CN106017218A - Wind interference resistant aircraft attack angle command compensation method and device - Google Patents

Abstract

The invention provides a wind interference resistant aircraft attack angle command compensation method and device and relates to the technical field of aircraft control application. By the adoption of the method and device, the problem that the guidance precision is reduced due to wind interference and other factors is solved. The method comprises the steps of obtaining the acceleration smoothed value of an aircraft; obtaining a basic attack angle command according to the longitudinal overload force and lateral overload force generated by guidance of the aircraft; obtaining an attack angle compensation command according to the longitudinal overload force and the lateral overload force generated by guidance of the aircraft and an average acceleration value; and calculating an actual guidance attack angle command according to the basic attack angle command and the attack angle compensation command. According to the scheme, the attack angle command output by guidance of the aircraft can be compensated under the wind condition, the interference of wind to guidance of the aircraft is avoided, and thus the purpose of improving the guidance precision is achieved.

Description

The Aircraft Angle of Attack instruction compensation method of a kind of wind resistance interference and device

Technical field

The present invention relates to flying vehicles control applied technical field, the aircraft particularly relating to the interference of a kind of wind resistance is attacked Angle instruction compensation method and device.

Background technology

Currently for the aircraft such as guided missile, glide vehicle, if guidance uses angle of attack control program, In aerocraft real flight course, guidance precision can be caused to reduce owing to air-drying factor impacts such as disturbing, it is impossible to Meet the mission requirementses such as target strike, accuracy.For solving owing to air-drying factor impacts such as disturbing, cause system Leading the problem that precision reduces, recent research worker proposes to utilize premature beats scheme to solve this problem, although should Scheme has the ability of wind resistance interference, but some given aircraft or particular job condition are attacked against each other, angular dimensions has Situation about being strict with, as used the aircraft engine of airbreathing motor to require that the angle of attack controls when working In particular range, and for example aircraft has the problems such as hard constraints, premature beats scheme at flight latter end to attitude It is not suitable for.

Therefore it is badly in need of the flying vehicles control method and device of a kind of wind resistance interference, can have the ability of wind resistance interference, Thus improve the precision of aircraft guidance.

Summary of the invention

In order to solve owing to air-drying factor impacts such as disturbing, causing the problem that guidance precision reduces, the present invention provides The Aircraft Angle of Attack instruction compensation method of a kind of wind resistance interference and device, can be by flight under windy condition The angle of attack instruction of device guidance output compensates, and overcomes the wind interference problem to aircraft guidance, thus reaches Arrive the purpose improving guidance precision.

The Aircraft Angle of Attack instruction compensation method of a kind of wind resistance interference that the present invention provides, comprises the steps:

Obtain the acceleration smooth value of aircraft；

The axial acceleration power produced according to aircraft guidance and lateral overload power, obtain the instruction of the basic angle of attack；

Axial acceleration power, lateral overload power and the acceleration smooth value produced according to aircraft guidance, it is thus achieved that attack Angle compensation instructs；

Actual guidance angle of attack instruction is calculated according to the instruction of the described basic angle of attack and angle of attack compensating instruction.

Wherein, the acceleration smooth value of described acquisition aircraft, including:

Measure the accekeration of aircraft described in n cycle

The accekeration of aircraft described in described n the cycle is smoothed according to the following formula, it is thus achieved that described The acceleration smooth value of aircraft

${\stackrel{\‾}{W}}_{y1}=\frac{1}{n}\underset{i=1}{\overset{n}{\Σ}}{W}_{y1}^i$

Wherein,Represent the accekeration of aircraft described in the i-th cycle.

Wherein, described axial acceleration power, lateral overload power and the acceleration produced according to aircraft guidance smooths Value, it is thus achieved that angle of attack compensating instruction D α_cxMethod be:

${\mathrm{\Δ\α}}_{cx}=\frac{\sqrt{F_{ycx}^2+F_{zcx}^2}-{\stackrel{\‾}{W}}_{y1}\·m}{q\·S\·b}$

Wherein,The longitudinally and laterally overload power produced for aircraft guidance,For aircraft Acceleration smooth value, m is vehicle mass, and q is aircraft dynamic pressure, and S is aircraft area of reference, b For flight vehicle aerodynamic coefficient.

