the speed of line navigation at the uniform velocity;

Y ₀---when DMC starts, aircraft is with respect to the lateral deviation of warship center deck line;

X---aircraft machine the vertical equity distance (be aircraft in warship center deck line direction apart from desirable the distance of warship point) of warship point apart from ideal;

---the angle that motion platform navigation direction of motion and its angled deck centreline space exist.

The 3rd, calculate compensator.

Deck motion compensation instruction:

Horizontal course DMC must meet formula:

$G_{\mathrm{DMC}}\left(s\right)G_{\mathrm{ACLS}}\left(s\right){|}_{{\mathrm{\ω}}_s=0.2~1.0\mathrm{rad}/s}=1$

This formula is difficult to Project Realization, to the model of DMC shown in Fig. 3, and a kind of compensating instruction △ φ _capproximate function form as follows:

${\mathrm{\Δ\φ}}_c=\frac{1}{g}(x{\stackrel{\·\·}{\mathrm{\ψ}}}_{\mathrm{CL}}+2\stackrel{\·}{x}{\stackrel{\·}{\mathrm{\ψ}}}_{\mathrm{CL}})$

ψ wherein _cLmeet its control structure as shown in Figure 3.

In Fig. 3, ψ _mfor the deviation angle of the relative warship body of motion platform warship axon stable axis, x ₀while starting for DMC, aircraft the vertical equity distance of warship point, V apart from ideal ₀the flying speed of aircraft while starting for DMC, χ is aircraft track drift angle.Shown in Fig. 3 in structure, comprehensive V ₀with V _sform the differential signal of x, with do after multiplying, after 2 times of amplifications, formed in approximate function this signal indication aircraft and the relative motion of the warship center deck line impact on aircraft side direction course-line deviation.Meanwhile, through integrator and remove (elimination steady-state error) after initial value, with through differentiation element, form signal is done multiplying, forms in approximate function the yawing campaign of this signal indication motion platform cause warship center deck line shake the impact on aircraft side direction course-line deviation.After above-mentioned two signal synthesis through gain form compensating instruction △ φ _c.

It should be noted that, the k shown in Fig. 3 in structure is a variable gain, and it reflects that horizontal course DMC is to motion platform yaw angle ψ _sfollowing rate.Aircraft from motion platform more close to, the tracking of DMC and forecast precision are required higher, therefore since 10 kms, along with aircraft from motion platform more and more close to, k increases gradually since 0, when aircraft touches warship, reaches 1.

Advantage of the present invention:

Aircraft warship process middle deck Motion estimation and compensation be guarantee aircraft accurately, safety the necessary links of warship.Its major advantage has:

1) assurance aircraft the sideway movement that in warship process, accurate tracking ideal warship point;

2) improve aircraft landing precision;

3) guarantee that aircraft safety warship.

Accompanying drawing explanation:

Fig. 1: motion platform disturbance motion definition

Fig. 2: the horizontal course of the ACLS passage control structure figure that introduces DMC

Fig. 3: horizontal course DMC demand model structural drawing

Embodiment:

Embodiment 1

A kind of for full-automatic side direction deck motion prediction and the compensation method of warship.

1) first given deck motion model and required deck parameter

Yaw angle/the crab angle of motion platform yawing campaign (°) dynamic model:

Lengthwise movement (m) dynamic model:

x(t)＝2294-84t

Wherein, for the initial phase of function, can establish herein

Suppose motion platform linear uniform motion, movement velocity V _s=15m/s, the lateral deviation y of the relative deck center line of aircraft when DMC starts ₀=10m, deck center line drift angle

2) Deck Motion Compensator I

ψ _s---the yaw angle of motion platform in warship body coordinate system;

V _s---motion platform is the speed of line navigation at the uniform velocity;

Y ₀---when DMC starts, aircraft is with respect to the lateral deviation of warship center deck line;

X---aircraft the vertical equity distance (be aircraft in warship center deck line direction apart from desirable the distance of warship point) of warship point apart from ideal;

---the angle that motion platform navigation direction of motion and its angled deck centreline space exist.

Bring motion platform kinematic parameter and model into formula, make k=1, can obtain Deck Motion Compensator I and be:

3) Deck Motion Compensator II

Deck Motion Compensator II output roll angle command signal △ φ _c, this command signal be for overcome that wave causes the drift of warship regional center line.

The roll angle command signal of lateral deck motion compensation device II is:

${\mathrm{\Δ\φ}}_c=\frac{1}{g}(x{\stackrel{\·\·}{\mathrm{\ψ}}}_{\mathrm{CL}}+2\stackrel{\·}{x}{\stackrel{\·}{\mathrm{\ψ}}}_{\mathrm{CL}})$

ψ wherein _cLmeet control structure as shown in Figure 3.

Here provide one group of reference parameter as follows:

χ is aircraft track drift angle feedback signal;

φ is aircraft roll angle feedback signal;

V ₀while starting for DMC, the flying speed of aircraft, is taken as 90m/s;

X ₀while starting for DMC, aircraft the vertical equity distance of warship point, about 1000m apart from ideal;

V _sfor the motion platform speed of line navigation at the uniform velocity, about 15m/s;

ψ _mdeviation angle for the relative warship body of motion platform warship axon stable axis;

G is that acceleration of gravity is got g=10m/s ²;

Since 10 kms, along with aircraft from motion platform more and more close to, k increases gradually since 0, when aircraft touches warship, reaches 1, supposes that desirable gliding angle is 4 °, desirable k=1-x/9975.

Introduce feedback signal and model aircraft parameter and can obtain roll angle command signal as the output of Deck Motion Compensator II in control structure block diagram 3.

Claims (1)

1. side direction runway Motion estimation and the compensation method based on motion platform, is characterized in that, comprises the steps:

The first, motion platform movement definition

The landing environment of aircraft is the motion platform deck in motion, and the motion of motion platform comprises two parts: a part be it along the navigation of a vectoring, and there is angle in this course and its angled deck centerline direction another part is that the motion platform that wave disturbance causes sways motion, and comprising hangs down swings (having another name called heave), surging and three kinds of translations of swaying, and yawing, pitching and three kinds of rotations of rolling;

The second, deck motion compensation structural design

DMC navigates by water motion platform and sway the Aircraft Lateral course parameter measurement error of bringing and is added in aircraft lateral position deviation signal by Deck Motion Compensator I, eliminates the error that radar reference frame does not overlap and causes with motion platform deck axle; Meanwhile, by Deck Motion Compensator II, the motion of this two type games platform is carried out to phase place leading, the prediction signal obtaining is turned to roll angle compensating signal △ φ _c, control aircraft and reduce lateral deviation;

The 3rd, calculate compensator

Deck motion compensation instruction:

Horizontal course DMC meets formula:

$G_{\mathrm{DMC}}\left(s\right)G_{\mathrm{ACLS}}\left(s\right){|}_{{\mathrm{\ω}}_s=0.2~1.0\mathrm{rad}/s}=1$

Compensating instruction △ φ _capproximate function form as follows:

${\mathrm{\Δ\φ}}_c=\frac{1}{g}(x{\stackrel{\·\·}{\mathrm{\ψ}}}_{\mathrm{CL}}+2\stackrel{\·}{x}{\stackrel{\·}{\mathrm{\ψ}}}_{\mathrm{CL}})$

ψ wherein _cLmeet ${\stackrel{\·}{\mathrm{\ψ}}}_{\mathrm{CL}}/k+{\mathrm{\ψ}}_{\mathrm{CL}}={\mathrm{\ψ}}_s.$