CN105868459A - System for evaluating longitudinal dynamic stability flight quality of fixed-wing unmanned plane - Google Patents

Abstract

The invention discloses a system for evaluating longitudinal dynamic stability flight quality of a fixed-wing unmanned plane. The system comprises a man-machine interaction module, a data loading module, a longitudinal modal algorithm module, a report exporting module and an expansion interface module, wherein the man-machine interaction module is used for providing an operation interface for a user to conduct flight quality evaluation calculation and for the user to check the flight quality evaluation result; the data loading module is used for providing input excitation for the longitudinal modal algorithm module and sending flight test data meeting the test requirements to the longitudinal modal algorithm module; the longitudinal modal algorithm module is used for parsing flight test data and calculating identification parameters of a low-order equivalent system model according to change rules of input excitation, and the identification parameters are considered as the evaluation result; the report exporting module is used for exporting the flight quality evaluation result; the expansion interface module is used for providing a universal integrated interface. According to the system, the dynamic characteristics of longitudinal dynamic stability nature are reflected through a low-order system, and the problem that it is difficult for a high-order system to conduct analysis in the existing unmanned plane flight quality evaluation filed is solved.

Description

Fixed-wing unmanned plane longitudinal dynamic stability flight quality assessment system

Technical field

The present invention relates to flying qualifies of aircraft assessment technology field, particularly relate to a kind of fixed-wing unmanned plane longitudinal dynamic stability and fly Row quality estimating system.

Background technology

Flying qualifies of aircraft relates to the various characteristics of the aircraft of flight safety and pilot control difficulty.The design of aircraft to depend on According to and meet certain qualities specification.At the aircraft utilization initial stage, people have just carried out the research in terms of flight quality.Along with flight speed The complexity day by day of the lifting one-level operating system of degree and height, the content of flight quality constantly extends, it is desirable to improve constantly.It is main Want content to include: maneuvering efficiency, represent that operating aircraft obtains a range of balance state of flight or the ability of maneuver, as The manipulation of elevator should ensure that the balance of aircraft longitudinal moment, and the manipulation of rudder should ensure that the balance of horizontal yaw moment；Drive Power, represents that driver be holding poised state or the dynamics and the scope that put on operating system needed for carrying out maneuvering flight；Static-stability Property, represent aircraft Longitudinal static stability, by speed static stability etc. and some the most relevant maneuvering performance indexs；Dynamic Stability, the damping of each modes of aircraft disturbed motion and frequency values；Operating system characteristics, represent the mechanical property to operating system and move Requirement in terms of step response.

UAV is called for short unmanned plane, is utilize that radio robot and the presetting apparatus provided for oneself handle the most manned Aircraft.Current unmanned air vehicle technique quickly grows, and is widely used in the army and the people market.But unmanned plane during flying product Quality Research is the most stagnant After in the development of unmanned plane, trace it to its cause and mainly have two aspects: be first that Development of UAV is more swift and violent, and unmanned plane during flying Quality research work is carried out the most parallel；Secondly, unmanned plane makes unmanned plane during flying quality research more because of himself feature Difficulty, be mainly reflected in unmanned plane perform task time be a closed loop, highly integrated flight control system, flight quality is commented The behavioral agent estimated is different from the aspects such as aircraft.

At present, on market, first the Longitudinal Flight assessment software of the fixed-wing unmanned plane of application has the disadvantage that, high order Aircraft system mathematical model is extremely complex, is difficult to make aeroplane performance assess accurately；Secondly, flight quality assessment software is equal Run as stand alone software, it is impossible to be integrated into other software systems；Finally, flight quality assessment software does not support algorithm model Extension.

Summary of the invention

It is an object of the invention to overcome the deficiencies in the prior art, it is provided that a kind of fixed-wing unmanned plane longitudinal dynamic stability flight quality Assessment system, utilizes lower order system to reflect the dynamic characteristic of longitudinal dynamic stability essence, solves existing unmanned plane during flying quality The problem that in evaluation areas, high order system analyzes difficulty.

It is an object of the invention to be achieved through the following technical solutions:

Fixed-wing unmanned plane longitudinal dynamic stability flight quality assessment system, including human-computer interaction module, data load-on module, report Accuse and derive module, longitudinal mode algoritic module and expansion connection module；

Described human-computer interaction module, calculates offer operation interface for carrying out flight quality assessment for user, and looks into for user See flight quality assessment result；

Described data load-on module, for providing input stimulus for longitudinal mode algoritic module, the flight examination that Pass Test is required Test data and be sent to longitudinal mode algoritic module；

Described longitudinal mode algoritic module, is used for resolving test flight data, and calculates low according to the Changing Pattern of input stimulus The identified parameters of rank equivalent system model, is assessment result；

Module is derived in described report, is used for deriving flight quality assessment result；

Described expansion connection module, is used for providing general integrated interface.

