CN105068547B - The control method and device of aircraft altitude capture - Google Patents
The control method and device of aircraft altitude capture Download PDFInfo
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- CN105068547B CN105068547B CN201510489613.0A CN201510489613A CN105068547B CN 105068547 B CN105068547 B CN 105068547B CN 201510489613 A CN201510489613 A CN 201510489613A CN 105068547 B CN105068547 B CN 105068547B
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Abstract
The present invention provides a kind of control method and device of aircraft altitude capture, this method includes：Obtain the vertical speed and difference in height of above-mentioned aircraft；At the time of determining that above-mentioned aircraft starts to capture height according to above-mentioned vertical speed and above-mentioned difference in height；At the above-mentioned moment, the height capture of above-mentioned aircraft is carried out.By the present invention, solves the problems, such as to start to capture effect inaccurate at the time of height, and then improving aircraft flight quality.
Description
Technical field
The present invention relates to flight domain, in particular to a kind of control method and device of aircraft altitude capture.
Background technology
Automatic flight control system is the system that autoplane flies in flight profile, mission profile, can precisely control aircraft
And mitigate driver's burden.Unmanned plane and long endurance, voyage aircraft on be even more important, transporter is 95% in flight course
The above time all drives an airplane with automatic flight control system.Highly capture is that automatic flight control system control aircraft is automatic
Intercept and capture the process of height, be that aircraft reaches the process that will undergo before object height, into object height it is whether steady, without super
The Rule of judgment adjust, connected the moment with height capture without transient state has vital relation.
Domestic and international large transport airplane automatic flight control system is by judging that aircraft is currently high when intercepting and capturing object height
The difference in height of degree distance objective height is less than or equal to a definite value, vertical speed is not distinguished, and is only sentenced according to difference in height
It is disconnected.Can so cause aircraft reach object height when, have overshoot non-overshoot sometimes sometimes, it is sometimes desirable to time it is short, sometimes again
Need the long period.And whether have overshoot, it is necessary to time length aircraft when being captured with engagement altitude vertical speed it is related.This
The determination methods of sample can cause in big vertical speed, intercept and capture height and produce overshoot, and have larger transient state, small
It is longer that high temporal is intercepted and captured during vertical speed.
The content of the invention
The present invention provides a kind of control method and device of aircraft altitude capture, started with least solving the prior art
Capture the problem of inaccurate at the time of height.
According to an aspect of the invention, there is provided a kind of control method of aircraft altitude capture, this method include：Obtain
Take the vertical speed and difference in height of the aircraft；Determine that the aircraft starts according to the vertical speed and the difference in height
At the time of capturing height；At the moment, the height capture of the aircraft is carried out；Perform height capture control law, the height
Degree captures control law：Vz=sqrt (DelH)-K* (1-abs (DelH)/Vz0/Vz0) * sign (Vz0), wherein, Vz is current
Vertical speed, DelH is current difference in height, and K is gain, and Vz0 is the vertical speed proceeded by when height captures, sqrt
It is evolution, abs is absolute value, and sign is the function for taking sign, 1 is taken if Vz0 is more than zero, if Vz0 takes -1 less than zero.
Preferably, obtaining the difference in height includes：The present level of the aircraft is determined according to atmosphere data；Set in advance
Fixed object height and the difference of the present level are the difference in height.
Preferably, wrapped at the time of determining that the aircraft starts and captures height according to the vertical speed and the difference in height
Include：Detect the vertical speed square whether be more than or equal to the difference in height absolute value；In square of the vertical speed
In the case of more than or equal to the difference in height, take current time for the aircraft start capture height at the time of.
Preferably, after performing the height capture control law, the method further includes：In the exhausted of current vertical speed
In the case of being less than or equal to first threshold to value, alternatively, the absolute value of current difference in height is less than or equal to the situation of second threshold
Under, the height capture control law will be performed and change into execution height holding control law.
Preferably, the first threshold is 0.5m/s, and the second threshold is 5m.
