CN105527955B - A kind of Aircraft Quality characteristics modeling method - Google Patents
A kind of Aircraft Quality characteristics modeling method Download PDFInfo
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Abstract
The invention belongs to aircraft flight control system simulating, verifying technical field, be related to it is a kind of can during flight control system simulating, verifying real-time resolving Aircraft Quality performance data new method, ensure the correctness of simulating, verifying.The present invention can retain conventional flight control simulation checking system structure, and a kind of operating mass unloden characteristic according to empty machine, fuel oil, the delta data foundation for loading respective mass property of increase resolves module, realizes real-time resolving operating mass unloden characteristic.This method can not only simulate fuel consumption, the influence to aircraft body of loading mass change (airplane air dropping etc.) and loading pattern, so as to real simulation aircraft, effectively improve the authenticity of analogue system.It moreover, the application of this method need not be transformed any structure division of Flight control simulation system, can directly increase the algoritic module in simulation model, save improvement cost, shorten the R＆D cycle.
Description
Technical field
The invention belongs to aircraft flight control system simulating, verifying technical field, and being related to one kind can test in flight control system emulation
The new method of real-time resolving Aircraft Quality performance data during card, ensure the correctness of simulating, verifying.
Background technology
Aircraft Quality characteristic, i.e. center of gravity, rotary inertia and the product of inertia.Simulating, verifying process is being carried out to flight control system
In, it is necessary to carry out real-time resolving to aircraft equation, so as to which current state of flight is sent into control system, and then be to control
System carries out simulating, verifying.When resolving aircraft equation, it is necessary to use the rotary inertia and inertia volume data of aircraft.Mass property number
According to it is untrue, it will largely influence the calculating of aircraft equation, be unfavorable for the simulating, verifying of flight control system.
The current domestic simulating, verifying to aircraft flight control system is all by preset state point information, including winged
The quality characteristics data of machine.However, in flight simulation flight course, the mass property of aircraft is still previous preset value,
Cause the aircraft equation solver distortion in simulation process, influence the simulating, verifying to flight control system.
The basis of flight control system simulating, verifying is the correctness of aircraft equation solver, only when aircraft equation and truly
During the characteristic infinite approach of aircraft, the correct of simulating, verifying can be ensured.So during simulating, verifying, it is necessary to assure fly
The accuracy of required data during machine equation solver.It can be that input is current in real time for aircraft equation that simulation checking system, which should provide one kind,
The quality characteristics data that state is got off the plane, with the simulation and calculation of effective guarantee aircraft equation.
Processing of traditional flight control simulation checking system to Aircraft Quality performance data has the following disadvantages：
1st, influence of the fuel consumption to aircraft dynamics equation solver can not be simulated；
2nd, influence of the loading mass change (airplane air dropping etc.) to aircraft dynamics equation solver can not be simulated；
3rd, influence of the loading pattern to aircraft dynamics equation solver can not be simulated；
It is new through looking into, not with the invention similar in patent.
The content of the invention
The purpose of the present invention is：The purpose of the present invention is the flight control simulation checking system in traditional quality characteristics constant
On the basis of, propose a kind of according to empty machine, fuel oil, the delta data for loading respective mass property, progress real-time resolving operating mass unloden
The modeling method of characteristic.
The technical scheme is that：
A kind of Aircraft Quality characteristics modeling method, aircraft operating mass unloden is by empty weight, fuel oil quality, loading mass three
It is grouped into；A coordinates computed system is defined, mass property includes barycentric coodinates X, Y, Z, rotary inertia Ix、Iy、Iz, product of inertia Ixy、
Ixz、Iyz, wherein, empty weight performance data is steady state value；The quality characteristics data of fuel oil is typically as fuel oil quality is into dullness
Property change；The quality characteristics data of loading is together decided on by loading pattern and loading mass, and is changed into monotonicity；This method
Step is as follows：
(1) according to existing fuel oil quality performance data, the interpolation table with mass change is established；Similarly, according to loading
Quality characteristics data, establish the interpolation table with quality and loading pattern change；
(2) operating mass unloden characteristic is calculated according to empty machine, fuel oil, loading three parts quality characteristics data, numerical procedure is such as
Under：
A) full machine is derived to coordinate origin principle of moments using gravity caused by empty machine, fuel oil, loading three parts quality
Center of gravity calculation formula is：Three parts quality respectively with the product away from coordinate origin distance divided by three parts quality sum.
