CN106005481A - Downward-pressing tail segment turnover time adjusting method and system for lift force type aircraft - Google Patents
Downward-pressing tail segment turnover time adjusting method and system for lift force type aircraft Download PDFInfo
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- CN106005481A CN106005481A CN201610319980.0A CN201610319980A CN106005481A CN 106005481 A CN106005481 A CN 106005481A CN 201610319980 A CN201610319980 A CN 201610319980A CN 106005481 A CN106005481 A CN 106005481A
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- height
- aircraft
- difference
- voyage
- flight
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000007306 turnover Effects 0.000 title abstract description 7
- 238000013507 mapping Methods 0.000 claims abstract description 24
- 230000001133 acceleration Effects 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 239000006185 dispersion Substances 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000004069 differentiation Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
- B64G1/245—Attitude control algorithms for spacecraft attitude control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
Abstract
The invention discloses a downward-pressing tail segment turnover time adjusting method and system for a lift force type aircraft. The method includes the steps that the mapping relation between the height difference of the aircraft at the downward-pressing tail segment turnover take-off judging moment and the about-to-flight voyage of the aircraft is established, wherein the height difference is the difference value of the actual height and the nominal height of the aircraft; when the actual about-to-flight voyage of the aircraft at the downward-pressing tail segment is smaller than a preset voyage threshold value, the actual height of the aircraft at the moment is recorded, and the height difference of the aircraft at the moment is calculated to be used as a distinguishing height difference; the about-to-flight voyage corresponding to the distinguishing height difference is calculated through the mapping relation, and the about-to-flight voyage obtained through calculation serves as a distinguishing voyage; and when the actual about-to-flight voyage of the aircraft is equal to the distinguishing voyage, a turnover command is sent to the aircraft. By the adoption of the method and system, the optimal turnover time can be rapidly determined, and the terminal segment height and speed dispersion generated under the deviation condition is reduced.
Description
Technical field
The present invention relates to flying vehicles control field, particularly relate to a kind of for when pressure latter end stands up down of lift formula aircraft
Machine method of adjustment and system.
Background technology
Face symmetry lift formula aircraft typically need to experience at a high speed high dynamic under press through journey and can realize on a surface target
Strike, the constraint requirements such as dynamic pressure could be met.Flight terminal flight device need to stand up about 0 ° ensure under pressure at the end of
Height, the index such as speed meet requirement, this under press inflight phase guidance to have higher requirement.
The opportunity that lower pressure latter end stands up is bigger on the impact of systematic parameter.Owing to pressing down the highest of flight, make simultaneously
Lead and unavoidably there is error, therefore select to stand up and can cause under set time, the fixing state such as range-to-go or level altitude
Height and speed at the end of lower pressure spread excessive, it is impossible to meet mission requirements.
Therefore, need a kind of pressure latter end down for lift formula aircraft badly and stand up dynamic adjusting method on opportunity and system, with
Solve the problems referred to above.
Summary of the invention
One aspect of the present invention provides a kind of aircraft to stand up method of adjustment on opportunity and system, is applied to aircraft and turns at 180 °
Press under body in flight course, dynamically adjust the best opportunity that second time is stood up according to height tolerance, simultaneously by anti-for axial acceleration power
Number obtaining angle of heel instruction, the parameter such as terminal section height at the end of ensureing pressure down, speed meets index request.The present invention can
Quickly determine according to the height tolerance in flight course and most preferably stand up opportunity, reduce terminal section height and speed in the case of the deviation existed
Degree spreads.
The present invention provides a kind of pressure latter end down for lift formula aircraft to stand up method of adjustment on opportunity, including step:
S1. setting up aircraft is pressing down latter end to stand up the difference in height sentencing the moment and the mapping standing up the moment and treating flight journey is closed
System；Wherein, described difference in height is the difference of aerocraft real height and nominal height；
S2. when being in down the aircraft of pressing end actual until flight journey less than when presetting voyage threshold value, record-setting flight device
Actual height now, calculating aircraft difference in height now is as differentiating difference in height；
S3. by described mapping relations computational discrimination difference in height corresponding treat flight journey, treat flight journey by calculated
As differentiating voyage；
S4. when aircraft actual until flight journey equal to differentiate voyage time, to aircraft send stand up instruction.
Preferably, step S1 is particularly as follows: consider aloft bias factor, and acquisition aircraft has stood up in difference sentences the moment
Difference in height Δ h1、Δh2……ΔhnAnd stand up the moment with difference in height one to one and treat flight journey S1、S2……Sn, by intending
The mapping relations building vertical difference in height jointly and treat flight journey.
Preferably, aloft bias factor is specially atmospheric density bias factor and pneumatic bias factor.
