CN105864232A - Method for recovering tail spin by controlling fore-body vortex and flow control exciter - Google Patents
Method for recovering tail spin by controlling fore-body vortex and flow control exciter Download PDFInfo
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- CN105864232A CN105864232A CN201610197647.7A CN201610197647A CN105864232A CN 105864232 A CN105864232 A CN 105864232A CN 201610197647 A CN201610197647 A CN 201610197647A CN 105864232 A CN105864232 A CN 105864232A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15D—FLUID DYNAMICS, i.e. METHODS OR MEANS FOR INFLUENCING THE FLOW OF GASES OR LIQUIDS
- F15D1/00—Influencing flow of fluids
- F15D1/08—Influencing flow of fluids of jets leaving an orifice
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15D—FLUID DYNAMICS, i.e. METHODS OR MEANS FOR INFLUENCING THE FLOW OF GASES OR LIQUIDS
- F15D1/00—Influencing flow of fluids
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Abstract
The invention discloses a method for recovering tail spin by controlling fore-body vortex and a flow control exciter. Different from a conventional method for recovering tail spin by providing reverse direct force via thrust vector and anti-spin parachute, the flow control exciter controls an aircraft forebody asymmetric flow and provides aerodynamic torque opposite to tail spin direction so as to recover the tail spin. The flow control exciter used by the method is an improved zero-net-mass-flux jet exciter and comprises a gyroscope, a microprocessor, a head apex, an air guide tube, two cavities and a vibration exciter; the flow control exciter is embedded in an craft head apex; the flow control exciter is low in energy consumption and quick in response during controlling the tail spin, and is applicable to engineering application. The method comprises the following specific processes: analyzing output signals of the gyroscope to obtain the tail spin direction and rotation speed when the aircraft enters the tail spin, then sending commands to the flow control exciter, controlling the aircraft for-body asymmetric vortex to form a right vortex type or a left vortex type; controlling the aircraft to reduce the rotation speed and reduce the incidence angle to recover the tail spin as the generated aerodynamic torque is opposite to the rotation direction of the aircraft.
Description
Technical field
The present invention relates to aviation anti-tailspin technical field, a kind of change the method for tailspin and control activator for the flowing of the method by controlling aircraft precursor whirlpool.
Background technology
The research of resistance of airplane tailspin technology is particularly significant to be also highly desirable to, and after aircraft enters tailspin, rudder face lost efficacy to be difficult to change and in turn results in aviation accident.Tailspin be aircraft supercritical angle-of-attack range occur around its longitudinal axis from supination, under aerodynamic force, inertia force and action of gravity, on the one hand the three individual axles around their own rotate, and on the other hand make spontaneous descending motion along the helical trajectory that radius is the least again, and Fig. 1 shows the form of left tailspin.Tailspin is one of the most complicated and the most dangerous state of flight, directly jeopardizes the safety of pilot and aircraft.
Current anti-tailspin technology and device specifically include that 1, strengthen flight control system ability or improves the aerodynamic arrangement of aircraft to improve the ability of resistance of airplane/change tailspin；2, develop various tailspin and change device.
When aircraft enters after tailspin, typically by pilot control rudder face utilize aerodynamic force to change tailspin, here it is usually said pneumatic mode changing ways.And now primary control surface is in failure state in the leeward district of the big angle of attack, when pneumatic rudder face cannot change tailspin, other emergent tailspins are used to change device.Emergent change tailspin system and include: antispin parachute, antitailspin rocket and Thrust Vectoring Technology.
Use antispin parachute technology the most the earliest is on Boeing F4B-2, antispin parachute technology already belongs to mature technology abroad at present, current nearly all advanced fighter, such as aircrafts such as F-16, F-15, F-18, X-29, F-22, antispin parachute system is all installed when carrying out spin flight test.Ge Lumen company carried out a test changing tailspin with rocket system, FW-56 type aircraft, the P-47 model of an airplane and T-28 testing machine and T2J aircraft in 1938, and F-107 aircraft, FJ-4 aircraft has all carried out the antitailspin rocket experimental study of multi-form.
