CN106020229A - Guide method for glider - Google Patents

Guide method for glider Download PDF

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Publication number
CN106020229A
CN106020229A CN201610331567.6A CN201610331567A CN106020229A CN 106020229 A CN106020229 A CN 106020229A CN 201610331567 A CN201610331567 A CN 201610331567A CN 106020229 A CN106020229 A CN 106020229A
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China
Prior art keywords
boundary
corridor
lateral force
aircraft
distance
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Pending
Application number
CN201610331567.6A
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Chinese (zh)
Inventor
马卫华
黄万伟
祁振强
杨业
包为民
徐国强
郭涛
梁禄扬
吴浩
刘毅
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Beijing Aerospace Automatic Control Research Institute
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Beijing Aerospace Automatic Control Research Institute
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Application filed by Beijing Aerospace Automatic Control Research Institute filed Critical Beijing Aerospace Automatic Control Research Institute
Priority to CN201610331567.6A priority Critical patent/CN106020229A/en
Publication of CN106020229A publication Critical patent/CN106020229A/en
Pending legal-status Critical Current

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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
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention provides a guide method for a glider and is used for making sure that the glider does not surpass crosswise corridor borders under the premise of having ultra-high maneuvering capability. The method is suitable for flight segments of the glider with crosswise corridor border restriction and specifically includes steps of generating an additional lateral force according to the distances from the glider to the left border and the right border of a crosswise corridor and realizing border potential control so as to meet crosswise restriction requirements for gliding. According to the invention, aiming at crosswise track control of the glider, the additional lateral force is generated quickly according to position information for controlling the glider to meet the crosswise corridor restriction requirements and not to surpass the crosswise borders. Even with comparatively large interference and in undetermined conditions, the glider can still meet flight border conditions strictly.