B) rotary inertia parallel-axis theorem is：Rigid body for any axle rotary inertia, equal to rigid body for by barycenter,
And the rotary inertia of the axle parallel with the axle, plus the product of Rigid Mass and two axle bases square.Utilize this principle, difference
Empty machine, fuel oil, loading three parts are moved into full machine center of gravity by parallel-axis theorem around the rotary inertia being in certainly, drawn complete
The calculation formula of machine rotary inertia；.
C) product of inertia translation principle is utilized, the product of inertia of empty machine, fuel oil, loading three parts is moved into full machine center of gravity respectively
Place, draw the calculation formula of the full machine product of inertia.
(3) mass property model is established using mathematical modeling software for calculation, with fuel oil quality, loading mass, loading pattern
For input, fuel oil under current state, the quality characteristics data loaded are obtained according to respective interpolation table, by being pushed away in step (2)
Derived full machine center of gravity, rotary inertia and product of inertia computational methods, build computing module, so as to calculate operating mass unloden characteristic quantity
According to.
Beneficial effect caused by the present invention：The present invention can retain conventional flight control simulation checking system structure, increase
A kind of operating mass unloden characteristic according to empty machine, fuel oil, the delta data foundation for loading respective mass property resolves module, realizes real
When resolve operating mass unloden characteristic.This method can not only simulate fuel consumption, loading mass change (airplane air dropping etc.) and load
Influence of the pattern to aircraft body, so as to real simulation aircraft, effectively improve the authenticity of analogue system.Moreover, this method
Using need not transform any structure division of Flight control simulation system, it can directly increase the algorithm in simulation model
Module, save improvement cost, shorten the R＆D cycle.
Brief description of the drawings
Fig. 1 is the coordinates computed shafting of mass property modeling；
Fig. 2 is square schematic diagram of the power to point；
Fig. 3 is rotary inertia and product of inertia coordinate system translation schematic diagram；
Fig. 4 is mass property modeling scheme schematic diagram.
Wherein：
O is the origin of coordinates, for plane at S rice before plane nose and the intersection point of formation horizontal line；X-axis is horizontal in aircraft system
On line, direction is opposite with course；Y-axis points to right side perpendicular to the aircraft plane of symmetry；Z axis is on the aircraft plane of symmetry, straight up；O
It is that coordinate origin is calculated in Fig. 1；OX is that direction is opposite with course on aircraft system horizontal line；M is operating mass unloden；X is complete
The position of centre of gravity of machine；M1 is empty weight；X1 is the position of centre of gravity of sky machine；M2 is fuel oil quality；X2 is the position of centre of gravity of fuel oil；
M3 is loading mass；X3 is the position of centre of gravity loaded；N is a point mass in rigid body；O2 is rigid body barycenter；Coordinate system X1Y1Z1 with
X2Y2Z2 is parallel；D is O1 and O2 distance；X1 is n in distance of the projection of X1O1Y1 planes away from O1Y1 axles；Y1 is that n exists
Distance of the projection of X1O1Y1 planes away from O1X1 axles；X2 is n in distance of the projection of X2O2Y2 planes away from O2Y2 axles；Y2 is that n exists
Distance of the projection of X2O2Y2 planes away from O2X2 axles.
Embodiment
Principle：Aircraft Quality is made up of empty machine, fuel oil, loading three parts.To full machine center of gravity calculation formula, rotary inertia meter
Calculation formula, product of inertia calculation formula are derived, and full machine matter is calculated according to empty machine, fuel oil, loading sole mass performance data
Flow characteristic data.