Three, fourth generation fighter mostly is elongated forebody, can produce Asymmetric Vortex because of the induction of forebody head leeward district when big angles-of-attack, and Asymmetric Vortex promotes aircraft to be deviated into tailspin.Exploration to High Angle of Attack precursor whirlpool both at home and abroad has done substantial amounts of work with controlling research, and these control technology include passively controlling technology, as boundary layer transition band, head fix edge strip etc.；Active control technology, as precursor head blow/air-breathing, movable edge strip, spin crossover be oval head, shimmy of head point unsteady flo w, synthesizing jet-flow technology, head fluid agitator control technology, head plasma control technique etc..
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of method and flowing control activator changing tailspin by controlling precursor whirlpool, this method changing tailspin and flowing control activator for having the aircraft of elongated precursor characteristics, change tailspin by controlling precursor asymmetrical vortex.
The present invention changes the method for tailspin for utilizing flow control method to control aircraft precursor Asymmetric Vortex at slender bodies head point by controlling precursor whirlpool, controlled precursor asymmetrical vortex provides a side force in opposite direction with known tailspin and yawing, it is achieved changing of tailspin.Control activator to flowing and input the signal of certain waveform so that two gas outlets of activator replace jet and energy continuous control jet velocity is poor, it is provided that disturbance in various degree forms different whirlpool types.Described waveform is the square wave of variable duty ratio and can form difference and give vent to anger other waveforms of speed；When both sides activator individually enters signal simultaneously, waveform is any same waveform that both sides are simultaneously entered out of phase.When aircraft enters left tailspin, control precursor asymmetrical vortex and form right whirlpool type, side force point to yawing on the right side of contrary with the direction of rotation of tailspin, rotary speed reduces, and control aircraft is bowed and reduced the angle of attack and change left tailspin；When aircraft enters right tailspin, then controlling precursor asymmetrical vortex and form left whirlpool type, side force changes right tailspin on the left of yawing sensing.
Having applying artificial disturbance at elongated precursor aircraft head point, flow degree of asymmetry and the direction of body vortices before controlling when activator is capable of controlling aircraft at high angle of attack form different whirlpool types, including right whirlpool type, left whirlpool type.The vortex system of these controlled different whirlpools types can act on and produce the yawing around center of gravity, by the control of front body vortices can change size and the direction of yawing.When aircraft enters tailspin, utilizing this yawing opposite to the direction of rotation to reduce rotary speed, make aircraft be easier to bow, angle of attack reduction changes tailspin.
The method that described right whirlpool type is formed is: controlling activator input signal to flowing is square-wave signal, makes square-wave signal dutycycle λ 50%, forms right whirlpool type；The method that described left whirlpool type is formed is: controlling activator input signal to flowing is square-wave signal, makes square-wave signal dutycycle λ 50%, forms left whirlpool type.
Above-mentioned aircraft is the aircraft with the pneumatic resemblance of elongated precursor, such as aircraft, guided missile etc..Distribution form is all distribution forms of elongated precursor characteristics, such as, normal arrangement, canard layout, three-surface configuration and other distribution forms.
Described flowing controls activator and is used for controlling precursor volute one-tenth different whirlpools type, this flowing controls activator and can be the shimmy activator of mechanical type unsteady flo w, can be fluid oscillating activator, can be zero-net-mass-flux jet activator, can also be plasma flow control activator etc., be not limited to above several device, every have control precursor volute become different whirlpools type ability be all applicable to this method.
The flowing of a kind of method changing tailspin for above-mentioned control precursor whirlpool controls activator, and it is double film two-chamber zero-net-mass-flux jet activators that this flowing controls activator.Above-mentioned pair of film two-chamber zero-net-mass-flux jet activator includes head point, airway, not connected two cavitys, vibrators.Each cavity is respectively provided with small one and large one two ends, and head point is arranged on one end that cavity is less, and one end that cavity is less arranges gas port, and airway passes the gas port of the less one end of cavity and is connected with head point.Two vibrators are installed in the circular trough of cavity both sides, and the vibrating diaphragm of vibrator is towards inner side；Vibrator and cavity junction sealed air-tight, form confined space；Two ventholes of cavity connect with two cavitys sealed respectively.
The gas outlet of above-mentioned pair of film two-chamber zero-net-mass-flux jet activator is at slender bodies head point, the important geometric parameter of head point is: gas outlet is far from pinnacle bus distance L, holes circumference angle, gas outlet area s, going out gas outlet axis with as the angle γ of ground surface, the form of gas outlet can be hole, rectangular opening, seam and irregularly shaped.