According to another aspect of the present invention, there is provided a kind of control device of aircraft altitude capture, including：Obtain mould
Block, for obtaining the vertical speed and difference in height of the aircraft；Moment determining module, for according to the vertical speed and institute
State difference in height determine the aircraft start capture height at the time of；Height trapping module, at the moment, described in progress
The height capture of aircraft；Execution module, for performing height capture control law, the height capture control law is：Vz=
Sqrt (DelH)-K* (1-abs (DelH)/Vz0/Vz0) * sign (Vz0), wherein, Vz is current vertical speed, and DelH is to work as
Preceding difference in height, K are gains, and Vz0 is the vertical speed proceeded by when height captures, and sqrt is evolution, and abs is absolute value,
Sign is the function for taking sign, 1 is taken if Vz0 is more than zero, if Vz0 takes -1 less than zero.
Preferably, the acquisition module includes：Height determination unit, for determining the aircraft according to atmosphere data
Present level；Difference in height acquiring unit, for obtaining difference in height, wherein the difference in height is object height set in advance and institute
State the difference of present level.
Preferably, the moment determining module：Detection unit, for detect the vertical speed square whether be more than etc.
In the absolute value of the difference in height；Moment determination unit, for square being more than or equal to the difference in height in the vertical speed
In the case of, take current time for the aircraft start capture height at the time of.
By the present invention, using the vertical speed and difference in height for obtaining the aircraft；According to the vertical speed and institute
State difference in height determine the aircraft start capture height at the time of；At the moment, the height capture of the aircraft is carried out.
Solves the problems, such as to start to capture effect inaccurate at the time of height, and then improving aircraft flight quality.
Brief description of the drawings
Attached drawing described herein is used for providing a further understanding of the present invention, forms the part of the application, this hair
Bright schematic description and description is used to explain the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the flow chart of the control method of aircraft altitude capture according to embodiments of the present invention；
Fig. 2 is the structure diagram of the control device of aircraft altitude capture according to embodiments of the present invention；
Fig. 3 is the flight schematic diagram of aircraft altitude capture according to the preferred embodiment of the invention.
Embodiment
Come that the present invention will be described in detail below with reference to attached drawing and in conjunction with the embodiments.It should be noted that do not conflicting
In the case of, the feature in embodiment and embodiment in the application can be mutually combined.
A kind of control method of aircraft altitude capture is provided in the present embodiment, and Fig. 1 is according to embodiments of the present invention
Aircraft altitude capture control method flow chart, as shown in Figure 1, the flow includes the following steps：
Step S102, obtains the vertical speed and difference in height of the aircraft；
In one embodiment, obtaining the difference in height includes：The current height of the aircraft is determined according to atmosphere data
Degree；The difference of object height set in advance and the present level is the difference in height.
Step S104, according to the vertical speed and the difference in height determine the aircraft start capture height when
Carve；
In one embodiment, determine that the aircraft starts capture height according to the vertical speed and the difference in height
At the time of include：Detect the vertical speed square whether be more than or equal to the difference in height absolute value；In the vertical speed
Degree square be more than or equal to the difference in height in the case of, take current time for the aircraft start capture height at the time of.
Step S106, at the moment, carries out the height capture of the aircraft.
In a preferred embodiment, after the height capture for carrying out the aircraft, the method further includes：Perform
Control law is highly captured, the height capture control law is：Vz=sqrt (DelH)-K* (1-abs (DelH)/Vz0/Vz0) *
Sign (Vz0), wherein, Vz is current vertical speed, and DelH is current difference in height, and K is gain, and Vz0 is to proceed by height
Vertical speed during degree capture, sqrt is evolution, and abs is absolute value, and sign is the function for taking sign, if Vz0 is more than zero
1 is taken, -1 is taken if Vz0 is less than zero.
In another preferred embodiment, after performing the height capture control law, the method further includes：Working as
The absolute value of preceding vertical speed be less than or equal to first threshold in the case of, alternatively, the absolute value of current difference in height be less than etc.
In the case of second threshold, the height capture control law will be performed and change into execution height holding control law.Wherein, it is described
First threshold is 0.5m/s, and the second threshold is 5m.
By above-mentioned steps, solve the problems, such as to start to capture inaccurate at the time of height, and then improve flight
The effect of device flight quality.
A kind of control device of aircraft altitude capture is additionally provided in the present embodiment, which is used for realization above-mentioned reality
Example and preferred embodiment are applied, had carried out repeating no more for explanation.As used below, term " module " can be realized
The combination of the software and/or hardware of predetermined function.Although following embodiments described devices is preferably realized with software,
It is hardware, or the realization of the combination of software and hardware is also what may and be contemplated.