Preferably, difference in height Δ h1、Δh2……ΔhnMonotonic increase or monotone decreasing.
Preferably, described default voyage threshold value more than aircraft preset stand up a little treat flight journey.
Preferably, stand up instruction described in be obtained by formula 1:
Wherein, γcxFor standing up instruction, γcx∈(-π,π]；FzcxFor lateral overload power；FycxFor axial acceleration power.
Preferably, described method after step s4, also includes: from-1, the mark of standing up of aircraft is become 1.
Another aspect of the present invention provides a kind of pressure latter end down for lift formula aircraft to adjust system the opportunity of standing up, bag
Include:
Mapping relations set up module, for set up aircraft press down latter end stood up the difference in height sentencing the moment with when standing up
Carve the mapping relations treating flight journey；Wherein, described difference in height is the difference of aerocraft real height and nominal height；
Differentiate difference in height computing module, for treating flight journey less than presetting boat being in the actual of the aircraft of pressing down end
During journey threshold value, record-setting flight device actual height now, calculating aircraft difference in height now is as differentiating difference in height；
Differentiate Modeling for Distance Calculation of Airline module, treat flight journey for corresponding by described mapping relations computational discrimination difference in height, will
Calculated treat flight journey as differentiate voyage；
Instruction sending module, for when aircraft actual until flight journey equal to differentiate voyage time, to aircraft send turn over
Body instructs.
Preferably, stand up instruction described in be obtained by formula 1:
Wherein, γcxFor standing up instruction, γcx∈(-π,π]；FzcxFor lateral overload power；FycxFor axial acceleration power.
Preferably, described system also includes:
Mark conversion module, is used in instruction sending module after instruction is stood up in aircraft transmission, turning over aircraft
Body mark is become 1 from-1.
As shown from the above technical solution, the present invention can quickly determine according to the height tolerance in flight course and most preferably stands up
On opportunity, reduce terminal section height and speed distribution in the case of the deviation existed.
Accompanying drawing explanation
Fig. 1 is that the pressure latter end down of the present invention stands up method of adjustment schematic diagram on opportunity；
Fig. 2 is that the pressure latter end down of the present invention adjusts system schematic the opportunity of standing up.
Detailed description of the invention
For making the purpose of the present invention, technical scheme and advantage clearer, referring to the drawings and enumerate preferred reality
Executing example, the present invention is described in more detail.However, it is necessary to explanation, the many details listed in description are only
Make the reader one or more aspects of the present invention are had a thorough explanation, can also even without these specific details
Realize the aspects of the invention.
The present invention in view of aircraft under press in flight course the highest, guide simultaneously and unavoidably there is error,
Standing up strategy and can cause down aircraft at the end of pressure under existing set time, the fixing state such as range-to-go or level altitude
Height and speed spread excessive, it is impossible to meet mission requirements.
It is directed to this, the invention provides a kind of pressure latter end down for lift formula aircraft and stand up and dynamically adjust plan opportunity
Slightly, the method can quickly determine, according to the deviation of actual height deviation nominal height in flight course, the best opportunity stood up,
The axial acceleration power simultaneously calculated guidance carries out opposite sign, provides angle of heel instruction control aircraft in conjunction with lateral overload power and turns over
Body.The present invention can effectively reduce down the height at the end of pressure and speed spreads.
Fig. 1 shows that the pressure latter end down for lift formula aircraft of the present invention stands up method of adjustment on opportunity, and this method is used
In aircraft 180 ° stand up down pressure flight course in second time stand up.Seeing Fig. 1, described method is concrete in accordance with the following steps
Perform:
First, in step sl, set up aircraft and treat with standing up the moment pressing down latter end to stand up the difference in height sentencing the moment
The mapping relations of flight journey；Wherein, difference in height is the difference of aerocraft real height and nominal height.
It is preferred that in a preferred embodiment of the invention, above-mentioned steps particularly as follows: consider aloft atmospheric density deviation,
The impact of the factors such as pneumatic deviation, obtains aircraft and has stood up the difference in height Δ h sentencing the moment in difference1、Δh2……ΔhnAnd with
Difference in height is stood up the moment one to one and is treated flight journey S1、S2……Sn, set up difference in height and the mapping treating flight journey by matching
Relation.Above-mentioned mapping relations can also obtain by interpolation, the method such as approach.
As a preferred version, Δ h1、Δh2……ΔhnChoose in the way of monotonic increase or monotone decreasing, in order to
Acquisition in mapping relations.
It follows that in step s 2, flight journey is treated less than presetting voyage threshold when being in down the actual of aircraft pressing end
During value, record-setting flight device actual height now, the actual height of aircraft is deducted nominal height and obtains difference in height, made
For differentiating difference in height.Above-mentioned actual treat that flight journey is to have stood up sentences the moment less than the moment presetting voyage threshold value.