Described longitudinal mode algoritic module includes short period mode algoritic module and Long period mode algoritic module, and short period mode is calculated Method module includes the first short period mode algorithm submodule and the second short period mode algorithm submodule.

The assessment of described short period mode algoritic module utilizes Low order Equivalent System list to intend method of completing the square, based on minimum error iterative method pair Short cycle undamped frequency ω_nsp, damping ratio ξ_spWith Equivalent time delay τ_spEstimate；First short period mode algorithm submodule Equivalent system use model be the first model, it may be assumed that

$\frac{q}{F_e}=\frac{K_q(s+\frac{1}{T_{\mathrm{\θ}2}})}{s^2+2{\mathrm{\ξ}}_{sp}{\mathrm{\ω}}_{nsp}s+{{\mathrm{\ω}}_{nsp}}^2}{e}^{-{\mathrm{\τ}}_{q}s};$

The model that the equivalent system of the second short period mode algorithm submodule uses is the second model, it may be assumed that

$\frac{N_z}{F_e}=\frac{K_{N_z}}{s^2+2{\mathrm{\ξ}}_{sp}{\mathrm{\ω}}_{nsp}s+{{\mathrm{\ω}}_{nsp}}^2}{e}^{-{\mathrm{\τ}}_{N_z}s};$

In formula, q-pitch rate, F_e-longitudinal stick force, N_z-normal g-load,And K_qThe gain of-pitch axis, T_Q2-pitching Axle short period time constant, ω_nsp-short cycle undamped frequency, ξ_sp-damping ratio,And τ_sp-Equivalent time delay.

The assessment of described Long period mode algoritic module utilizes Low order Equivalent System to intend method of completing the square, to damping ratio ξ_pEstimate, long The model that the equivalent system of periodic mode algoritic module uses is:

$\frac{q}{F_e}=\frac{K_q(s+\frac{1}{T_{\mathrm{\θ}1}})}{s^2+2{\mathrm{\ξ}}_p{\mathrm{\ω}}_{np}s+{{\mathrm{\ω}}_{np}}^2}$

In formula, q-pitch rate, F_e-longitudinal stick force, K_qThe gain of-pitch axis, T_Q1-pitch axis long period time constant, ω_np- Long period undamped frequency, ξ_p-damping ratio.

Described data load-on module loads test flight data, and resolves test flight data by the frame structure set, and will meet The test flight data of test requirements document is sent to longitudinal mode algoritic module by human-computer interaction module.

Described human-computer interaction module is additionally operable to user and checks the time history curve of test flight data.

The mode of module derivation flight quality assessment result is derived in described report: report is derived module and read information log file, Determining whether to there is the flight quality assessment result needing to derive, and result of determination is fed back to user, that derives if necessary flies Row quality evaluation, then export to result in document according to the standard document template set.

The invention has the beneficial effects as follows:

(1) present invention utilizes lower order system to reflect the dynamic characteristic of longitudinal dynamic stability essence, solves existing unmanned plane during flying The problem that in quality estimating field, high order system analyzes difficulty；

(2) Low order Equivalent System model is combined by the present invention with parameter identification, and according to the regulation in flying qualifies of aircraft specification, Model is selected, optimizes, it is ensured that the accuracy of algorithm；

(3) present invention can run as stand alone software, additionally provides the interface of integrability simultaneously, again can be soft as other The functional unit of part system carries out integration calling；

(4) the invention provides expansion interface, convenient extension flight quality assessment algorithm module that is up-to-date or that improve.

Accompanying drawing explanation

Fig. 1 is the schematic diagram of fixed-wing unmanned plane longitudinal dynamic stability flight quality of the present invention assessment system；

Fig. 2 is the workflow schematic diagram of fixed-wing unmanned plane longitudinal dynamic stability flight quality of the present invention assessment system.

Detailed description of the invention

Technical scheme is described in further detail below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to following institute State.

As it is shown in figure 1, fixed-wing unmanned plane longitudinal dynamic stability flight quality assessment system, including human-computer interaction module, data Module, longitudinal mode algoritic module and expansion connection module are derived in load-on module, report.

Described human-computer interaction module, calculates offer operation interface for carrying out flight quality assessment for user, and looks into for user See time history curve and the flight quality assessment result of test flight data.

Described human-computer interaction module, as the Man Machine Interface of native system, upwards provides friendly user interface, is downwards Each functional module provides friendly DLL, embodies the thought of modularized design, both ensure that the efficiency of software development, again Improve the maintainability of software.

