CN106347636A - Push rod stalling protection control method - Google Patents
Push rod stalling protection control method Download PDFInfo
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- CN106347636A CN106347636A CN201610780943.XA CN201610780943A CN106347636A CN 106347636 A CN106347636 A CN 106347636A CN 201610780943 A CN201610780943 A CN 201610780943A CN 106347636 A CN106347636 A CN 106347636A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/04—Initiating means actuated personally
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Emergency Alarm Devices (AREA)
Abstract
The invention belongs to a flight control technology and provides a push rod stalling protection control method. The push rod stalling protection control method comprises the following steps: calculating a final rod displacement instruction of push rod stalling protection, wherein the final rod displacement instruction is zero during initialization and is resolved by a push rod instruction during real-time operation, the output displacement instruction is equal to the push rod instruction plus the upper limit of the velocity threshold if the push rod instruction minus the current rod displacement instruction is more than the upper limit of a preset velocity threshold, the output instruction is equal to an input instruction plus the lower limit of the velocity threshold if the push rod instruction minus the current rod displacement instruction is less than the lower limit of the preset velocity threshold, and the final rod displacement instruction is equal to the push rod instruction under other conditions; finally, outputting the final rod displacement instruction if the final rod displacement does not exceed the preset upper limit and lower limit values, outputting the upper limit value if the final rod displacement exceeds the upper limit value, and outputting the lower limiting value if the final rod displacement exceeds the lower limit value.
Description
Technical field
The invention belongs to flight control technology is and in particular to a kind of push rod stall protection control method.
Background technology
Aircraft stall is because that aircraft angle of attack exceedes the critical angle of attack, and airfoil lift face serious air-flow and separates, and leads to
Airplane ascensional force declines suddenly, the phenomenon that resistance is increased dramatically, and is embodied in aircraft out of hand, automatically into rolling or Dutch roll
State, highly drastically reduces, and in turn results in aviation accident.Since aircraft is born, pre- stall proof is always Flight Safety
Key subject；For from pneumatic, the aircraft of good stalling characteristics, when close to stall, fuselage has obvious shake and carries
Show, or after stall airplane ascensional force and steerage will not loss quickly and lead to be difficult to change stall.But it is winged in order to improve
The flying quality of machine cruising phase, the stalling characteristics of the pneumatic upper design of most of aircraft are all difficult to meet the requirement of stall prompting.
Therefore, general aircraft is assembled with stall warning system.
Stall warning system according to aircraft state information, judge aircraft close to stall conditions when, voice, lamp can be sent
The caution signalss such as light, the shake of control stick disk.But general pilot seldom accepts stall training, easily neglect stall warning letter
Breath, seldom can take correct control action when obtaining stall warning it is impossible to make aircraft perf ormance out of danger in time.
Thus need a set of control system when aircraft closes on stall to control stick one automatically before push away effect, so that aircraft is automatically bowed
Stall recovery critical state.
Content of the invention
Goal of the invention: propose a kind of push rod stall protection control method, make in aircraft soon stall it automatically bow
Prompting pilot's aircraft will enter the stall conditions of danger now, so that the time that pilot has abundance takes correct behaviour
Make to come away from stall conditions.
A kind of technical scheme: push rod stall protection control method, comprising:
Step 1: push rod control law input signal is included: the angle of attack, yaw angle, Mach number, flap configuration, normal g-load,
Control stick displacement signal carries out low-pass filtering treatment and obtains corresponding filtered signal, to yaw angle, Mach number, flap configuration,
Normal g-load, control stick displacement signal carry out losing efficacy and judge and safety value assignment；Angle of attack filtered signal is passed through again a high pass
Wave filter obtains current angle-of-attack rate.