Wherein, described flight vehicle aerodynamic coefficient obtains according to the aerodynamic characteristic matching of described aircraft.

Wherein, the described guidance angle of attack actual according to the instruction of the described basic angle of attack and the calculating of angle of attack compensating instruction refers to Order, including: using the instruction of the described basic angle of attack and described angle of attack compensating instruction sum as the guidance of described reality The angle of attack instructs.

Present invention also offers the Aircraft Angle of Attack instruction compensation device of a kind of wind resistance interference, put down including acceleration Sliding formwork block, basic angle of attack instruction acquisition module, angle of attack compensating instruction acquisition module and guidance angle of attack instruction obtain Module；

Described acceleration Leveling Block, for obtaining the acceleration smooth value of aircraft, and by described aircraft Acceleration smooth value be sent to described angle of attack compensating instruction acquisition module；

Described basic angle of attack instruction acquisition module, for the axial acceleration power produced according to aircraft guidance and side Obtain the instruction of the basic angle of attack to overload power, and the instruction of the described basic angle of attack is sent to the instruction of the described guidance angle of attack Acquisition module；

Described angle of attack compensating instruction acquisition module, for the axial acceleration power produced according to aircraft guidance, side The acceleration smooth value provided to overload power and described acceleration Leveling Block, it is thus achieved that angle of attack compensating instruction is concurrent Give described guidance angle of attack instruction acquisition module；

Described guidance angle of attack instruction acquisition module, for mending according to the described basic angle of attack instruction received and the angle of attack Repay instruction, calculate actual guidance angle of attack instruction.

Wherein, described acceleration Leveling Block includes:

Inertia device, for measuring the accekeration of aircraft described in n cycleAnd The accekeration of the aircraft in each cycle measured is exported to smooth unit；

Smooth unit, for the accekeration of aircraft described in n cycle will receiving according to formulaIt is smoothed, it is thus achieved that the acceleration smooth value of described aircraftAnd by described Acceleration smooth value is sent to described angle of attack compensating instruction acquisition module；Wherein,Represent the i-th cycle The accekeration of described aircraft.

Wherein, described angle of attack compensating instruction acquisition module obtains angle of attack compensating instruction D α according to following formula_cx:

${\mathrm{\Δ\α}}_{cx}=\frac{\sqrt{F_{ycx}^2+F_{zcx}^2}-{\stackrel{\‾}{W}}_{y1}\·m}{q\·S\·b}$

Wherein,The longitudinally and laterally overload power produced for aircraft guidance,For aircraft Acceleration smooth value, m is vehicle mass, and q is aircraft dynamic pressure, and S is aircraft area of reference, b For flight vehicle aerodynamic coefficient.

Having the beneficial effect that of the technique scheme of the present invention:

In such scheme, the acceleration information obtained based on inertia device measurement on aircraft, in conjunction with artificial deliviery processed Raw axial acceleration power and lateral overload power, it is possible to obtain attacking by the air-dried need compensation disturbed and cause very easily Angle instructs.Can effectively be eliminated by the program and air-dry the impact disturbed guidance, improve guidance precision, can be direct For using in all kinds of aircraft guidance conceptual designs that the angle of attack controls.

Compared with using true angle-of-attack estimation method, the program will not be affected by angle-of-attack estimation error, because of For angle-of-attack estimation precision in addition to wind effect, also suffer from direction force and the impact of atmospheric density error.

Accompanying drawing explanation

The Aircraft Angle of Attack instruction compensation method stream of a kind of wind resistance interference that Fig. 1 provides for the embodiment of the present invention Journey schematic diagram；

Fig. 2 is the schematic flow sheet of the acceleration smooth value method obtaining aircraft；

The Aircraft Angle of Attack instruction compensation device structural representation of a kind of wind resistance interference that Fig. 3 provides for the present invention Figure；

Fig. 4 is the structural representation of acceleration Leveling Block.

