CN106017218B - A kind of Aircraft Angle of Attack instruction compensation method of wind resistance interference and device - Google Patents
A kind of Aircraft Angle of Attack instruction compensation method of wind resistance interference and device Download PDFInfo
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- CN106017218B CN106017218B CN201610331421.1A CN201610331421A CN106017218B CN 106017218 B CN106017218 B CN 106017218B CN 201610331421 A CN201610331421 A CN 201610331421A CN 106017218 B CN106017218 B CN 106017218B
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- Prior art keywords
- angle
- attack
- aircraft
- instruction
- guidance
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
- F41G3/22—Aiming or laying means for vehicle-borne armament, e.g. on aircraft
-
- 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
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
- G05D1/0825—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using mathematical models
Abstract
The present invention provides a kind of Aircraft Angle of Attack instruction compensation method and the device of wind resistance interference, is related to flying vehicles control applied technical field, for solving the factor impact such as to disturb due to air-drying, leads to the problem that guidance precision reduces.The method includes obtaining the acceleration smooth value of aircraft；The axial acceleration power being produced according to aircraft guidance and lateral overload power, obtain basic angle of attack instruction；Axial acceleration power, lateral overload power and the acceleration smooth value being produced according to aircraft guidance, obtains angle of attack compensating instruction；Instructed according to the described basic angle of attack and angle of attack compensating instruction calculates actual guidance angle of attack instruction.Such scheme, being compensated by the angle of attack instruction that aircraft guidance is exported under windy condition, overcoming the interference problem to aircraft guidance for the wind, thus having reached the purpose improving guidance precision.
Description
Technical field
The present invention relates to flying vehicles control applied technical field, particularly relate to a kind of Aircraft Angle of Attack instruction of wind resistance interference
Compensation method and device.
Background technology
Currently for aircraft such as guided missile, glide vehicles, if guidance adopts angle of attack control program, real in aircraft
In the flight course of border, the factor impact such as can disturb due to air-drying, lead to guidance precision to reduce and hit, pinpoint it is impossible to meet target
The mission requirementses such as land.For solving the factor impact such as to disturb due to air-drying, lead to the problem that guidance precision reduces, recent research worker carries
Go out solve this problem using premature beats scheme although the program have wind resistance interference ability, but some given aircraft or
Particular job condition angular dimensions of attacking against each other has the situation of strict demand, such as using the aircraft engine work of airbreathing motor
The Shi Yaoqiu angle of attack controls in particular range, and and for example aircraft the problems such as flight latter end has hard constraints to attitude, control by overload
Scheme processed be not just suitable for.
Therefore it is badly in need of a kind of flying vehicles control method and device of wind resistance interference, can have the ability of wind resistance interference, thus carrying
The precision of high aircraft guidance.
Content of the invention
In order to solve the factor impact such as to disturb due to air-drying, lead to the problem that guidance precision reduces, the present invention provides a kind of anti-
Air-dry the Aircraft Angle of Attack instruction compensation method and device disturbed, the angle of attack that can be under windy condition by exporting to aircraft guidance
Instruction compensates, and overcomes the interference problem to aircraft guidance for the wind, thus having reached the purpose improving guidance precision.
A kind of Aircraft Angle of Attack instruction compensation method of wind resistance interference that the present invention provides, comprises the steps：
Obtain the acceleration smooth value of aircraft；
The axial acceleration power being produced according to aircraft guidance and lateral overload power, obtain basic angle of attack instruction；
Axial acceleration power, lateral overload power and the acceleration smooth value being produced according to aircraft guidance, obtains the angle of attack and compensates
Instruction；
Instructed according to the described basic angle of attack and angle of attack compensating instruction calculates actual guidance angle of attack instruction.
Wherein, the described acceleration smooth value obtaining aircraft, including：
The accekeration of aircraft described in the n cycle of measurement
The accekeration of aircraft described in the described n cycle is smoothed according to the following formula, obtains described aircraft
Acceleration smooth value
Wherein,Represent the accekeration of aircraft described in i-th cycle.
Wherein, described axial acceleration power according to aircraft guidance generation, lateral overload power and acceleration smooth value, obtains
Angle of attack compensating instruction D αcxMethod be：
Wherein,The longitudinally and laterally overload power producing for aircraft guidance,Acceleration for aircraft
Smooth value, m is vehicle mass, and q is aircraft dynamic pressure, and S is aircraft area of reference, and b is 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 instruction calculating reality according to described basic angle of attack instruction and angle of attack compensating instruction, bag
Include：The described basic angle of attack is instructed and described angle of attack compensating instruction sum is as described actual guidance angle of attack instruction.