A kind of Aircraft Quality characteristics modeling method is illustrated with embodiment below in conjunction with the accompanying drawings.
Step 1：Define coordinates computed shafting.As shown in figure 1, the empty machine, fuel oil, the loading that are provided according to aircraft weight specialty
The system of axis of the respective quality characteristics data institute foundation of three parts, define the coordinates computed shafting of mass property modeling.
Step 2：According to empty machine, fuel oil, loading three parts, each quality characteristics data establishes interpolation table.Empty weight characteristic
Data are generally steady state value；Fuel oil quality characteristic typically changes with the change of quality；Loading mass characteristic is with loading pattern, dress
The change of mounted mass and change.According to quality characteristics data, data interpolating table is established, data source is provided for follow-up calculating.
Step 3：Derive full machine center of gravity calculation formula.If empty weight is m1, fuel oil quality m2, loading mass m3,
X1, Y1, Z1 are position of centre of gravity of the empty machine in coordinates computed system, and X2, Y2, Z2 are center of gravity of the fuel oil certainly in coordinates computed system
Position, X3, Y3, Z3 are to load the position of centre of gravity from coordinates computed system, and X, Y, Z are operating mass unloden in coordinates computed system
Position of centre of gravity.
Fig. 2 is coordinates computed shafting X-axis, and O is coordinate origin, and m is operating mass unloden.
Principle of moment according to power to point, empty machine, fuel oil, loading each several part quality are to the square of origin
It is to closing square caused by origin then
M=m1*g*X1+m2*g*X2+m3*g*X3
So operating mass unloden X-axis barycentric coodinates are to the distance of origin
Likewise, Y, Z axis are identical to barycentric coodinates position computational methods, then full machine position of centre of gravity coordinate calculation formula is as follows
It is shown：
Step 4：Derive full machine rotary inertia calculation formula.Rotary inertia parallel-axis theorem is：Rigid body is for any axle
Rotary inertia, equal to rigid body for the rotary inertia by barycenter and the axle parallel with the axle, plus Rigid Mass and two between centers
The product of square distance.
As shown in figure 3, coordinate system X1Y1Z1With X2Y2Z2It is parallel, O2For rigid body barycenter, n is a point mass in rigid body, n for
O2Z2Rotary inertia be Iz", to O1Z1Rotary inertia is Iz', O2Z2Axle and O1Z1Wheelbase is from for d, according to parallel-axis theorem, then
Iz'=Iz”+nd2=Iz”+n((x1-x2)2+(y1-y2)2)
It is theoretical more than, if Ix1、Iy1、Iz1Rotary inertia for empty machine around itself center of gravity coordinate system, Ix2、Iy2、Iz2
Rotary inertia for fuel oil around itself center of gravity coordinate system, Ix3、Iy3、Iz3Rotation to load around itself center of gravity coordinate system is used to
Amount, Ix、Iy、IzRotary inertia for full machine around center of gravity coordinate system, remaining symbol define unanimously with step 3.
Full machine rotary inertia calculation formula：
Step 5：Derive full machine product of inertia calculation formula.Such as Fig. 3, the products of inertia of the matter member n in Two coordinate system is respectively
With
Barycenter O2In coordinate system X1Y1Z1In coordinate be (x', y', z'), then
Substitute into equation groupThe first formula obtain
Ixy'=n* (x'+x2) * (y'+y2)
=nx'y'+n (x'y2+x2y')+Ixy”
=nx'y'+n (x'y2+x2y')+Ixy”
Due to O2For rigid body barycenter, so x2, y2, z2 0, then
Ixy'=Ixy”+nx'y'
Similarly,
Ixz'=Ixz”+nx'z'
Iyz'=Iyz”+ny'z'
According to above-mentioned theory, if Ixy1、Ixz1、Iyz1For the product of inertia of empty machine, Ixy2、Ixz2、Iyz2It is that fuel oil is used to around itself
Property product, Ixy3、Ixz3、Iyz3To load the product of inertia of itself, Ixy、Ixz、IyzFor the full machine product of inertia, remaining symbol defines with step 3
Unanimously.