Fig. 2 is the structure diagram of the control device of aircraft altitude capture according to embodiments of the present invention, as shown in Fig. 2,
The device includes：Acquisition module 22, for obtaining the vertical speed and difference in height of the aircraft；Moment determining module 24, is used
At the time of determining that the aircraft starts to capture height according to the vertical speed and the difference in height；Height trapping module
26, for being captured in the moment, the height for carrying out the aircraft.
In a preferred embodiment, the acquisition module includes：Height determination unit, for true according to atmosphere data
The present level of the fixed aircraft；Difference in height acquiring unit, for obtaining difference in height, wherein the difference in height is to preset
Object height and the present level difference.
In another preferred embodiment, the moment determining module：Detection unit, for detecting the vertical speed
Square whether be more than or equal to the difference in height absolute value；Moment determination unit, in the square big of the vertical speed
In the case of equal to the difference in height, take current time for the aircraft start capture height at the time of.
In yet another preferred embodiment, described device further includes：Execution module, for performing height capture control
Rule, the height capture control law are：Vz=sqrt (DelH)-K* (1-abs (DelH)/Vz0/Vz0) * sign (Vz0), its
In, Vz is current vertical speed, and DelH is current difference in height, and K is gain, and Vz0 is to proceed by hanging down when height captures
Straight speed, sqrt are evolutions, and abs is absolute value, and sign is the function for taking sign, 1 are taken if Vz0 is more than zero, if Vz0 is less than
Zero takes -1.
Illustrated below in conjunction with the preferred embodiment of the present invention.
Highly capture is that aircraft reaches the automatic process for reducing vertical speed and gradually leveling off before object height, and traditional flies
Machine, which highly captures and connects logic, to be judged with difference in height, no matter aircraft vertical speed size, is relied only on certain altitude difference and is judged
Whether engagement altitude captures, and when can so cause big vertical speed, aircraft, which reaches object height, overshoot, there is transient state, small vertical
During speed, capture high temporal is long.
In order to solve the above problem in correlation technique, the embodiment of the present invention proposes a kind of new height capture when connecting
The determination methods at quarter, replace traditional difference in height to judge height capture opportunity with vertical speed, improve height capture property
Can, hyperharmonic transient state is avoided, eliminates the uncertainty for reaching the object height time.
The preferred embodiment of the present invention additionally provides a kind of control method of aircraft altitude capture.Fig. 3 is according to the present invention
The flight schematic diagram of the aircraft altitude capture of preferred embodiment, wherein, H1 is that aircraft is currently located height；H2 is Aircraft Targets
Highly.Control method provided in an embodiment of the present invention comprises the following steps：
(1) the difference DelH of the current vertical speed Vz of aircraft, present level and object height are determined；
(2) Vz*Vz. is judged>=abs (DelH), starts to perform height capture control law；
(3) height capture control law is：Vz=sqrt (DelH)-K* (1-abs (DelH)/Vz0/Vz0) * sign (Vz0)；
Wherein, K is gain, provisional value 1.5；Vz0 is that the execution for starting the height capture moment highly captures control law vertical speed, its
In, Vz is current vertical speed, and DelH is current difference in height, and K is gain, and Vz0 is to proceed by hanging down when height captures
Straight speed；
(4) Vz is judged<=0.5m/s or DelH<=5m, starts to perform height holding control law, height keeps control law
It is prior art.
The invention has the advantages that：
The embodiment of the present invention proposes a kind of method that opportunity is intercepted and captured according to vertical speed decision height, changes traditional
The mode for only relying on difference in height to judge, can make aircraft when reaching object height all the time non-overshoot, without transient state and capture time
It is basically identical, automatic Pilot performance is improved, improves flight quality.
Overshoot, the transient state brought invention not only avoids traditional control method, it is high in capture to also achieve pilot
Convenience when spending manipulates, and alleviates pilot flight's burden, improves flying quality and the degree of automation of automatic Pilot.This
Invention need not carry out any hardware modification to automatic pilot or Manual Flight Control System, directly can fly control calculating automatic
Increase the algorithm in machine, save improvement cost, shorten the R＆D cycle.
Obviously, those skilled in the art should be understood that above-mentioned each module of the invention or each step can be with general
Computing device realize that they can be concentrated on single computing device, or be distributed in multiple computing devices and formed
Network on, alternatively, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
Performed in the storage device by computing device, and in some cases, can be with different from shown in order execution herein
The step of going out or describing, they are either fabricated to each integrated circuit modules respectively or by multiple modules in them or
Step is fabricated to single integrated circuit module to realize.Combined in this way, the present invention is not restricted to any specific hardware and software.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the invention, for the skill of this area
For art personnel, the invention may be variously modified and varied.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.