[description of reference numerals]

31, acceleration Leveling Block；

32, basic angle of attack instruction acquisition module；

33, angle of attack compensating instruction acquisition module；

34, guidance angle of attack instruction acquisition module；

311, inertia device；

312, smooth unit.

Detailed description of the invention

For making the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with attached Figure and specific embodiment are described in detail.

The Aircraft Angle of Attack instruction compensation method stream of a kind of wind resistance interference that Fig. 1 provides for the embodiment of the present invention Journey schematic diagram, comprises the steps S101-S104:

Step S101: obtain the acceleration smooth value of aircraft；

Step S102: the axial acceleration power produced according to aircraft guidance and lateral overload power, obtains basic The angle of attack instructs；

Step S103: flat according to axial acceleration power, lateral overload power and the acceleration that aircraft guidance produces Sliding value, it is thus achieved that angle of attack compensating instruction；

Step S104: calculate actual guidance angle of attack instruction according to the instruction of the basic angle of attack and angle of attack compensating instruction.

Said method, can apply to aircraft under windy condition by guidance output the angle of attack instruct into Row compensation improves guidance precision, with it, the acceleration that can record according to inertia device on aircraft Degree information indirect obtains being disturbed, by air-dried, the angle of attack caused, thus compensates guidanceing command based on this angle of attack, Reach to improve guidance precision purpose.

In one embodiment, as in figure 2 it is shown, step S101 can comprise the steps S201-S202:

Step S201: measure the accekeration of n cyclic flight device

In this step, can by aircraft equipped with inertia device measurements obtain the acceleration letter of aircraft Breath, it is achieved mode is simpler.Additionally n is smoothness period, and n can choose suitably value as required.

Step S202: the accekeration of n cyclic flight device is smoothed according to the following formula, it is thus achieved that The acceleration smooth value of aircraft

${\stackrel{\‾}{W}}_{y1}=\frac{1}{n}\underset{i=1}{\overset{n}{\Σ}}{W}_{y1}^i---\left(1\right)$

In formula (1),Represent the accekeration of i-th cyclic flight device.

In one embodiment, step S103 use below equation (2) obtain angle of attack compensating instruction D α_cx:

${\mathrm{\Δ\α}}_{cx}=\frac{\sqrt{F_{ycx}^2+F_{zcx}^2}-{\stackrel{\‾}{W}}_{y1}\·m}{q\·S\·b}---\left(2\right)$

In formula (2),The longitudinally and laterally overload power produced for aircraft guidance,For The acceleration smooth value of aircraft, m is vehicle mass, and q is aircraft dynamic pressure, and S is aircraft reference Area, b is flight vehicle aerodynamic coefficient.

Wherein, flight vehicle aerodynamic coefficient b can obtain according to the aerodynamic characteristic matching of aircraft.

In one embodiment, in step S104 by obtain the basic angle of attack instruction and angle of attack compensating instruction it Instruct with as the actual guidance angle of attack, it may be assumed that

α_cx=α_cx0+Dα_cx (3)

In formula (3), α_cxFor actual guidance angle of attack instruction, α_cx0Instruct for the basic angle of attack, Δ α_cxFor Angle of attack compensating instruction.