Present invention also offers a kind of Aircraft Angle of Attack instruction compensation device of wind resistance interference, smooth mould including acceleration
Block, basic angle of attack instruction acquisition module, angle of attack compensating instruction acquisition module and guidance angle of attack instruction acquisition module；
Described acceleration Leveling Block, for obtaining the acceleration smooth value of aircraft, and the acceleration by described aircraft
Degree smooth value is sent to described angle of attack compensating instruction acquisition module；
Described basic angle of attack instruction acquisition module, for the axial acceleration power that produced according to aircraft guidance and lateral overload
Power obtains basic angle of attack instruction, and described basic angle of attack instruction is sent to described guidance angle of attack instruction acquisition module；
Described angle of attack compensating instruction acquisition module, for produced according to aircraft guidance axial acceleration power, lateral overload
Power and the acceleration smooth value of described acceleration Leveling Block offer, obtain angle of attack compensating instruction and are simultaneously sent to the described guidance angle of attack
Instruction acquisition module；
Described guidance angle of attack instruction acquisition module, for compensating and referring to according to the described basic angle of attack instruction receiving and the angle of attack
Order, calculates actual guidance angle of attack instruction.
Wherein, described acceleration Leveling Block includes：
Inertia device, for measuring the accekeration of aircraft described in n cycleAnd will measure
The accekeration of the aircraft in each cycle export to smooth unit；
Smooth unit, for by the accekeration of aircraft described in n received cycle according to formulaEnter
Row smoothing processing, obtains the acceleration smooth value of described aircraftAnd described acceleration smooth value is sent to the described angle of attack
Compensating instruction acquisition module；Wherein,Represent the accekeration of aircraft described in i-th cycle.
Wherein, described angle of attack compensating instruction acquisition module obtains angle of attack compensating instruction D α according to following formulacx：
Wherein,The longitudinally and laterally overload power producing for aircraft guidance,Acceleration for aircraft
Smooth value, m is vehicle mass, and q is aircraft dynamic pressure, and S is aircraft area of reference, and b is flight vehicle aerodynamic coefficient.
The having the beneficial effect that of the technique scheme of the present invention：
In such scheme, the acceleration information that obtained based on inertia device measurement on aircraft, in conjunction with guidance produce vertical
To overload power and lateral overload power, can very easily obtain disturbing, by air-dried, the angle of attack instruction that the need causing compensate.By the party
Case can effectively eliminate and air-dry the impact disturbed to guidance, improve guidance precision, can be directly used for all kinds of flights controlling using the angle of attack
In the design of device Celestial Guidance Scheme.
Compared with using true angle-of-attack estimation method, the program will not be affected by angle-of-attack estimation error, because the angle of attack
Estimated accuracy, in addition to wind effect, also suffers from direction force and the impact of atmospheric density error.
Brief description
Fig. 1 is that a kind of Aircraft Angle of Attack instruction compensation method flow process of wind resistance interference provided in an embodiment of the present invention is illustrated
Figure；
Fig. 2 is the schematic flow sheet of the acceleration smooth value method obtaining aircraft；
A kind of Aircraft Angle of Attack instruction compensation device structural representation of wind resistance interference that Fig. 3 provides for the present invention；
Fig. 4 is the structural representation of acceleration Leveling Block.
[description of reference numerals]
31st, acceleration Leveling Block；
32nd, basic angle of attack instruction acquisition module；
33rd, angle of attack compensating instruction acquisition module；
34th, guide angle of attack instruction acquisition module；
311st, inertia device；
312nd, smooth unit.
Specific embodiment
For making the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
Fig. 1 is that a kind of Aircraft Angle of Attack instruction compensation method flow process of wind resistance interference provided in an embodiment of the present invention is illustrated
Figure, comprises the steps S101-S104：
Step S101：Obtain the acceleration smooth value of aircraft；
Step S102：The axial acceleration power being produced according to aircraft guidance and lateral overload power, obtain basic angle of attack instruction；
Step S103：Axial acceleration power, lateral overload power and the acceleration smooth value being produced according to aircraft guidance, obtains
Angle of attack compensating instruction；
Step S104：Actual guidance angle of attack instruction is calculated according to the instruction of the basic angle of attack and angle of attack compensating instruction.
Said method, can apply to aircraft and passes through the angle of attack instruction of guidance output is compensated under windy condition
To improve guidance precision, with it, can according to the acceleration information that inertia device on aircraft records indirectly obtain by
Air-drying and disturb the angle of attack causing, thus compensating to guidanceing command based on this angle of attack, reaching raising guidance precision purpose.