Described data load-on module, for providing input stimulus for longitudinal mode algoritic module, the flight examination that Pass Test is required Test data and be sent to longitudinal mode algoritic module.

Described data load-on module loads test flight data, and resolves test flight data by the frame structure set, and will meet The test flight data of test requirements document is sent to longitudinal mode algoritic module by human-computer interaction module.

Described longitudinal mode algoritic module, is used for resolving test flight data, and calculates low according to the Changing Pattern of input stimulus The identified parameters of rank equivalent system model, is assessment result, and provides assessment result according to evaluation criteria.

Described longitudinal mode algoritic module includes short period mode algoritic module and Long period mode algoritic module, and short period mode is calculated Method module includes the first short period mode algorithm submodule and the second short period mode algorithm submodule, the first short period mode algorithm Submodule uses the first model, the second short period mode algorithm submodule to use the second model.

The assessment of described short period mode algoritic module utilizes Low order Equivalent System list to intend method of completing the square, based on minimum error iterative method pair Short cycle undamped frequency ω_nsp, damping ratio ξ_spWith Equivalent time delay τ_spEstimate；First short period mode algorithm submodule Equivalent system use model be the first model, it may be assumed that

$\frac{q}{F_e}=\frac{K_q(s+\frac{1}{T_{\mathrm{\θ}2}})}{s^2+2{\mathrm{\ξ}}_{sp}{\mathrm{\ω}}_{nsp}s+{{\mathrm{\ω}}_{nsp}}^2}{e}^{-{\mathrm{\τ}}_{q}s};$

The model that the equivalent system of the second short period mode algorithm submodule uses is the second model, it may be assumed that

$\frac{N_z}{F_e}=\frac{K_{N_z}}{s^2+2{\mathrm{\ξ}}_{sp}{\mathrm{\ω}}_{nsp}s+{{\mathrm{\ω}}_{nsp}}^2}{e}^{-{\mathrm{\τ}}_{N_z}s};$

In formula, q-pitch rate, F_e-longitudinal stick force, N_z-normal g-load,And K_qThe gain of-pitch axis, T_Q2-pitching Axle short period time constant, ω_nsp-short cycle undamped frequency, ξ_sp-damping ratio,And τ_sp-Equivalent time delay.

Short period mode uses longitudinal times of pulse, is longitudinally continuous a times pulse, longitudinally 3211 actions as input stimulus, ensures simultaneously Test flight data disturbs the coupling or disturbance handled without other；Final result of calculation is with short cycle undamped frequency ω_nsp, resistance Buddhist nun compares ξ_spWith Equivalent time delay τ_spThe form of three criterion figures is given.

The assessment of described Long period mode algoritic module utilizes Low order Equivalent System to intend method of completing the square, to damping ratio ξ_pEstimate, long The model that the equivalent system of periodic mode algoritic module uses is:

$\frac{q}{F_e}=\frac{K_q(s+\frac{1}{T_{\mathrm{\θ}1}})}{s^2+2{\mathrm{\ξ}}_p{\mathrm{\ω}}_{np}s+{{\mathrm{\ω}}_{np}}^2}$

In formula, q-pitch rate, F_e-longitudinal stick force, K_qThe gain of-pitch axis, T_Q1-pitch axis long period time constant, ω_np- Long period undamped frequency, ξ_p-damping ratio.

Long period mode uses longitudinal step action as input stimulus, ensures what test flight data was handled without other interference simultaneously Coupling or disturbance；Final result of calculation is with damping ratio ξ_pThe form of one criterion figure is given.

Module is derived in described report, is used for deriving flight quality assessment result.Report is derived module and flight quality assessment result is led Going out in word document, described report is derived the mode of module derivation flight quality assessment result and is: report is derived module and read Information log file, it is determined whether there is the flight quality assessment result that needs are derived, and result of determination is fed back to user, if There is a need to the flight quality assessment result derived, then according to the standard document template set, result is exported in document.

Described expansion connection module, for providing general integrated interface, developer can the up-to-date quality estimating algorithm of stand-alone development, According to the com assembly of the requirement compiling output assessment algorithm of integrated interface, can the high efficiency extension completing algorithm model.

As in figure 2 it is shown, the workflow of fixed-wing unmanned plane longitudinal dynamic stability flight quality of the present invention assessment system is: first Longitudinal mode algoritic module obtains input stimulus, and performs longitudinal stability Low order Equivalent System identification algorithm, then exports flight Straight assessment result, and result of the test is analyzed.