In a preferred embodiment of the invention, preset voyage threshold value be constant, more than aircraft preset stand up a little wait fly
Voyage.
Afterwards, in step s3, by above-mentioned mapping relations computational discrimination difference in height corresponding treat flight journey, will calculate
To treat flight journey as differentiate voyage.As shown in table 1 by mapping relations computational discrimination voyage:
Table 1
| ΔH | Sp |
| Δh1 | S1 |
| Δh2 | S2 |
| … | … |
| Δhn | Sn |
Wherein, Δ H is for differentiating difference in height, SpFor the differentiation voyage calculated by it.
Then, in step s 4, when aircraft actual until flight journey equal to differentiate voyage time, to aircraft send stand up
Instruction.
In a preferred embodiment of the invention, stand up instruction to be obtained by formula 1:
Wherein, γcxInstruct for angle of heel, be used for controlling aircraft and stand up, γcx∈(-π,π]；FzcxFor lateral overload power；
FycxFor axial acceleration power.
By above procedure, present invention achieves aircraft and pressing down latter end most preferably to stand up quickly determining and deviation of opportunity
In the case of stand up the dynamic adjustment on opportunity, it is ensured that pressure terminal section height and speed spread less down.
As a method for optimizing, the mark of standing up of aircraft, after instruction is stood up in transmission, is become by this method from-1
1, instant playback aircraft stand up attitude.
Fig. 2 shows that the pressure latter end down for lift formula aircraft of the present invention adjusts system the opportunity of standing up, including: map
Relation is set up module 1, is differentiated difference in height computing module 2, differentiation Modeling for Distance Calculation of Airline module 3 and instruction sending module 4.
Wherein, mapping relations set up module 1 for set up aircraft press down latter end to stand up to sentence the difference in height in moment with
Stand up the moment and treat the mapping relations of flight journey；Difference in height is the difference of aerocraft real height and nominal height.
Differentiate that difference in height computing module 2 is for treating flight journey less than presetting boat being in the actual of aircraft pressing down end
During journey threshold value, record-setting flight device actual height now, calculating aircraft difference in height now is as differentiating difference in height.
Differentiate that Modeling for Distance Calculation of Airline module 3 treats flight journey for corresponding by mapping relations computational discrimination difference in height, will calculate
Obtain treats that flight journey is as differentiating voyage.
Instruction sending module 4 for when aircraft actual until flight journey equal to when differentiating voyage, send to aircraft and turn over
Body instructs.
It is preferred that in a preferred embodiment of the invention, stand up instruction and obtained by formula 1:
Wherein, γcxInstruct for angle of heel, be used for controlling aircraft and stand up, γcx∈(-π,π]；FzcxFor lateral overload power；
FycxFor axial acceleration power.
As a preferred version, described system also includes identifying conversion module, is used in instruction sending module to flight
Device sends after standing up instruction, from-1, the mark of standing up of aircraft is become 1, the instant attitude of display aircraft.
The aircraft that the present invention provides stands up method of adjustment on opportunity and system, presses end under the symmetry lift formula aircraft of face
Section is stood up it suffices that height and the problem of constraint of velocity control, and utilization has been stood up the difference in height sentencing the moment and waited to fly with standing up the moment
The mapping relations of voyage determine presses down standing up opportunity of end, is tilted with lateral overload power according to axial acceleration power simultaneously
Angle instruction controls aircraft and stands up.The present invention can quickly determine the best opportunity stood up, it is achieved stands up opportunity in the case of deviation
Dynamic adjustment, it is ensured that pressure terminal section height and speed spread less down, can be directly used for lift formula aircraft pressure section system down
Lead the design of scheme.
One of ordinary skill in the art will appreciate that all or part of step realizing in above-described embodiment method is permissible
Instructing relevant hardware by program to complete, this program can be stored in a computer read/write memory medium, such as:
ROM/RAM, magnetic disc, CD etc..
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For Yuan, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. the pressure latter end down for lift formula aircraft stands up method of adjustment on opportunity, it is characterised in that include step:
S1. aircraft is set up in the mapping relations pressing down latter end to stand up the difference in height sentencing the moment and stood up the moment and treat flight journey；
Wherein, described difference in height is the difference of aerocraft real height and nominal height；
S2. when being in down the aircraft of pressing end actual until flight journey less than when presetting voyage threshold value, record-setting flight device is now
Actual height, calculating aircraft difference in height now as differentiate difference in height；
S3. by described mapping relations computational discrimination difference in height corresponding treat flight journey, using calculated treat flight journey as
Differentiate voyage；
S4. when aircraft actual until flight journey equal to differentiate voyage time, to aircraft send stand up instruction.