In one embodiment, as shown in Fig. 2 step S101 may include following steps S201-S202：
Step S201：The accekeration of n cyclic flight device of measurement
In this step, can by aircraft equipped with inertia device measurement obtain the acceleration information of aircraft, reality
Existing mode is simpler.In addition n is smoothness period, and n can choose suitable value as needed.
Step S202：The accekeration of n cyclic flight device is smoothed according to the following formula, obtains adding of aircraft
Rate smoothing value
In formula (1),Represent the accekeration of i-th cyclic flight device.
In one embodiment, below equation (2) is adopted to obtain angle of attack compensating instruction D α in step S103cx：
In formula (2),The longitudinally and laterally overload power producing 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, and 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, the basic angle of attack obtaining is instructed and angle of attack compensating instruction sum is as reality
The guidance angle of attack instruction on border, that is,：
αcx=αcx0+Dαcx(3)
In formula (3), αcxFor actual guidance angle of attack instruction, αcx0For the instruction of the basic angle of attack, Δ αcxCompensate for the angle of attack
Instruction.
A kind of Aircraft Angle of Attack instruction compensation method of the wind resistance interference providing corresponding to above-described embodiment, the present invention is implemented
Example also provides a kind of Aircraft Angle of Attack instruction compensation device of wind resistance interference, as shown in figure 3, including：Acceleration Leveling Block 31,
Basic angle of attack instruction acquisition module 32, angle of attack compensating instruction acquisition module 33 and guidance angle of attack instruction acquisition module 34；
Acceleration Leveling Block 31, for obtaining the acceleration smooth value of aircraft, and the acceleration of aircraft is smoothed
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 that produced according to aircraft guidance and lateral overload power
Obtain basic angle of attack instruction, and the instruction of the basic angle of attack is sent to guidance angle of attack instruction acquisition module 34；
Angle of attack compensating instruction acquisition module 33, for produced according to aircraft guidance axial acceleration power, lateral overload power
And the acceleration smooth value that acceleration Leveling Block provides, obtain angle of attack compensating instruction and be sent to guidance angle of attack instruction acquisition mould
Block 34；
Guidance angle of attack instruction acquisition module 34, for according to the basic angle of attack instruction receiving and angle of attack compensating instruction, calculating
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 will measure
The accekeration of the aircraft in each cycle export to smooth unit 312；
Smooth unit 312, for by the accekeration of n received cyclic flight device according to formulaEnter
Row smoothing processing, obtains the acceleration smooth value of aircraftAnd it is sent to 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 the angle of attack and compensate according to following formula and refer to
Make Δ αcx：
Wherein,The longitudinally and laterally overload power producing for aircraft guidance,Acceleration for aircraft
Smooth value, m is vehicle mass, and q is aircraft dynamic pressure, and S is aircraft area of reference, and b is flight vehicle aerodynamic coefficient.
In such scheme, the acceleration information that obtained based on inertia device measurement on aircraft, in conjunction with guidance produce vertical
To overload power and lateral overload power, can very easily obtain disturbing, by air-dried, the angle of attack instruction that the need causing compensate.By the party
Case can effectively eliminate and air-dry the impact disturbed to guidance, improve guidance precision, can be directly used for all kinds of flights controlling using the angle of attack
In the design of device Celestial Guidance Scheme.
Compared with using true angle-of-attack estimation method, the program will not be affected by angle-of-attack estimation error, because the angle of attack
Estimated accuracy, in addition to wind effect, also suffers 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 those skilled in the art
For, on the premise of without departing from principle of the present invention, some improvements and modifications can also be made, these improvements and modifications
Should be regarded as protection scope of the present invention.
Claims (6)
1. a kind of Aircraft Angle of Attack instruction compensation method of wind resistance interference is it is characterised in that comprise the steps：
Obtain the acceleration smooth value of aircraft；
The axial acceleration power being produced according to aircraft guidance and lateral overload power, obtain basic angle of attack instruction；
Axial acceleration power, lateral overload power and the acceleration smooth value being produced according to aircraft guidance, obtains angle of attack compensating instruction；
Instructed according to the described basic angle of attack and angle of attack compensating instruction calculates actual guidance angle of attack instruction；
Wherein, described axial acceleration power according to aircraft guidance generation, lateral overload power and acceleration smooth value, obtains the angle of attack
Compensating instruction Δ αcxMethod be：
Wherein,The longitudinally and laterally overload power producing for aircraft guidance,Acceleration for aircraft smooths
Value, m is vehicle mass, and q is aircraft dynamic pressure, and S is aircraft area of reference, and b is flight vehicle aerodynamic coefficient.