The above is only the preferred embodiment of the present invention, it should be understood that the present invention is not limited to form disclosed herein, It is not to be taken as the eliminating to other embodiments, and can be used for other combinations various, amendment and environment, and can be described herein In contemplated scope, it is modified by above-mentioned teaching or the technology of association area or knowledge.And the change that those skilled in the art are carried out With change without departing from the spirit and scope of the present invention, the most all should be in the protection domain of claims of the present invention.

Claims (7)

1. fixed-wing unmanned plane longitudinal dynamic stability flight quality assessment system, it is characterised in that: include human-computer interaction module, number Module, longitudinal mode algoritic module and expansion connection module is derived according to load-on module, report；

Described human-computer interaction module, calculates offer operation interface for carrying out flight quality assessment for user, and looks into for user See flight quality assessment result；

Described data load-on module, for providing input stimulus for longitudinal mode algoritic module, the flight examination that Pass Test is required Test data and be sent to longitudinal mode algoritic module；

Described longitudinal mode algoritic module, is used for resolving test flight data, and calculates low according to the Changing Pattern of input stimulus The identified parameters of rank equivalent system model, is assessment result；

Module is derived in described report, is used for deriving flight quality assessment result；

Described expansion connection module, is used for providing general integrated interface.

Fixed-wing unmanned plane longitudinal dynamic stability flight quality the most according to claim 1 assessment system, it is characterised in that: Described longitudinal mode algoritic module includes short period mode algoritic module and Long period mode algoritic module, short period mode algorithm mould Block includes the first short period mode algorithm submodule and the second short period mode algorithm submodule.

Fixed-wing unmanned plane longitudinal dynamic stability flight quality the most according to claim 2 assessment system, it is characterised in that: The assessment of described short period mode algoritic module utilizes Low order Equivalent System list to intend method of completing the square, based on minimum error iterative method to short week Phase undamped frequency ω_nsp, damping ratio ξ_spWith Equivalent time delay τ_spEstimate；First short period mode algorithm submodule etc. The model that effect system uses is the first model, it may be assumed that

$\frac{q}{F_e}=\frac{K_q(s+\frac{1}{T_{\mathrm{\θ}2}})}{s^2+2{\mathrm{\ξ}}_{sp}{\mathrm{\ω}}_{nsp}s+{{\mathrm{\ω}}_{nsp}}^2}{e}^{-{\mathrm{\τ}}_{q}s};$

The model that the equivalent system of the second short period mode algorithm submodule uses is the second model, it may be assumed that

$\frac{N_z}{F_e}=\frac{K_{N_z}}{s^2+2{\mathrm{\ξ}}_{sp}{\mathrm{\ω}}_{nsp}s+{{\mathrm{\ω}}_{nsp}}^2}{e}^{-{{\mathrm{\τ}}_N}_{z}s};$

In formula, q-pitch rate, F_e-longitudinal stick force, N_z-normal g-load,And K_qThe gain of-pitch axis, T_Q2-pitching Axle short period time constant, ω_nsp-short cycle undamped frequency, ξ_sp-damping ratio,And τ_sp-Equivalent time delay.

Fixed-wing unmanned plane longitudinal dynamic stability flight quality the most according to claim 2 assessment system, it is characterised in that: The assessment of described Long period mode algoritic module utilizes Low order Equivalent System to intend method of completing the square, to damping ratio ξ_pEstimate, long period The model that the equivalent system of mode algoritic module uses is:

$\frac{q}{F_e}=\frac{K_q\left(s+\frac{1}{T_{\mathrm{\θ}1}}\right)}{s^2+2{\mathrm{\ξ}}_p{\mathrm{\ω}}_{np}s+{{\mathrm{\ω}}_{np}}^2}$

In formula, q-pitch rate, F_e-longitudinal stick force, K_qThe gain of-pitch axis, T_Q1-pitch axis long period time constant, ω_np- Long period undamped frequency, ξ_p-damping ratio.

Fixed-wing unmanned plane longitudinal dynamic stability flight quality the most according to claim 1 assessment system, it is characterised in that: Described data load-on module loads test flight data, and resolves test flight data by the frame structure set, and by Pass Test The test flight data required is sent to longitudinal mode algoritic module by human-computer interaction module.

Fixed-wing unmanned plane longitudinal dynamic stability flight quality the most according to claim 1 assessment system, it is characterised in that: Described human-computer interaction module is additionally operable to user and checks the time history curve of test flight data.

Fixed-wing unmanned plane longitudinal dynamic stability flight quality the most according to claim 1 assessment system, it is characterised in that: The mode of module derivation flight quality assessment result is derived in described report: report is derived module and read information log file, it is determined that The flight quality assessment result whether existence needs are derived, and result of determination is fed back to user, the flight product derived if necessary Matter assessment result, then export to result in document according to the standard document template set.