Description

Guidance method of gliding aircraft
Technical Field
The invention belongs to the technical field of lift type aircrafts, and particularly relates to a guidance method of a gliding aircraft.
Background
The gliding aircraft is a lift aircraft, which is different from a power aircraft, and the gliding aircraft is generally provided with no power device and obtains flight power by means of external force dragging or altitude loss. Under the condition of ascending airflow, the gliding aircraft can realize level flight or ascending; under the windless condition, the self gravity component is relied on to obtain the forward power, and the unpowered sliding is realized in a height loss mode.
The gliding aircraft adopts a plane symmetrical body structure, flies in the boundary range of a transverse corridor, cannot consume energy in an STT mode, and can only carry out speed management through S-shaped flight. Therefore, the lateral guidance of the gliding aircraft generally adopts a guidance mode that the roll angle turns back and forth, and speed management and speed control are performed by adjusting the size of the roll angle; by effectively controlling the overturning opportunity, the side boundary condition is met, and the airplane has maneuvering capability, so that the flight task is finally realized.
In the prior art, no complete solution is provided on the premise of ensuring that the gliding aircraft has ultra-strong maneuvering capability and does not exceed the boundary of a transverse corridor.
Disclosure of Invention
The invention aims to solve the technical problem of providing a guidance method of a gliding aircraft, which generates additional lateral force according to the distance between the aircraft and the left and right boundaries, realizes boundary potential energy control, meets the boundary constraint of a lateral corridor of the gliding aircraft, and ensures that the aircraft strictly meets the flight boundary conditions and safely flies.
To solve the above technical problems, an embodiment of the present invention provides a guidance method for a gliding aircraft,
it is a repetition of the claims herein that are developed after they are finalized.
The technical scheme of the invention has the following beneficial effects:
the method for guiding the gliding aircraft is suitable for the flight section of the gliding aircraft with the restriction of the lateral boundary corridor, generates additional lateral force according to the distance between the aircraft and the left and right boundaries of the lateral boundary corridor, realizes boundary potential energy control and ensures that the requirement of the lateral restriction of gliding flight is met. Aiming at the problem of controlling the transverse track of the gliding aircraft, the invention quickly generates additional lateral force according to position information and the like, controls the aircraft to meet the constraint condition of a transverse corridor, ensures that the aircraft does not exceed a transverse boundary, and can ensure that the aircraft strictly meets the flight boundary condition even if larger interference and uncertain conditions exist.
Drawings
FIG. 1 is a schematic lateral force diagram of a lateral side corridor of a glider according to a second embodiment of the present invention;
FIG. 2 is a schematic flow chart of a second embodiment of the method for guidance of a gliding aircraft;
figure 3 is a graphical illustration of the additional lateral force of the lateral side corridor of a second embodiment of the invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
Aiming at the problem that the existing gliding aircraft does not exceed the boundary of a transverse corridor on the premise of having super-strong maneuverability, the invention provides a guidance method of the gliding aircraft, which generates additional lateral force according to the distance between the aircraft and the left and right boundaries, realizes boundary potential energy control, meets the boundary constraint of the gliding aircraft from the transverse side to the corridor, and ensures that the aircraft strictly meets the flight boundary conditions and safely flies.
The technical solution of the present invention is further explained with reference to the accompanying drawings and the specific embodiments.
First embodiment
The guidance method for the gliding aircraft provided by the embodiment comprises the following steps: and constraining the flight section in the transverse lateral boundary corridor of the gliding aircraft, generating an additional lateral force according to the position information of the gliding aircraft, and meeting the constraint condition of the transverse lateral boundary corridor of the gliding aircraft through the additional lateral force.
The position information in this embodiment may be a distance between the glider and the left and right boundaries of the lateral boundary corridor. According to the distance between the gliding aircraft and the left and right boundaries of the transverse lateral boundary corridor, additional lateral force is generated according to set rules, and the additional lateral force is applied to the control of the boundary potential energy, so that the lateral guidance of the gliding aircraft is further controlled, the overturning angle of the gliding aircraft is guided, the boundary constraint of the transverse lateral boundary corridor of the gliding aircraft is met, and the aircraft is ensured to strictly meet the flight boundary conditions and fly safely.