Corresponding to the Aircraft Angle of Attack instruction compensation method of a kind of wind resistance interference that above-described embodiment provides, this Bright embodiment also provides for the Aircraft Angle of Attack instruction compensation device of a kind of wind resistance interference, as it is shown on figure 3, include: Acceleration Leveling Block 31, basic angle of attack instruction acquisition module 32, angle of attack compensating instruction acquisition module 33 With guidance angle of attack instruction acquisition module 34；

Acceleration Leveling Block 31, for obtaining the acceleration smooth value of aircraft, and adding aircraft Rate smoothing value is sent to angle of attack compensating instruction acquisition module 33；

Basic angle of attack instruction acquisition module 32, for the axial acceleration power produced according to aircraft guidance and side Obtain the instruction of the basic angle of attack to overload power, and be sent to guide angle of attack instruction acquisition module by the instruction of the basic angle of attack 34；

Angle of attack compensating instruction acquisition module 33, for the axial acceleration power produced according to aircraft guidance, side The acceleration smooth value provided to overload power and acceleration Leveling Block, it is thus achieved that angle of attack compensating instruction is also sent to Guidance angle of attack instruction acquisition module 34；

Guidance angle of attack instruction acquisition module 34, for compensating refer to according to the basic angle of attack instruction received and the angle of attack Order, calculates actual guidance angle of attack instruction.

In one embodiment, as shown in Figure 4, acceleration Leveling Block 31 includes:

Inertia device 311, for measuring the accekeration of n cyclic flight deviceAnd The accekeration of the aircraft in each cycle measured is exported to smooth unit 312；

Smooth unit 312, for the accekeration of n cyclic flight device that will receive according to formulaIt is smoothed, it is thus achieved that the acceleration smooth value of aircraftAnd it is sent to the angle of attack Compensating instruction acquisition module 33.Wherein,Represent the accekeration of i-th cyclic flight device.

In the device that above-described embodiment provides, angle of attack compensating instruction acquisition module 33 can obtain according to following formula and attack Angle compensation instruction Δ α_cx:

${\mathrm{\Δ\α}}_{cx}=\frac{\sqrt{F_{ycx}^2+F_{zcx}^2}-{\stackrel{\‾}{W}}_{y1}\·m}{q\·S\·b}$

Wherein,The longitudinally and laterally overload power produced for aircraft guidance,For aircraft Acceleration smooth value, m is vehicle mass, and q is aircraft dynamic pressure, and S is aircraft area of reference, b For flight vehicle aerodynamic coefficient.

In such scheme, the acceleration information obtained based on inertia device measurement on aircraft, in conjunction with artificial deliviery processed Raw axial acceleration power and lateral overload power, it is possible to obtain attacking by the air-dried need compensation disturbed and cause very easily Angle instructs.Can effectively be eliminated by the program and air-dry the impact disturbed guidance, improve guidance precision, can be direct For using in all kinds of aircraft guidance conceptual designs that the angle of attack controls.

Compared with using true angle-of-attack estimation method, the program will not be affected by angle-of-attack estimation error, because of For angle-of-attack estimation precision in addition to wind effect, also suffer from direction force and the impact of atmospheric density error.

The above is the preferred embodiment of the present invention, it is noted that for the common skill of the art For art personnel, on the premise of without departing from principle of the present invention, it is also possible to make some improvements and modifications, These improvements and modifications also should be regarded as protection scope of the present invention.

Claims (8)

1. the Aircraft Angle of Attack instruction compensation method of a wind resistance interference, it is characterised in that include walking as follows Rapid:

Obtain the acceleration smooth value of aircraft；

The axial acceleration power produced according to aircraft guidance and lateral overload power, obtain the instruction of the basic angle of attack；

Axial acceleration power, lateral overload power and the acceleration smooth value produced according to aircraft guidance, it is thus achieved that attack Angle compensation instructs；

Actual guidance angle of attack instruction is calculated according to the instruction of the described basic angle of attack and angle of attack compensating instruction.

2. the Aircraft Angle of Attack instruction compensation method of wind resistance interference as claimed in claim 1, its feature exists In, the acceleration smooth value of described acquisition aircraft, including:

Measure the accekeration of aircraft described in n cycle

The accekeration of aircraft described in described n the cycle is smoothed according to the following formula, it is thus achieved that described The acceleration smooth value of aircraft

${\stackrel{\‾}{W}}_{y1}=\frac{1}{n}\underset{i=1}{\overset{n}{\Σ}}{W}_{y1}^i$

Wherein,Represent the accekeration of aircraft described in the i-th cycle.