Described pair of film two-chamber zero-net-mass-flux jet activator also includes gyroscope and microprocessor.
The described pair of embedded Vehicle nose of film two-chamber zero-net-mass-flux jet activator, without exposing device, without source of the gas, four wires of zero-net-mass-flux jet activator both sides vibrator have two kinds of modes of connection: one is to form two strands, the i.e. positive pole of side vibrator and opposite side vibrator negative pole is connected to form one, the negative pole of side vibrator forms another stock with the positive pole of opposite side vibrator, and two strand roads are connected with power amplifier, signal generator, microprocessor and gyroscope；Another kind is that two activators are connected with power amplifier, signal generator, microprocessor and gyroscope respectively.Input signal is to zero-net-mass-flux jet activator after internalarithmetic for the tailspin parameter that signal generator can record according to gyroscope, and signal is sinusoidal wave or square-wave signal.The vibrating diaphragm vibration of vibrator can make cavity volume increase or reduce, owing to both sides vibrator wiring both positive and negative polarity is reverse, therefore the input signal phase of two vibrators is π, and two holes of the vibration of vibrator the most so head point can alternately spray gas, the most alternately sucks gas.Obtained the change of point double air vent speed difference to the end by the dutycycle or input difformity waveform regulating input signal square wave, and then asymmetric disturbance in various degree is provided；Frequency and power by regulation input signal are adapted to different flying condition.
The present invention is to change method and the flowing control activator of tailspin by controlling precursor whirlpool, has the advantage that relative to traditional method
1, control input energy is the least, efficiency is high, weight is little, simple in construction, small and exquisite reliably；
2, control the conformal shape of device without exposing, without source of the gas without complex pipeline, safeguard simply, can be used for multiple times；
3, provide relatively big reversely aerodynamic force and moment by change flow field, rather than thrust vectoring, antispin parachute provide reverse direct force with antitailspin rocket；
4, double film two-chamber zero-net-mass-flux jet activators only need to change the signal of input specific waveforms, responds fast, simple to operate.
The method changing tailspin by controlling precursor whirlpool of the present invention is by including that the flowing of the parts such as gyroscope, microprocessor controls activator and controls precursor asymmetrical vortex, utilize side force produced by precursor asymmetrical vortex and yawing to reduce rotary speed during aircraft tailspin, and then promote changing of tailspin.The relatively conventional method present invention changing tailspin has simple in construction, lightweight, energy expenditure is little, maintenance cost is low, overhauls convenient advantage, and aircraft can repeatedly carry out the feature that tailspin changes during airflight of not landing.
Accompanying drawing explanation
Fig. 1 is left tailspin schematic diagram；
Fig. 2 is the elongated precursor longitudinal sectional view being embedded with double film two-chamber zero-net-mass-flux jet activator；
Fig. 3 is the structure chart of double film two-chamber zero-net-mass-flux jet activator, and this figure is the shaft side figure that activator is cut open；
Fig. 4 is head point front view；
Fig. 5 is the top view of the head point shown in Fig. 4；
Fig. 6 is the left view of the head point shown in Fig. 4；
Fig. 7 is that different duty controls difference whirlpool, precursor whirlpool type schematic diagram；
Fig. 8 is aircraft top view stress and moment situation schematic diagram after the type effect of right whirlpool；
Fig. 9 is that right whirlpool type changes left tailspin schematic diagram；
Figure 10 changes tailspin anglec of rotation curve for different whirlpools type.
Detailed description of the invention
Case study on implementation one:
Below in conjunction with the accompanying drawings, to the present invention propose a kind of by control precursor whirlpool change tailspin method and flowing control activator be described in detail.
The flowing of the method for being changed tailspin by control precursor whirlpool of the present invention controls activator, including gyroscope (for tailspin parameter measurement), microprocessor and double film two-chamber zero-net-mass-flux jet activator.