Step 2: if angle of attack signal is normal, using yaw angle, Mach number, flap configuration information as alarm angle of attack interpolation table
|input paramete carry out three-dimensional interpolation calculate alarm the angle of attack, then pass through formula: the push rod angle of attack=alarm angle of attack+fixed gain * ought
Front angle-of-attack rate+constant；It is calculated the push rod angle of attack；
Step 3: if angle of attack Signal Fail, be masked as vacation to push rod, be that anti-check lever is too quickly, give push-rod electric machine after time delay
Clutch disconnects and being masked as very；If angle of attack signal is normal and the current angle of attack is less than the alarm angle of attack and push rod is masked as vacation, to meeting
Angle alarm is masked as vacation；If angle of attack signal is normal and the current angle of attack is more than the alarm angle of attack, it is masked as true to angle of attack alarm；And for example
Fruit angle of attack signal is normal and the current angle of attack is more than the push rod angle of attack, then be masked as very to push rod, and be to work as front bar to push rod command value
Displacement add one on the occasion of, be that anti-throw-out lever is too quickly, give after time delay push-rod electric machine clutch connect be masked as true；If push rod mark
Will is that the true and current angle of attack is less than the alarm angle of attack or current normal g-load is less than a fixed value, then be masked as vacation to push rod, and give
Push rod command value is when front bar displacement deducts upper one on the occasion of being that anti-check lever is too quickly, connect to push-rod electric machine clutch after time delay
Lead to and be masked as vacation；
Step 4: calculate the final bar displacement commands of push rod stall protection, described final bar displacement commands are initialized as zero,
Instruct to resolve according to the push rod of step 3 output during real time execution: if the push rod instruction of step 3 output subtracts current bar displacement
More than the speed threshold upper limit pre-setting, then the bar displacement commands exporting instruct equal to the push rod of step 3 output plus should for instruction
The speed threshold upper limit, if the push rod instruction of step 3 output subtracts current bar displacement commands and is less than the speed threshold pre-setting
Lower limit, then output order add this speed threshold lower limit equal to input instruction, in the case of other, final bar displacement commands be equal to step
The push rod instruction of 3 outputs；If last final bar displacement commands are less than presets upper lower limit value, export final bar displacement
Instruction, if exceeding higher limit, exports higher limit, if exceeding lower limit, bottoming value.
Beneficial effect
Close on stall conditions in aircraft, push rod stall protection control law can drive driving post to exist by push rod electric steering engine
Quickly travel forward on the basis of current location, thus drive partially to come under elevator to apply a nose-down pitching moment increment to aircraft,
This reduces the trend of aircraft new line, or even make aircraft bow motion reducing the angle of attack.
The advantage of this invention is not affect the flight quality in normal flight stage, and to pilot significantly to refer to
Show.Aircraft is avoided to enter stall conditions easily.
Brief description
Fig. 1 is that push rod stall protection control law realizes schematic diagram in push rod stall protection system.
Specific embodiment
National standard gb/t14410.2-2008 " flight mechanics concept, amount and symbol the 2nd according to flight mechanics specialty
Point: power, moment and its coefficient and derivative ", it is negative that aircraft comes back as just, bowing；Just it is partially under elevator trailing edge, upper is negative partially,
From flight mechanics principle, on the lower side under elevator trailing edge to aircraft barycenter generation nose-down pitching moment, (i.e. negative force is given birth in amidship oblique presentation partially
Square, therefore will produce negative pitch movement).
Because aircraft stall speed is related with aircraft weight, it is difficult to judge aircraft whether stall according to current air speed；But
Because the basic reason of stall is that the angle of attack has exceeded the critical angle of attack so that lift coefficient or rolling moment coefficient occur turnover to become
Change, the criterion of therefore docking near-stalled condition can exceed some specific angle (hereinafter referred to push rod angle) by the current angle of attack
To determine.According to engineering experience, push rod angle is generally less than critical angle and is more than alarm angle；According to blasting data, face
Boundary's angle reduces with the increase of flight Mach number, changes with the change of flap configuration；Alert the Changing Pattern of angle and face
Boundary's angle is basically identical, this is because in engineering design, alarm angle is typically less than the critical angle several years, and (occurrence is with winged
Machine type is different and different).For avoid in aircraft dynamic process enter stall, this push rod angle with angle-of-attack rate increase by
Decrescence little.
As shown in figure 1, awing, push rod stall protection system full-time, push rod stall protection control law enters in real time
Row " signal processing (1) ", confirms angle of attack signal, sideslip angle signal, bar displacement signal, Mach number signal, flap configuration signal etc.
Whether effectively, and useful signal is filtered processing.
After process, through " critical angle resolves (2) ", module real-time resolving goes out the current alarm angle of attack and push rod is met again for signal
Angle.
The core of the present invention is " push-and-pull crossbar logic (3) ", and it generates stall warning mark according to following condition first
Carry out stall warning to passenger cabin voice or stick shaker signal: if the current angle of attack is more than alarm angle, stall warning is true；If worked as
The front angle of attack is less than alarm angle certain angle, and stall warning is false；Under the conditions of other, stall warning value of statistical indicant is constant.And for example fruit
The current angle of attack continues to be increased above push rod angle and stall warning is true, and push rod is masked as very；If stall warning is false, lose
Push rod is masked as vacation；Under the conditions of other, push rod value of statistical indicant is constant.During due to normal flight, the angle of attack not over alarm the angle of attack, because
This is somebody's turn to do the conventional manipulation that " push-and-pull crossbar logic (3) " do not interfere with aircraft, will not bring adverse effect to flying qualifies of aircraft.
