CN106020216A - Equilibrium glide guidance force distribution method in angle-of-attack constraint - Google Patents
Equilibrium glide guidance force distribution method in angle-of-attack constraint Download PDFInfo
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- CN106020216A CN106020216A CN201610320246.6A CN201610320246A CN106020216A CN 106020216 A CN106020216 A CN 106020216A CN 201610320246 A CN201610320246 A CN 201610320246A CN 106020216 A CN106020216 A CN 106020216A
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- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
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Abstract
The invention discloses an equilibrium glide guidance force distribution method in angle-of-attack constraint. The method comprises steps of: determining the normal force coefficient of an aircraft; computing the value of longitudinal force Fycx according to a preset longitudinal height control law; computing the normal force Fmin that can be provided by a minimum amplitude-limiting angle of attack; and determining the guidance force Fzc of a transverse channel according to the Fycx and the Fmin. The method provided by the invention may decompose redundant normal force into the transverse channel while satisfying the angle-of-attack constraint so as to coordinate longitudinal guidance force distribution with transverse guidance force distribution.
Description
Technical field
The present invention relates to technical field of air vehicle guidance, the equilibrium glide guidance force distribution method under retraining particularly to a kind of angle of attack.
Background technology
For lift formula aircraft, owing to lift coefficient is big, speed is high, speed the centrifugal force added is big, and therefore, body is only
Need relatively Low Angle Of Attack can realize equilibrium glide flight, and due to control ability problem, aircraft often exists minimum angle of attackmin's
Amplitude limit.
Owing to even if aircraft uses minimum angles-of-attack, its lift provided also is far longer than the power required for equilibrium glide guidance,
Thus there is the contradiction between minimum angle of attack amplitude limit and longitudinal force demand.
Summary of the invention
In view of this, the present invention provides the equilibrium glide guidance force distribution method under the constraint of a kind of angle of attack, such that it is able to attack meeting
While the constraint of angle, normal force more than needed is decomposed interconnection, it is achieved the vertically and horizontally coordination of guidance power distribution.
Technical scheme is specifically achieved in that
A kind of equilibrium glide guidance force distribution method under angle of attack constraint, the method includes:
Determine the normal force coefficient of aircraft；
According to default longitudinal height-holding control law, calculate longitudinal force FycxValue；
Calculate normal force F that the minimum amplitude limit angle of attack can be provided bymin；
According to FycxAnd FminDetermine guidance power F of interconnectionzc1。
It is also preferred that the left the method may further comprise:
According to FycxAnd Fzc1, it is calculated the angle of heel instruction controlled needed for aircraft.
It is also preferred that the left described normal force coefficient is:
Cy=ax+bx×α；
Wherein, CyFor body normal force coefficient, ax、bxFor the parameter of aerodynamic characteristics relevant to aerodynamic characteristics of vehicle, α
For the angle of attack, and α ∈ [αmin,αmax]；aminThe minimum amplitude limit angle of attack allowed during by aircraft gliding flight, amaxFor flight
The maximum angle of attack allowed during device gliding flight.
It is also preferred that the left described default longitudinal height-holding control law is:
Fycx=Fyc0+F(Δh,ΔΘ)；
Wherein, FycxFor longitudinal force, Fyc0For vertical passage need to fundamental force, F (Δ h, Δ Θ) is that vertical passage need to be exerted oneself,
Δ h is height error, and Δ Θ is error of tilt.
It is also preferred that the left use the normal force that the minimum amplitude limit angle of attack of formula below calculating can be provided by:
Fmin=q × Sm×(ax+bxamin)；
Wherein, q is dynamic pressure, SmFor aircraft feature area.
It is also preferred that the left it is described according to FycxAnd FminDetermine that the guidance power of interconnection includes:
If Fmin>Fycx, thenOtherwise, Fzc1=0.
The most visible, in the equilibrium glide guidance force distribution method under angle of attack constraint in the present invention, owing to first determining aircraft
Normal force coefficient, then according to preset longitudinal height-holding control law, calculate longitudinal force FycxValue, and calculate minimum amplitude limit and attack
Normal force F that angle can be provided bymin, then further according to FycxAnd FminDetermine guidance power F of interconnectionzc1, thus by above-mentioned
Guidance power allocation strategy, meet the angle of attack constraint while, normal force more than needed is decomposed interconnection, it is achieved that in length and breadth
To the coordination of guidance power distribution, thus the demand for control of equilibrium glide vertical passage can be met, and meet altitude channel and accurately control
The demand of system, solves the constraint of the minimum angle of attack and required guidance power that glide vehicle of the prior art fly in equilibrium glide section
Mismatch problem, and aircraft can be realized under equilibrium glide state of flight, under angle of attack confined condition, the balance of predetermined altitude
Gliding flight is guided.The method is applicable to lift formula aircraft, can be directly used for setting of glide vehicle longitudinal direction Altitude control scheme
In meter.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the equilibrium glide guidance force distribution method under the angle of attack constraint in the embodiment of the present invention.