As shown in Figures 2 and 3, double film two-chamber zero-net-mass-flux jet activators include head point 1, airway 2, cavity 3, vibrator 4.As shown in Figs. 4-6, the main geometric parameters of head point 1 is: cone-apex angle δN, gas outlet is far from pinnacle bus distance L, and holes circumference angle, gas outlet area s, gas outlet axis is with as the angle γ of ground surface, and gas outlet can be with selecting hole, rectangular opening, seam and irregularly shaped.Having dividing plate to separate in the middle of two cavitys 3, not connected, the central axis preferably with respect to activator is symmetrical arranged.Each cavity 3 has small one and large one two ends, and there is circular trough the both sides of big end.Head point 1 is arranged on one end that cavity 3 is less, and one end that cavity 3 is less arranges gas port, and airway 2 passes the gas port of the less one end of cavity 3 and is connected with head point 1.Two vibrators 4 are installed in the circular trough of cavity 3 both sides, the vibrating diaphragm of vibrator 4 towards inner side, vibrator 4 and cavity 3 junction sealed air-tight, form confined space.Two ventholes of cavity 3 connect the double film two-chamber zero-net-mass-flux jet activator of formation one respectively with two cavitys sealed.
The airtight cavity of double film two-chamber zero-net-mass-flux jet activators is inserted by the rear end of elongated precursor 5, and head point 1 inserts from front end, and head point 1 is connected by airway 2 with cavity 3.It is thusly-formed the cusped arch precursor of one embedded pair film two-chamber zero-net-mass-flux jet activator.
If it is as follows to control mode of connection during two vibrators 4: each vibrator 4 has both positive and negative polarity, and the negative pole of another vibrator 4 of positive pole of a vibrator 4 is connected to form one simultaneously, remaining both positive and negative polarity is connected and forms another stock.Two strands are connected with power amplifier 6, and power amplifier 6 is connected with signal generator 7, and signal generator is connected with microprocessor 8, and microprocessor is connected with gyroscope 9.Microprocessor model can be STM32S103C8T6, and gyroscope model can be JY901, and the microprocessor of other models and gyroscope can also use, in this embodiment simply for one of them example one with explanation.Signal generator 7 can input the signal of certain waveform after microprocessor 8 computing according to the tailspin parameter that gyroscope 9 records, ripple signal such as sine wave signal, square-wave signal or other shapes, the vibrating diaphragm vibration of vibrator 4 can make cavity volume increase or reduce, owing to both sides vibrator 4 wiring both positive and negative polarity is reverse, therefore the input signal phase of two vibrators 4 is π, two holes of the vibration of vibrator 4 the most so head point 1 can alternately spray gas, the most alternately sucks gas.
A kind of by controlling the method that precursor whirlpool changes tailspin: to use flowing to control activator at slender bodies head point, control aircraft precursor Asymmetric Vortex, controlled precursor asymmetrical vortex provides a side force in opposite direction with known tailspin and yawing, realize changing of tailspin: control activator to flowing and input the signal of certain waveform, make two gas outlets of activator replace jet and energy continuous control jet velocity is poor, it is provided that disturbance in various degree forms different whirlpool types；When aircraft enters left tailspin, gyroscope records the parameters such as tailspin rotary speed and direction of rotation makes signal generator control the activator corresponding waveform of input to flowing through microprocessor computing, control precursor asymmetrical vortex and form right whirlpool type, side force and yawing point on the right side of contrary with the direction of rotation of tailspin, rotary speed reduces and controls aircraft again and bow and reduce the angle of attack and change left tailspin；When aircraft enters right tailspin, it is similar to, gyroscope records the parameters such as tailspin rotary speed and direction of rotation makes signal generator control the activator corresponding waveform of input to flowing through microprocessor computing, controlling precursor asymmetrical vortex and form left whirlpool type, side force changes right tailspin on the left of yawing sensing.
If input signal is square-wave signal, then can be realized the difference of two hole spouting velocities by the dutycycle changing square wave.When dutycycle λ=50%, the head left venthole of point is identical with the time averaged velocity of right venthole；When dutycycle λ, < when 50%, the head left venthole time averaged velocity of point is less than right venthole；When dutycycle λ > 50% time, the head left venthole time averaged velocity of point is more than right venthole.Dutycycle λ, between (0-1), realizes the consecutive variations of head point left and right venthole speed difference size by continuously adjusting dutycycle.