Push rod is masked as true time, and the instruction of computer push rod is quickly changed under the rudder face pre-setting by the instruction of current rudder face
Command value partially, this fast-changing process depends on the design of " instruction molding (4) " link.
When the angle of attack is reduced to so that stall warning is designated as fictitious time, push rod computer instruction is again by the open loop instruction of push rod position
Gradually revert to the flat bar displacement commands flying trim through " instruction molding (4) " link.
All of above branch instruction is finally both needed to, by " instruction molding (4) " module, refer to avoid final push rod to control
Order exceedes push-rod electric machine stroke extent of competence, also defines the maximal rate pushing away and returning bar simultaneously.
The present invention provides a kind of push rod stall protection control method, comprising:
Step 1: push rod control law input signal is included: the angle of attack, yaw angle, Mach number, flap configuration, normal g-load,
Control stick displacement signal carries out low-pass filtering treatment and obtains corresponding filtered signal, to yaw angle, Mach number, flap configuration,
Normal g-load, control stick displacement signal carry out losing efficacy and judge and safety value assignment；Angle of attack filtered signal is passed through again a high pass
Wave filter obtains current angle-of-attack rate.
Step 2: if angle of attack signal is normal, using yaw angle, Mach number, flap configuration information as alarm angle of attack interpolation table
|input paramete carry out three-dimensional interpolation calculate alarm the angle of attack, then pass through formula: the push rod angle of attack=alarm angle of attack+fixed gain * ought
Front angle-of-attack rate+constant；It is calculated the push rod angle of attack；
Step 3: if angle of attack Signal Fail, be masked as vacation to push rod, be that anti-check lever is too quickly, give push-rod electric machine after time delay
Clutch disconnects and being masked as very；If angle of attack signal is normal and the current angle of attack is less than the alarm angle of attack and push rod is masked as vacation, to meeting
Angle alarm is masked as vacation；If angle of attack signal is normal and the current angle of attack is more than the alarm angle of attack, it is masked as true to angle of attack alarm；And for example
Fruit angle of attack signal is normal and the current angle of attack is more than the push rod angle of attack, then be masked as very to push rod, and be to work as front bar to push rod command value
Displacement add one on the occasion of, be that anti-throw-out lever is too quickly, give after time delay push-rod electric machine clutch connect be masked as true；If push rod mark
Will is that the true and current angle of attack is less than the alarm angle of attack or current normal g-load is less than a fixed value, then be masked as vacation to push rod, and give
Push rod command value is when front bar displacement deducts upper one on the occasion of being that anti-check lever is too quickly, connect to push-rod electric machine clutch after time delay
Lead to and be masked as vacation；
Step 4: calculate the final bar displacement commands of push rod stall protection, described final bar displacement commands are initialized as zero,
Instruct to resolve according to the push rod of step 3 output during real time execution: if the push rod instruction of step 3 output subtracts current bar displacement
More than the speed threshold upper limit pre-setting, then the bar displacement commands exporting instruct equal to the push rod of step 3 output plus should for instruction
The speed threshold upper limit, if the push rod instruction of step 3 output subtracts current bar displacement commands and is less than the speed threshold pre-setting
Lower limit, then output order add this speed threshold lower limit equal to input instruction, in the case of other, final bar displacement commands be equal to step
The push rod instruction of 3 outputs；If last final bar displacement commands are less than presets upper lower limit value, export final bar displacement
Instruction, if exceeding higher limit, exports higher limit, if exceeding lower limit, bottoming value.
Claims (1)
1. a kind of push rod stall protection control method is it is characterised in that include:
Step 1: push rod control law input signal is included: the angle of attack, yaw angle, Mach number, flap configuration, normal g-load, driving
Bar displacement signal carries out low-pass filtering treatment and obtains corresponding filtered signal, to yaw angle, Mach number, flap configuration, normal direction
Overload, control stick displacement signal carry out losing efficacy and judge and safety value assignment；Angle of attack filtered signal is passed through again a high-pass filtering
Device obtains current angle-of-attack rate.