Full machine product of inertia calculation formula：
Step 6：Build mathematical modeling.According to data above and calculation formula, according to Fig. 4 in mathematical modeling software for calculation
It is modeled under Matlab/Simulink.
Claims (1)
1. a kind of Aircraft Quality characteristics modeling method, aircraft operating mass unloden is by empty weight, fuel oil quality, loading mass three parts
Composition；A coordinates computed system is defined, mass property includes barycentric coodinates X, Y, Z, rotary inertia Ix、Iy、Iz, product of inertia Ixy、
Ixz、Iyz, wherein, empty weight performance data is steady state value；The quality characteristics data of fuel oil is typically as fuel oil quality is into dullness
Property change；The quality characteristics data of loading is together decided on by loading pattern and loading mass, and is changed into monotonicity；Its feature
It is that this method step is as follows：
(1) according to existing fuel oil quality performance data, the interpolation table with mass change is established；Similarly, according to loading mass
Performance data, establish the interpolation table with quality and loading pattern change；
(2) operating mass unloden characteristic is calculated according to empty machine, fuel oil, loading three parts quality characteristics data, numerical procedure is as follows：
A) full machine center of gravity is derived to coordinate origin principle of moments using gravity caused by empty machine, fuel oil, loading three parts quality
Calculation formula is：Three parts quality with the product away from coordinate origin distance divided by three parts quality sum, draws full machine respectively
The calculation formula of center of gravity；
B) rotary inertia parallel-axis theorem is：Rigid body for any axle rotary inertia, equal to rigid body for by barycenter and with
The rotary inertia of the parallel axle of the axle, plus the product of Rigid Mass and two axle bases square；Using this principle, respectively by sky
Machine, fuel oil, loading three parts move to full machine center of gravity around the rotary inertia being in certainly by parallel-axis theorem, show that full machine turns
The calculation formula of dynamic inertia；
C) product of inertia translation principle is utilized, the product of inertia of empty machine, fuel oil, loading three parts is moved into full machine center of gravity respectively,
Draw the calculation formula of the full machine product of inertia；
(3) mass property model is established using mathematical modeling software for calculation, using fuel oil quality, loading mass, loading pattern to be defeated
Enter, fuel oil under current state, the quality characteristics data loaded are obtained according to respective interpolation table, by being derived in step (2)
Full machine center of gravity, rotary inertia and product of inertia computational methods, computing module is built, so as to calculate operating mass unloden performance data.
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| CN106295046A (en) * | 2016-08-18 | 2017-01-04 | 中国人民解放军国防科学技术大学 | A kind of entire assembly model quality substation method based on PRO/E secondary development |
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| CN108069047B (en) * | 2017-12-01 | 2021-03-23 | 中国直升机设计研究所 | Method for controlling helicopter to use gravity center envelope |
| CN110901898B (en) * | 2019-11-22 | 2023-04-07 | 深圳运捷迅信息系统有限公司 | Aircraft gravity center limiting method and device |
| CN111307370A (en) * | 2020-03-19 | 2020-06-19 | 青岛航空技术研究院(中国科学院工程热物理研究所青岛研究中心) | Method for measuring rotational inertia of unmanned aerial vehicle |
| CN112591132A (en) * | 2020-12-24 | 2021-04-02 | 江西洪都航空工业股份有限公司 | Method for transforming rotational inertia coordinates of control surface of airplane |
| CN113642102B (en) * | 2021-07-23 | 2024-03-15 | 一汽奔腾轿车有限公司 | Automatic modeling method for rigid body pairs in collision model |
| CN114839917B (en) * | 2022-06-30 | 2022-09-02 | 微至航空科技(北京)有限公司 | Flight control system for transport aircraft |
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