The change of square-wave signal dutycycle have impact on the distribution in precursor whirlpool, as shown in Figure 6, is broadly divided into three types:
When dutycycle λ=50%, precursor whirlpool is symmetrical relative to longitudinal section, and side force is zero, referred to as symmetric form；
When dutycycle λ, < when 50%, right whirlpool, precursor whirlpool is low level whirlpool, and left whirlpool is high-order whirlpool, induces because of the mal-distribution in whirlpool and produces side force and the yawing around center of gravity, and side force and yawing are directed to right side, and this situation is referred to as right whirlpool type；
When dutycycle λ > 50% time, left whirlpool, precursor whirlpool is low level whirlpool, and right whirlpool is high-order whirlpool, and on the left of side force and yawing are pointed to, this situation is referred to as left whirlpool type.
Dutycycle λ regulates to 1 from 0, right whirlpool, precursor whirlpool by extreme lower position consecutive variations to extreme higher position, simultaneously, left whirlpool is gradually changed to extreme lower position by extreme higher position, side force is decreased to zero by maximum on the right side of pointing to and reaches maximum on the left of pointing to, and yawing direction and size variation rule are also such.
As it is shown in fig. 7, when aircraft enters left tailspin, open activator, make λ=20% form right whirlpool type, yawing point on the right side of contrary with the direction of rotation of tailspin, rotary speed reduces, and controls aircraft and bows the reduction angle of attack, underriding, pull-up, puts down and flies to change left tailspin；When aircraft enters right tailspin, then make λ=80% form left whirlpool type, on the left of yawing sensing, change right tailspin.
Figure 10 is checking unmanned plane during flying data result, reacts aircraft tailspin by the anglec of rotation and changes the stage, and this whole process of taking a flight test includes: the left tailspin stage, and right whirlpool type changes stage, right tailspin stage, and left whirlpool type changes stage, left tailspin stage.Aircraft enters the left tailspin stage, the anglec of rotation, from 360 ° to 0 ° of reductions (Fig. 8 aircraft rotates when overlooking counterclockwise), opens double film two-chamber zero-net-mass-flux jet activator, and control input signal is square-wave signal, make duty cycle square wave λ=20%, find that angular velocity of rotation is gradually decrease to zero.Persistently opening aircraft dextrorotation and enter right tailspin, control duty cycle square wave λ=80%, aircraft dextrorotation angular velocity is gradually decrease to zero, persistently opens aircraft and enters again left tailspin.If when aircraft changes tailspin, make dutycycle λ=50% item aircraft stop the rotation, change the angle of attack and then tailspin can be changed.
Above example is square-wave signal for controlling activator input signal, input signal is not limited to square-wave signal, it can also be the signal of other waveforms, or both sides cavity inputs dephased signal of tool etc. respectively, generally speaking be capable of two gas outlets of activator replace jet and can continuous control jet velocity poor, and then offer asymmetric disturbance in various degree.
Case study on implementation two:
Activator is to be arranged on the disturbance sheet that aircraft head tip is little, and disturbance sheet rotates and makes it can produce different whirlpool types when being in different angles.Defining the plane of symmetry windward is symmetrical of aircraft, can form right whirlpool type and change left tailspin when disturbance sheet is in the right side of the plane of symmetry windward, can form left whirlpool type when disturbance sheet is in the left side of the plane of symmetry windward and change right tailspin.
Case study on implementation three:
Activator is the plasma excitation device of the Vehicle nose left and right sides, can be asymmetrically formed different whirlpool types due to boundary layer separation when unilateral plasma is opened.Form right whirlpool type when right side plasma generator is opened and change left tailspin, left whirlpool type can be formed when left side plasma generator is opened and change right tailspin.
The concrete application approach of the present invention is a lot; the above is only the preferred embodiment of the present invention; should be understood that; for those skilled in the art; under the premise without departing from the principles of the invention; some improvement can also be made; as: head point blow/air-breathing control technology, shimmy control technology of head unsteady flo w, the synthesizing jet-flow technical controlling technology of other forms, head fluid agitator control technology, head plasma control technique etc., these improvement also should be regarded as protection scope of the present invention.