Claims (8)
- A kind of 1. control method of aircraft altitude capture, it is characterised in that including：Obtain the vertical speed and difference in height of the aircraft；At the time of determining that the aircraft starts to capture height according to the vertical speed and the difference in height；At the moment, the height capture of the aircraft is carried out；Height capture control law is performed, the height capture control law is：Vz=sqrt (DelH)-K* (1-abs (DelH)/ Vz0/Vz0) * sign (Vz0), wherein, Vz is current vertical speed, and DelH is current difference in height, and K is gain, and Vz0 is out Begin to carry out vertical speed when height captures, sqrt is evolution, and abs is absolute value, and sign is the function for taking sign, if Vz0 1 is taken more than zero, -1 is taken if Vz0 is less than zero.
- 2. according to the method described in claim 1, it is characterized in that, obtaining the difference in height includes：The present level of the aircraft is determined according to atmosphere data；The difference of object height set in advance and the present level is the difference in height.
- 3. according to the method described in claim 1, it is characterized in that, according to determining the vertical speed and the difference in height Aircraft starts to include at the time of capturing height：Detect the vertical speed square whether be more than or equal to the difference in height absolute value；The vertical speed square be more than or equal to the difference in height in the case of, take current time to start for the aircraft At the time of capturing height.
- 4. according to the method described in claim 1, it is characterized in that, after performing height capture control law, the method Further include：In the case where the absolute value of current vertical speed is less than or equal to first threshold, alternatively, current difference in height is absolute It is worth in the case of being less than or equal to second threshold, the height capture control law will be performed and change into execution height holding control law.
- 5. according to the method described in claim 4, it is characterized in that, the first threshold is 0.5m/s, the second threshold is 5m。
- A kind of 6. control device of aircraft altitude capture, it is characterised in that including：Acquisition module, for obtaining the vertical speed and difference in height of the aircraft；Moment determining module, for determining that the aircraft starts to capture height according to the vertical speed and the difference in height Moment；Height trapping module, for being captured in the moment, the height for carrying out the aircraft；Execution module, for performing height capture control law, the height capture control law is：Vz=sqrt (DelH)-K* (1- Abs (DelH)/Vz0/Vz0) * sign (Vz0), wherein, Vz is current vertical speed, and DelH is current difference in height, and K is to increase Benefit, Vz0 are the vertical speed proceeded by when height captures, and sqrt is evolution, and abs is absolute value, and sign takes sign Function, takes 1, if Vz0 takes -1 less than zero if Vz0 is more than zero.
- 7. device according to claim 6, it is characterised in that the acquisition module includes：Height determination unit, for determining the present level of the aircraft according to atmosphere data；Difference in height acquiring unit, for obtaining difference in height, wherein the difference in height is worked as object height set in advance with described The difference of preceding height.
- 8. device according to claim 6, it is characterised in that the moment determining module includes：Detection unit, for detect the vertical speed square whether be more than or equal to the difference in height absolute value；Moment determination unit, for the vertical speed square be more than or equal to the difference in height in the case of, when taking current Carve for the aircraft start capture height at the time of.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107466384A (en) * | 2016-05-25 | 2017-12-12 | 深圳市大疆创新科技有限公司 | A kind of method and device for following the trail of target |
| CN109564433A (en) | 2016-11-02 | 2019-04-02 | 深圳市大疆创新科技有限公司 | The system and method that height for loose impediment controls |
| CN106681344B (en) * | 2016-12-26 | 2019-08-27 | 湖南纳雷科技有限公司 | A kind of height control method and control system for aircraft |
| CN109625248B (en) * | 2018-11-23 | 2022-04-01 | 中国航空工业集团公司沈阳飞机设计研究所 | Given height control method |
| CN112558478B (en) * | 2020-12-08 | 2022-06-17 | 中国商用飞机有限责任公司 | Height leveling function control method and system for civil aircraft autopilot |
| CN113741521A (en) * | 2021-09-01 | 2021-12-03 | 中国航空工业集团公司西安飞行自动控制研究所 | Control method for capturing automatic flying height of civil airliner |
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