Detailed description of the invention
For making the purpose of the present invention, technical scheme and advantage clearer, develop simultaneously embodiment referring to the drawings, right
The present invention further describes.
Present embodiments providing the equilibrium glide guidance force distribution method under the constraint of a kind of angle of attack, the method is applicable to lift formula
Aircraft.
Fig. 1 is the schematic flow sheet of the equilibrium glide guidance force distribution method under the angle of attack constraint in the embodiment of the present invention.As
Shown in Fig. 1, the equilibrium glide guidance force distribution method under the angle of attack constraint in the embodiment of the present invention includes:
Step 101, determines the normal force coefficient of aircraft.
In the inventive solutions, it is necessary first to according to the characteristic of aircraft normal force coefficient, determine the method for aircraft
To force coefficient, i.e. determine parameter a in normal force coefficientxAnd bx。
Such as, it is also preferred that the left in one particular embodiment of the present invention, the normal force coefficient of lift formula aircraft typically may be used
To use equation below to describe:
Cy=ax+bx×α (1)
Wherein, CyFor body normal force coefficient, ax、bxFor the parameter of aerodynamic characteristics relevant to aerodynamic characteristics of vehicle, α
For the angle of attack (unit is degree), α ∈ [αmin,αmax]；aminThe minimum amplitude limit angle of attack allowed during by aircraft gliding flight,
amaxThe maximum angle of attack allowed during by aircraft gliding flight.
Therefore, according to above-mentioned body normal force coefficient and the angle of attack, i.e. can determine that parameter a in normal force coefficientxAnd bx。
Concrete, in embodiments of the invention, can be according to the lift formula aircraft angle of attack under the conditions of certain Mach and body method
To force coefficient, choose several typical characteristic points, use least-squares algorithm to obtain parameter axAnd bx。
Step 102, according to default longitudinal height-holding control law, calculates longitudinal force FycxValue.
Such as, it is also preferred that the left in one particular embodiment of the present invention, the gliding flight section Altitude control of aircraft is permissible
Use longitudinal height-holding control law as described below (i.e. longitudinal Altitude control algorithm):
Fycx=Fyc0+F(Δh,ΔΘ) (2)
Wherein, FycxFor longitudinal force, Fyc0For vertical passage need to fundamental force, F (Δ h, Δ Θ) is that vertical passage need to be exerted oneself,
This vertical passage need to be firmly the power produced by height error Δ h and error of tilt Δ Θ feedback control.
By above-mentioned longitudinal height-holding control law, can according to vertical passage need to fundamental force and vertical passage need to exert oneself,
It is calculated longitudinal force FycxValue.
Step 103, calculates the normal force that the minimum amplitude limit angle of attack can be provided by.
Such as, it is also preferred that the left in one particular embodiment of the present invention, it is possible to use formula as described below calculates minimum
The normal force that the amplitude limit angle of attack can be provided by:
Fmin=q × Sm×(ax+bxamin) (3)
Wherein, FminThe normal force that can be provided by for the minimum amplitude limit angle of attack, q is dynamic pressure, SmFor aircraft feature area.
Step 104, according to FycxAnd FminDetermine the guidance power of interconnection.
In the inventive solutions, the normal force provided due to the minimum amplitude limit angle of attack is much larger than aircraft equilibrium glide
Required longitudinal force, therefore, for meeting angle of attack constraint, is needed to be tilted by aircraft and normal force more than needed is decomposed
To interconnection.So, when knowing FycxAnd FminValue after, in this step, can be according to FycxAnd FminCome really
Determine the guidance power of interconnection.
In the inventive solutions, it is possible to use numerous embodiments realizes above-mentioned step 104.Below will be with
As a example by one therein implements form, technical scheme is introduced.
Such as, it is also preferred that the left in one particular embodiment of the present invention, described according to FycxAnd FminDetermine interconnection
Guidance power includes:
If Fmin>Fycx, thenOtherwise, Fzc1=0.
Wherein, Fzc1Guidance power (i.e. side force) for interconnection.
By above-mentioned step 101～104, normal force more than needed can be decomposed interconnection, meet gliding flight section
The demand for control of vertical passage.
Further, it is also preferred that the left in one particular embodiment of the present invention, after above-mentioned steps 104, it is also possible to
Farther include:
Step 105, according to longitudinal force FycxGuidance power F with interconnectionzc1, it is calculated inclining needed for controlling aircraft
Side angle instructs.
Instructed by above-mentioned angle of heel, aircraft can be controlled and carry out horizontal inclination.