Second embodiment
For gliding aircrafts, the lateral guidance is generally controlled by a guidance method of turning over a tilt angle, and when lateral maneuvering reaches a boundary line, the aircrafts need to be pulled back to ensure that flight corridor constraint conditions are met. Fig. 1 is a schematic diagram of lateral force of lateral corridor of the gliding aircraft according to the embodiment. In this flight mode, the aircraft may be able to overrun the boundary due to inertial effects during velocity reversals, and therefore the present embodiment generates additional lateral force via position information to ensure that the lateral velocity can be reversed rapidly.
Fig. 2 is a schematic flow chart of a guidance method of a gliding aircraft according to a second embodiment of the invention.
As shown in fig. 2, the guidance method for the gliding aircraft of the embodiment includes the following steps:
and step S1, calculating the left distance between the glider and the left boundary of the lateral boundary corridor.
In this step, the calculation of the left distance between the glide vehicle and the left boundary of the lateral boundary corridor further includes:
aircraft distance corridor left boundary distance:
dZ1＝Zleft+DZc-Z
wherein,
z is the position of the aircraft in the lateral corridor;
Zleftleft boundary value;
Zrightis the right boundary value;
DZc>0, is the reserved distance.
And step S2, utilizing the left distance and taking a parabolic scheme as an additional lateral force rule to generate left additional lateral force in stages.
In this step, the step of generating the left side additional lateral force in stages further includes:
when dZ is1When the thrust is greater than zero, additional side thrust F is generatedzce1Adding a side thrust Fzce1Comprises the following steps:
F z c e 1 = K 0 dZ 1 < 0 K 0 + 2 ( K f - K 0 ) dts 2 &CenterDot; dZ 1 2 0 < = dZ 1 < d t s / 2 K f - 2 ( K f - K 0 ) dts 2 &CenterDot; ( dZ 1 - d t s ) 2 d t s / 2 < = dZ 1 < d t s K f dZ 1 > = d t s
wherein, K0＝0，KfAre design parameters.
And step S3, calculating the right distance between the glider and the right boundary of the lateral boundary corridor.
In this step, the right distance between the glide vehicle and the right boundary of the lateral boundary corridor is calculated, and the method further comprises the following steps:
aircraft distance corridor left boundary distance:
dZ2＝Z-(Zright-DZc)
wherein,
z is the position of the aircraft in the lateral corridor;
Zleftleft boundary value;
Zrightis the right boundary value;
DZc>0, is the reserved distance.
And step S4, utilizing the right distance and taking a parabolic scheme as an additional lateral force rule to generate a right additional lateral force in stages.
In this step, the step of generating the right additional lateral force in stages further includes:
when dZ is2When the thrust is greater than zero, additional side thrust F is generatedzce2Adding a side thrust Fzce2Comprises the following steps:
F z c e 2 = - K 0 dZ 2 < 0 - K 0 - 2 ( K f - K 0 ) dts 2 &CenterDot; dZ 2 2 0 < = dZ 2 < d t s / 2 - K f + 2 ( K f - K 0 ) dts 2 &CenterDot; ( dZ 2 - d t s ) 2 d t s / 2 < = dZ 2 < d t s - K f dZ 2 > = d t s
wherein, K0＝0，KfAre design parameters.
Step S5, summing the left side additional lateral force and the right side additional lateral force into an additional lateral force.
Accordingly, the additional side force F in this stepnzComprises the following steps:
Fnz＝Fzce1+Fzce2。
the guidance method of the gliding aircraft further comprises the following steps:
and applying the additional lateral force to boundary potential energy control, and meeting the constraint condition of the lateral boundary corridor of the gliding aircraft through the control of the boundary potential energy. Figure 3 is a graphical illustration of the additional lateral force of the lateral side corridor of a second embodiment of the invention.
The method for guiding the gliding aircraft is suitable for a flight section of the gliding aircraft with the restriction of the lateral boundary corridor, additional lateral force is generated according to the distance between the aircraft and the left and right boundaries of the lateral boundary corridor, boundary potential energy control is achieved, and the requirement for lateral restriction of gliding flight is met. Aiming at the problem of controlling the transverse track of the gliding aircraft, the invention quickly generates additional lateral force according to position information and the like, controls the aircraft to meet the constraint condition of a transverse corridor, ensures that the aircraft does not exceed a transverse boundary, and can ensure that the aircraft strictly meets the flight boundary condition even if larger interference and uncertain conditions exist.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (9)