2. the method for claim 1, it is characterised in that step S1, particularly as follows: consider aloft bias factor, obtains
Aircraft has stood up the difference in height Δ h sentencing the moment in difference1、Δh2……ΔhnAnd stand up the moment one to one with difference in height
Treat flight journey S1、S2……Sn, set up difference in height and the mapping relations treating flight journey by matching.
3. method as claimed in claim 2, it is characterised in that aloft bias factor is specially atmospheric density bias factor
With pneumatic bias factor.
4. method as claimed in claim 3, it is characterised in that difference in height Δ h1、Δh2……ΔhnMonotonic increase or dullness are passed
Subtract.
5. method as claimed in claim 4, it is characterised in that described default voyage threshold value is stood up a little default more than aircraft
Treat flight journey.
6. method as claimed in claim 5, it is characterised in that described in stand up instruction and obtained by formula 1:
Wherein, γcxFor standing up instruction, γcx∈(-π,π]；FzcxFor lateral overload power；FycxFor axial acceleration power.
7. the method as described in claim 1-6 is arbitrary, it is characterised in that described method after step s4, also includes: will fly
The mark of standing up of row device is become 1 from-1.
8. one kind adjusts system for the pressure latter end down of lift formula aircraft the opportunity of standing up, it is characterised in that including:
Mapping relations set up module, treat with standing up the moment pressing down latter end to stand up the difference in height sentencing the moment for setting up aircraft
The mapping relations of flight journey；Wherein, described difference in height is the difference of aerocraft real height and nominal height；
Differentiate difference in height computing module, for treating flight journey less than presetting voyage threshold being in the actual of the aircraft of pressing down end
During value, record-setting flight device actual height now, calculating aircraft difference in height now is as differentiating difference in height；
Differentiate Modeling for Distance Calculation of Airline module, treat flight journey for corresponding by described mapping relations computational discrimination difference in height, will calculate
Obtain treats that flight journey is as differentiating voyage；
Instruction sending module, for when aircraft actual until flight journey equal to differentiate voyage time, to aircraft send stand up finger
Order.
9. system as claimed in claim 8, it is characterised in that described in stand up instruction and obtained by formula 1:
Wherein, γcxFor standing up instruction, γcx∈(-π,π]；FzcxFor lateral overload power；FycxFor axial acceleration power.
10. system as claimed in claim 8 or 9, it is characterised in that described system also includes:
Mark conversion module, after sending to aircraft to stand up instruction in instruction sending module, stands up mark by aircraft
Know and become 1 from-1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610319980.0A CN106005481B (en) | 2016-05-13 | 2016-05-13 | Downward-pressing tail segment turnover time adjusting method and system for lift force type aircraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610319980.0A CN106005481B (en) | 2016-05-13 | 2016-05-13 | Downward-pressing tail segment turnover time adjusting method and system for lift force type aircraft |
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| CN106005481A true CN106005481A (en) | 2016-10-12 |
| CN106005481B CN106005481B (en) | 2017-03-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112639399A (en) * | 2020-04-27 | 2021-04-09 | 深圳市大疆创新科技有限公司 | Height detection method, compensation amount determination method and device and unmanned aerial vehicle |
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| US20030183035A1 (en) * | 2002-03-29 | 2003-10-02 | Organisation Intergouvernementale Dite Agence Spatiale Europeenne | Device for temporarily locking a rotor, in particular a magnetically suspended rotor of an inertia wheel for space applications |
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| US8615337B1 (en) * | 2008-09-25 | 2013-12-24 | Rockwell Collins, Inc. | System supporting flight operations under instrument meteorological conditions using precision course guidance |
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2016
- 2016-05-13 CN CN201610319980.0A patent/CN106005481B/en not_active Expired - Fee Related
Patent Citations (6)
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|---|---|---|---|---|
| US20030183035A1 (en) * | 2002-03-29 | 2003-10-02 | Organisation Intergouvernementale Dite Agence Spatiale Europeenne | Device for temporarily locking a rotor, in particular a magnetically suspended rotor of an inertia wheel for space applications |
| US8615337B1 (en) * | 2008-09-25 | 2013-12-24 | Rockwell Collins, Inc. | System supporting flight operations under instrument meteorological conditions using precision course guidance |
| CN102501988A (en) * | 2011-09-26 | 2012-06-20 | 北京航空航天大学 | Telescopic space boom mechanism for supporting detection load |
| CN102496313A (en) * | 2011-12-31 | 2012-06-13 | 南京莱斯信息技术股份有限公司 | Correction method of aircraft plan prediction locus by using supervision data |
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| CN112639399A (en) * | 2020-04-27 | 2021-04-09 | 深圳市大疆创新科技有限公司 | Height detection method, compensation amount determination method and device and unmanned aerial vehicle |
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