Claims (10)
1. the method changing tailspin by control precursor whirlpool, it is characterized in that: use flowing to control activator at slender bodies head point, control aircraft precursor Asymmetric Vortex, controlled precursor asymmetrical vortex provides a side force in opposite direction with known tailspin and yawing, realize changing of tailspin: control activator to flowing and input the signal of certain waveform, make two gas outlets of activator replace jet and energy continuous control jet velocity is poor, it is provided that disturbance in various degree forms different whirlpool types；When aircraft enters left tailspin, control precursor asymmetrical vortex and form right whirlpool type, side force point to yawing on the right side of contrary with the direction of rotation of tailspin, rotary speed reduction controls aircraft again and bows and reduce the angle of attack and change left tailspin；When aircraft enters right tailspin, then controlling precursor asymmetrical vortex and form left whirlpool type, side force changes right tailspin on the left of yawing sensing.
It is the most according to claim 1 by controlling the method that precursor whirlpool changes tailspin, it is characterised in that: the method that described right whirlpool type is formed is: controlling activator input signal to flowing is square-wave signal, makes square-wave signal dutycycle λ 50%, forms right whirlpool type；The method that described left whirlpool type is formed is: controlling activator input signal to flowing is square-wave signal, makes square-wave signal dutycycle λ 50%, forms left whirlpool type.
It is the most according to claim 1 by controlling the method that precursor whirlpool changes tailspin, it is characterised in that: described aircraft is the aircraft of elongated precursor resemblance.
4. according to the method changing tailspin by control precursor whirlpool described in claims 1 to 3 any one, it is characterized in that: described flowing controls activator and is used for controlling precursor volute one-tenth different whirlpools type, and it is the shimmy activator of mechanical type unsteady flo w, fluid oscillating activator and plasma flow control activator that described flowing controls activator.
5. the flowing control activator of the method being changed tailspin by control precursor whirlpool described in a claims 1 to 3 any one, it is characterised in that: it is double film two-chamber zero-net-mass-flux jet activators that described flowing controls activator.
Flowing the most according to claim 5 controls activator, it is characterised in that: described pair of film two-chamber zero-net-mass-flux jet activator includes head point, airway, not connected two cavitys, vibrators；Each cavity is respectively provided with small one and large one two ends, and head point is arranged on one end that cavity is less, and one end that cavity is less arranges gas port, and airway passes the gas port of the less one end of cavity and is connected with head point, and airway is connected with head point；Two vibrators are installed in the circular trough of cavity both sides, and the vibrating diaphragm of vibrator is towards inner side；Vibrator and cavity junction sealed air-tight, form confined space；Two ventholes of cavity connect with two cavitys sealed respectively.
Flowing the most according to claim 6 controls activator, it is characterised in that: the geometric parameter of described head point includes: gas outlet is far from pinnacle bus distance L, holes circumference angle, gas outlet area s, gas outlet axis and as the angle γ of ground surface.
Flowing the most according to claim 7 controls activator, it is characterised in that: described gas outlet includes hole, rectangular opening, seam and irregularly shaped.
Flowing the most according to claim 6 controls activator, it is characterised in that: described pair of film two-chamber zero-net-mass-flux jet activator also includes microprocessor and gyroscope.
Flowing the most according to claim 9 controls activator, it is characterized in that: the described pair of film two-chamber zero-net-mass-flux jet activator is arranged on four wires of internal both sides vibrator and has two kinds of modes of connection: one is to form two strands, the i.e. positive pole of side vibrator and opposite side vibrator negative pole is connected to form one, the negative pole of side vibrator forms one with the positive pole of opposite side vibrator, and two strand roads are connected with power amplifier, signal generator, microprocessor module and gyroscope；Another kind is that two activators connect power amplifier, signal generator, microprocessor module and gyroscope respectively and are connected.
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| CN111190437A (en) * | 2020-01-02 | 2020-05-22 | 南京航空航天大学 | Control method and flight control system for rolling torque under large attack angle |
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| US20040118973A1 (en) * | 2002-12-20 | 2004-06-24 | Innovative Technology Licensing, Llc | Surface plasma discharge for controlling forebody vortex asymmetry |
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| CN111190437A (en) * | 2020-01-02 | 2020-05-22 | 南京航空航天大学 | Control method and flight control system for rolling torque under large attack angle |
| CN111190437B (en) * | 2020-01-02 | 2021-06-15 | 南京航空航天大学 | Control method and flight control system for rolling torque under large attack angle |
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| CN105864232B (en) | 2018-04-17 |
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