2. the Aircraft Angle of Attack instruction compensation method of wind resistance interference as claimed in claim 1 is it is characterised in that described acquisition flies
The acceleration smooth value of row device, including：
The accekeration of aircraft described in the n cycle of measurement
The accekeration of aircraft described in the described n cycle is smoothed according to the following formula, obtains adding of described aircraft
Rate smoothing value
Wherein,Represent the accekeration of aircraft described in i-th cycle.
3. the Aircraft Angle of Attack instruction compensation method of wind resistance interference as claimed in claim 1 or 2 is it is characterised in that described fly
Row device Aerodynamic Coefficient obtains according to the aerodynamic characteristic matching of described aircraft.
4. the Aircraft Angle of Attack instruction compensation method of wind resistance as claimed in claim 1 or 2 interference is it is characterised in that described
Instruct according to the described basic angle of attack and angle of attack compensating instruction calculates actual guidance angle of attack instruction, including：The described basic angle of attack is referred to
Order and described angle of attack compensating instruction sum are as described actual guidance angle of attack instruction.
5. a kind of Aircraft Angle of Attack instruction compensation device of wind resistance interference is 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 acquisition module；
Described acceleration Leveling Block, for obtaining the acceleration smooth value of aircraft, and the acceleration of described aircraft is put down
Sliding value is sent to described angle of attack compensating instruction acquisition module；
Described basic angle of attack instruction acquisition module, axial acceleration power and lateral overload power for being produced according to aircraft guidance obtain
Take basic angle of attack instruction, and described basic angle of attack instruction is sent to described guidance angle of attack instruction acquisition module；
Described angle of attack compensating instruction acquisition module, for produced according to aircraft guidance axial acceleration power, lateral overload power and
The acceleration smooth value that described acceleration Leveling Block provides, obtains angle of attack compensating instruction and is sent to described guidance angle of attack instruction
Acquisition module；
Described guidance angle of attack instruction acquisition module, for according to the described basic angle of attack instruction receiving and angle of attack compensating instruction, meter
Calculate actual guidance angle of attack instruction；
Wherein, described angle of attack compensating instruction acquisition module obtains angle of attack compensating instruction Δ α according to following formulacx：
Wherein,The longitudinally and laterally overload power producing for aircraft guidance,Acceleration for aircraft smooths
Value, m is vehicle mass, and q is aircraft dynamic pressure, and S is aircraft area of reference, and b is flight vehicle aerodynamic coefficient.
6. the Aircraft Angle of Attack instruction compensation device of wind resistance as claimed in claim 5 interference is it is characterised in that described acceleration
Leveling Block includes：
Inertia device, for measuring the accekeration of aircraft described in n cycleAnd measurement is every
The accekeration of the aircraft in individual cycle exports to smooth unit；
Smooth unit, for by the accekeration of aircraft described in n received cycle according to formulaPut down
The sliding acceleration smooth value processing, obtaining described aircraftAnd described acceleration smooth value is sent to described angle of attack compensation
Instruction acquisition module；Wherein,Represent the accekeration of aircraft described in i-th cycle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610331421.1A CN106017218B (en) | 2016-05-18 | 2016-05-18 | A kind of Aircraft Angle of Attack instruction compensation method of wind resistance interference and device |
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| CN201610331421.1A CN106017218B (en) | 2016-05-18 | 2016-05-18 | A kind of Aircraft Angle of Attack instruction compensation method of wind resistance interference and device |
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| CN109976378B (en) * | 2019-03-13 | 2021-08-06 | 南京航空航天大学 | Trajectory control method for unmanned aerial vehicle perching and landing maneuver under wind disturbance |
| CN112278325B (en) * | 2020-09-21 | 2022-05-24 | 北京控制工程研究所 | Normal overload based total attack angle control method |
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| FR2625809B1 (en) * | 1988-01-12 | 1990-06-22 | Aerospatiale | DEVICE FOR CANCELING AERODYNAMIC FORCES ON A ROTATING BODY, AND APPLICATION TO DYNAMIC BALANCING |
| CN102749851B (en) * | 2012-07-24 | 2015-01-28 | 北京航空航天大学 | Fine anti-interference tracking controller of flexible hypersonic vehicle |
| CN103984237B (en) * | 2014-06-04 | 2016-08-17 | 西北工业大学 | Axial symmetry aircraft triple channel Adaptive Control System Design method based on movement state comprehensive identification |
| CN105182984B (en) * | 2015-07-16 | 2018-05-15 | 孙明玮 | The linear active disturbance rejection controller design and parameter tuning method of aircraft pitch attitude |
| CN105278545A (en) * | 2015-11-04 | 2016-01-27 | 北京航空航天大学 | Active-disturbance-rejection trajectory linearization control method suitable for hypersonic velocity maneuvering flight |
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Granted publication date: 20170301 Termination date: 20200518 |