In summary, in the equilibrium glide guidance force distribution method under angle of attack constraint in the present invention, fly owing to first determining
The normal force coefficient of row device, then according to the longitudinal height-holding control law preset, calculates longitudinal force FycxValue, and calculate minimum
Normal force F that the amplitude limit angle of attack can be provided bymin, then further according to FycxAnd FminDetermine guidance power F of interconnectionzc1, from
And by above-mentioned guidance power allocation strategy, normal force more than needed is decomposed interconnection, it is achieved that vertically and horizontally guide power
The coordination of distribution, thus the demand for control of equilibrium glide vertical passage can be met, and meet what altitude channel accurately controlled
Demand, solves the constraint of the minimum angle of attack and required guidance power that glide vehicle of the prior art flies in equilibrium glide section
Mismatch problem, and aircraft can be realized under equilibrium glide state of flight, under angle of attack confined condition, predetermined altitude
Equilibrium glide flight guidance.The method is applicable to lift formula aircraft, can be directly used for glide vehicle longitudinal direction Altitude control
In the design of scheme.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention
Within principle, any modification, equivalent substitution and improvement etc. done, within should be included in the scope of protection of the invention.
Claims (6)
1. the equilibrium glide guidance force distribution method under an angle of attack constraint, it is characterised in that the method includes:
Determine the normal force coefficient of aircraft；
According to default longitudinal height-holding control law, calculate longitudinal force FycxValue；
Calculate normal force F that the minimum amplitude limit angle of attack can be provided bymin；
According to FycxAnd FminDetermine guidance power F of interconnectionzc1。
Method the most according to claim 1, it is characterised in that the method may further comprise:
According to FycxAnd Fzc1, it is calculated the angle of heel instruction controlled needed for aircraft.
Method the most according to claim 1, it is characterised in that described normal force coefficient is:
Cy=ax+bx×α；
Wherein, CyFor body normal force coefficient, ax、bxFor the parameter of aerodynamic characteristics relevant to aerodynamic characteristics of vehicle, α
For the angle of attack, and α ∈ [αmin,αmax]；aminThe minimum amplitude limit angle of attack allowed during by aircraft gliding flight, amaxFor flight
The maximum angle of attack allowed during device gliding flight.
Method the most according to claim 3, it is characterised in that described default longitudinal height-holding control law is:
Fycx=Fyc0+F(Δh,ΔΘ)；
Wherein, FycxFor longitudinal force, Fyc0For vertical passage need to fundamental force, F (Δ h, Δ Θ) is that vertical passage need to be exerted oneself,
Δ h is height error, and Δ Θ is error of tilt.
Method the most according to claim 4, it is characterised in that use formula below to calculate minimum amplitude limit angle of attack institute
The normal force being provided that:
Fmin=q × Sm×(ax+bxamin)；
Wherein, q is dynamic pressure, SmFor aircraft feature area.
Method the most according to claim 5, it is characterised in that described according to FycxAnd FminDetermine interconnection
Guidance power includes:
If Fmin>Fycx, thenOtherwise, Fzc1=0.
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| CN201610320246.6A CN106020216B (en) | 2016-05-13 | 2016-05-13 | Equilibrium glide guidance force distribution method in angle-of-attack constraint |
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|---|---|---|---|
| CN201610320246.6A CN106020216B (en) | 2016-05-13 | 2016-05-13 | Equilibrium glide guidance force distribution method in angle-of-attack constraint |
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| CN106020216B CN106020216B (en) | 2017-03-22 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100185345A1 (en) * | 2008-12-11 | 2010-07-22 | Alenia Aeronautica S.P.A. | Method of estimating an angle of attack and an angle of sideslip of an aircraft |
| CN104035335A (en) * | 2014-05-27 | 2014-09-10 | 北京航空航天大学 | High accuracy longitudinal and cross range analytical prediction method based smooth gliding reentry guidance method |
| CN104155990A (en) * | 2014-08-15 | 2014-11-19 | 哈尔滨工业大学 | Hypersonic aircraft pitch channel attitude control method in consideration of attack angle constraint |
| CN104731104A (en) * | 2015-03-09 | 2015-06-24 | 北京航天自动控制研究所 | Longitudinal guidance method for gliding flight section of hypersonic flight vehicle |
-
2016
- 2016-05-13 CN CN201610320246.6A patent/CN106020216B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100185345A1 (en) * | 2008-12-11 | 2010-07-22 | Alenia Aeronautica S.P.A. | Method of estimating an angle of attack and an angle of sideslip of an aircraft |
| CN104035335A (en) * | 2014-05-27 | 2014-09-10 | 北京航空航天大学 | High accuracy longitudinal and cross range analytical prediction method based smooth gliding reentry guidance method |
| CN104155990A (en) * | 2014-08-15 | 2014-11-19 | 哈尔滨工业大学 | Hypersonic aircraft pitch channel attitude control method in consideration of attack angle constraint |
| CN104731104A (en) * | 2015-03-09 | 2015-06-24 | 北京航天自动控制研究所 | Longitudinal guidance method for gliding flight section of hypersonic flight vehicle |
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Granted publication date: 20170322 Termination date: 20200513 |