1. A method of guidance of a gliding aircraft, the method comprising:
and constraining the flight section in the transverse lateral boundary corridor of the gliding aircraft, generating an additional lateral force according to the position information of the gliding aircraft, and meeting the constraint condition of the transverse lateral boundary corridor of the gliding aircraft through the additional lateral force.
2. The guidance method according to claim 1, wherein the position information of the gliding aircraft is further a distance of the gliding aircraft from a lateral boundary corridor left and right boundary.
3. The guidance method according to claim 2, wherein the generating of the additional lateral force based on the position information of the gliding aircraft comprises the steps of:
step S1, calculating the left distance between the glide vehicle and the left boundary of the lateral boundary corridor;
step S2, generating left side additional lateral force in stages by using the left distance and taking a parabola scheme as an additional lateral force rule;
step S3, calculating the right distance between the glider and the right boundary of the lateral boundary corridor;
step S4, generating a right additional lateral force in stages by using the right distance and taking a parabolic scheme as an additional lateral force rule;
step S5, summing the left side additional lateral force and the right side additional lateral force into an additional lateral force.
4. The guidance method of claim 3, wherein said calculating a left distance of said glider from a lateral boundary corridor left boundary further comprises:
aircraft distance corridor left boundary distance:
dZ1＝Zleft+ΔZc-Z
wherein,
z is the position of the aircraft in the lateral corridor;
Zleftleft boundary value;
Zrightis the right boundary value;
ΔZc>0, is the reserved distance.
5. The guidance method of claim 4 wherein the staging generates a left side additional lateral force further by:
when dZ is1Greater than zero, generating an additionLateral thrust Fzce1Adding a side thrust Fzce1Comprises the following steps:
F z c e 1 = K 0 dZ 1 < 0 K 0 + 2 ( K f - K 0 ) dts 2 &CenterDot; dZ 1 2 0 < = dZ 1 < d t s / 2 K f - 2 ( K f - K 0 ) dts 2 &CenterDot; ( dZ 2 - d t s ) 2 d t s / 2 < = dZ 1 < d t s K f dZ 1 > = d t s
wherein, K0＝0，KfAre design parameters.
6. The guidance method of any of claims 3 to 5, wherein the calculating of the right distance of the glide vehicle from the lateral boundary corridor right boundary further comprises:
aircraft distance corridor left boundary distance:
dZ2＝Z-(Zright-ΔZc)
wherein,
z is the position of the aircraft in the lateral corridor;
Zleftleft boundary value;
Zrightis the right boundary value;
ΔZc>0, is the reserved distance.
7. The guidance method of claim 6 wherein the staged generation of right side additional lateral force is further:
when dZ is2When the thrust is greater than zero, additional side thrust F is generatedzce2Adding a side thrust Fzce2Comprises the following steps:
F z c e 2 = - K 0 dZ 2 < 0 - K 0 - 2 ( K f - K 0 ) dts 2 &CenterDot; dZ 2 2 0 < = dZ 2 < d t s / 2 - K f + 2 ( K f - K 0 ) dts 2 &CenterDot; ( dZ 2 - d t s ) 2 d t s / 2 < = dZ 2 < d t s - K f dZ 2 > = d t s
wherein, K0＝0，KfAre design parameters.
8. The guidance method of claim 7 wherein the additional lateral force FnzComprises the following steps:
Fnz＝Fzce1+Fzce2
9. the guidance method of claim 8, further comprising:
and applying the additional lateral force to boundary potential energy control, and meeting the constraint condition of the lateral boundary corridor of the gliding aircraft through the control of the boundary potential energy.
CN201610331567.6A 2016-05-18 2016-05-18 Guide method for glider Pending CN106020229A (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140209739A1 (en) * 2013-01-30 2014-07-31 Airbus Operations S.A.S. Method and device for lateral control of a taxiing aircraft
CN104176268A (en) * 2014-08-06 2014-12-03 北京航空航天大学 Method for controlling glide flying ballistic curve damping
CN104809271A (en) * 2015-03-23 2015-07-29 北京航天自动控制研究所 Calculation method for re-entry trajectory of lifting flight
CN104965418A (en) * 2015-06-01 2015-10-07 北京航空航天大学 Injection phase guiding method based on trajectory damping control and hot-fluid analyzing prediction
CN105550402A (en) * 2015-12-07 2016-05-04 北京航空航天大学 Attack angle or inclination angle frequency conversion based design method for hypersonic steady maneuver gliding trajectory

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140209739A1 (en) * 2013-01-30 2014-07-31 Airbus Operations S.A.S. Method and device for lateral control of a taxiing aircraft
CN104176268A (en) * 2014-08-06 2014-12-03 北京航空航天大学 Method for controlling glide flying ballistic curve damping
CN104809271A (en) * 2015-03-23 2015-07-29 北京航天自动控制研究所 Calculation method for re-entry trajectory of lifting flight
CN104965418A (en) * 2015-06-01 2015-10-07 北京航空航天大学 Injection phase guiding method based on trajectory damping control and hot-fluid analyzing prediction
CN105550402A (en) * 2015-12-07 2016-05-04 北京航空航天大学 Attack angle or inclination angle frequency conversion based design method for hypersonic steady maneuver gliding trajectory

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Title
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Application publication date: 20161012