3. the Aircraft Angle of Attack instruction compensation method of wind resistance interference as claimed in claim 1 or 2, it is special Levy and be, described axial acceleration power, lateral overload power and the acceleration smooth value produced according to aircraft guidance, Obtain angle of attack compensating instruction Δ α_cxMethod be:

${\mathrm{\Δ\α}}_{cx}=\frac{\sqrt{F_{ycx}^2+F_{zcx}^2}-{\stackrel{\‾}{W}}_{y1}\·m}{q\·S\·b}$

Wherein,The longitudinally and laterally overload power produced for aircraft guidance,For aircraft Acceleration smooth value, m is vehicle mass, and q is aircraft dynamic pressure, and S is aircraft area of reference, b For flight vehicle aerodynamic coefficient.

4. the Aircraft Angle of Attack instruction compensation method of wind resistance interference as claimed in claim 3, its feature exists In, described flight vehicle aerodynamic coefficient obtains according to the aerodynamic characteristic matching of described aircraft.

5. the Aircraft Angle of Attack instruction compensation method of wind resistance interference as claimed in claim 3, its feature exists In, the described guidance angle of attack instruction calculating reality according to the instruction of the described basic angle of attack and angle of attack compensating instruction, bag Include: the instruction of the described basic angle of attack is referred to as the guidance angle of attack of described reality with described angle of attack compensating instruction sum Order.

6. the Aircraft Angle of Attack instruction compensation device of a wind resistance interference, it is characterised in that include acceleration Leveling Block, basic angle of attack instruction acquisition module, angle of attack compensating instruction acquisition module and guidance angle of attack instruction obtain Delivery block；

Described acceleration Leveling Block, for obtaining the acceleration smooth value of aircraft, and by described aircraft Acceleration smooth value be sent to described angle of attack compensating instruction acquisition module；

Described basic angle of attack instruction acquisition module, for the axial acceleration power produced according to aircraft guidance and side Obtain the instruction of the basic angle of attack to overload power, and the instruction of the described basic angle of attack is sent to the instruction of the described guidance angle of attack Acquisition module；

Described angle of attack compensating instruction acquisition module, for the axial acceleration power produced according to aircraft guidance, side The acceleration smooth value provided to overload power and described acceleration Leveling Block, it is thus achieved that angle of attack compensating instruction is concurrent Give described guidance angle of attack instruction acquisition module；

Described guidance angle of attack instruction acquisition module, for mending according to the described basic angle of attack instruction received and the angle of attack Repay instruction, calculate actual guidance angle of attack instruction.

7. the Aircraft Angle of Attack instruction compensation device of wind resistance interference as claimed in claim 6, its feature exists In, described acceleration Leveling Block includes:

Inertia device, for measuring the accekeration of aircraft described in n cycleAnd The accekeration of the aircraft in each cycle measured is exported to smooth unit；

Smooth unit, for the accekeration of aircraft described in n cycle will receiving according to formulaIt is smoothed, it is thus achieved that the acceleration smooth value of described aircraftAnd by described Acceleration smooth value is sent to described angle of attack compensating instruction acquisition module；Wherein,Represent the i-th cycle The accekeration of described aircraft.

The Aircraft Angle of Attack instruction compensation device of wind resistance interference the most as claimed in claims 6 or 7, it is special Levying and be, described angle of attack compensating instruction acquisition module obtains angle of attack compensating instruction Δ α according to following formula_cx:

${\mathrm{\Δ\α}}_{cx}=\frac{\sqrt{F_{ycx}^2+F_{zcx}^2}-{\stackrel{\‾}{W}}_{y1}\·m}{q\·S\·b}$

Wherein,The longitudinally and laterally overload power produced for aircraft guidance,For aircraft Acceleration smooth value, m is vehicle mass, and q is aircraft dynamic pressure, and S is aircraft area of reference, b For flight vehicle aerodynamic coefficient.