Step 2: if angle of attack signal is normal, will be defeated as alarm angle of attack interpolation table to yaw angle, Mach number, flap configuration information
Enter parameter and carry out the three-dimensional interpolation calculating alarm angle of attack, then pass through formula: the push rod angle of attack=alarm angle of attack+fixed gain * currently meets
Angular rate of change+constant；It is calculated the push rod angle of attack；
Step 3: if angle of attack Signal Fail, be masked as vacation to push rod, be that anti-check lever is too quickly, give push-rod electric machine clutch after time delay
Device disconnects and being masked as very；If angle of attack signal is normal and the current angle of attack is less than the alarm angle of attack and push rod is masked as vacation, accuse to the angle of attack
Police is masked as vacation；If angle of attack signal is normal and the current angle of attack is more than the alarm angle of attack, it is masked as true to angle of attack alarm；And for example really meet
Angle signal is normal and the current angle of attack is more than the push rod angle of attack, then be masked as very to push rod, and be when front bar displacement to push rod command value
Plus one on the occasion of, be that anti-throw-out lever is too quickly, give after time delay push-rod electric machine clutch connect be masked as true；If push rod is masked as
The true and current angle of attack is less than the alarm angle of attack or current normal g-load is less than a fixed value, then be masked as vacation to push rod, and gives push rod
Command value be when front bar displacement deduct upper one on the occasion of, be that anti-check lever is too quickly, after time delay give push-rod electric machine clutch connect mark
Will is false；
Step 4: calculate the final bar displacement commands of push rod stall protection, described final bar displacement commands are initialized as zero, in real time
Instruct to resolve according to the push rod of step 3 output during operation: if the push rod instruction of step 3 output subtracts current bar displacement commands
More than the speed threshold upper limit pre-setting, then the bar displacement commands exporting are equal to push rod instruction plus this speed of step 3 output
The thresholding upper limit, if the push rod instruction of step 3 output subtracts current bar displacement commands and is less than the speed threshold lower limit pre-setting,
Then output order adds this speed threshold lower limit equal to input instruction, and in the case of other, final bar displacement commands export equal to step 3
Push rod instruction；If last final bar displacement commands are less than presets upper lower limit value, export final bar displacement commands,
If exceeding higher limit, export higher limit, if exceeding lower limit, bottoming value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610780943.XA CN106347636B (en) | 2016-08-30 | 2016-08-30 | A kind of push rod stall protection control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610780943.XA CN106347636B (en) | 2016-08-30 | 2016-08-30 | A kind of push rod stall protection control method |
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| CN106347636B CN106347636B (en) | 2019-03-01 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109460048A (en) * | 2018-11-02 | 2019-03-12 | 中国航空工业集团公司西安飞机设计研究所 | A kind of track instability controlling method |
| CN111959799A (en) * | 2020-07-24 | 2020-11-20 | 中国航空工业集团公司西安飞行自动控制研究所 | Stall protection method for civil passenger plane |
| CN113377127A (en) * | 2021-06-01 | 2021-09-10 | 中国航空工业集团公司沈阳飞机设计研究所 | Anti-stall control method and device |
| CN113935115A (en) * | 2021-10-25 | 2022-01-14 | 中航通飞华南飞机工业有限公司 | Method for calculating starting attack angle of push rod device of large fire-extinguishing amphibious aircraft |
| CN114200828A (en) * | 2021-11-09 | 2022-03-18 | 西北工业大学 | Supersonic speed large maneuvering target continuous large overload stall prevention method |
| RU2769452C1 (en) * | 2021-04-05 | 2022-03-31 | Акционерное общество "Российская самолетостроительная корпорация "МиГ" (АО "РСК "МиГ") | Aircraft longitudinal control system |
| CN115384765A (en) * | 2022-10-31 | 2022-11-25 | 四川蓉远地测科技有限公司 | Rotor unmanned aerial vehicle driving device and assembling method thereof |
| CN118405256A (en) * | 2024-07-01 | 2024-07-30 | 中国商用飞机有限责任公司 | Warning system and warning method for preventing incorrect operation of rudder pedals of an aircraft |
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| CN113377127A (en) * | 2021-06-01 | 2021-09-10 | 中国航空工业集团公司沈阳飞机设计研究所 | Anti-stall control method and device |
| CN113935115A (en) * | 2021-10-25 | 2022-01-14 | 中航通飞华南飞机工业有限公司 | Method for calculating starting attack angle of push rod device of large fire-extinguishing amphibious aircraft |
| CN114200828A (en) * | 2021-11-09 | 2022-03-18 | 西北工业大学 | Supersonic speed large maneuvering target continuous large overload stall prevention method |
| CN115384765A (en) * | 2022-10-31 | 2022-11-25 | 四川蓉远地测科技有限公司 | Rotor unmanned aerial vehicle driving device and assembling method thereof |
| CN118405256A (en) * | 2024-07-01 | 2024-07-30 | 中国商用飞机有限责任公司 | Warning system and warning method for preventing incorrect operation of rudder pedals of an aircraft |
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