CN106647327B - Based on virtual flight experience warship commander longitudinal direction imperative instruction modeling method - Google Patents
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Abstract
Warship commander longitudinal direction imperative instruction modeling method that the invention discloses a kind of based on virtual flight experience, belongs to Flight Vehicle Design and flight safety administrative skill field.The method includes the first steps, establish man-machine loop's kinetic model that threshold property is observed with pilot；Second step determines that LSO and pilot arrange manipulation principle；Third step, using flight safety index as objective function, the condition premised on agreement manipulates principle, optimizing solves and computations envelope curve；4th step summarizes imperative instruction envelope curve, forms LSO and instructs production system.The present invention solves the problems, such as the presence or absence of LSO imperative instruction model；It is generated for the LSO instruction in the emulation of more human-computer interaction flight safeties and provides modeling means, laid a good foundation for various factors coupling carrier landing flight safety Building of Simulation Model.
Description
Technical field
The invention belongs to Flight Vehicle Designs and flight safety administrative skill field, are mainly used for warship machine integration design and warship
The emulation of carrier aircraft flight safety.
Background technique
Command information interaction during warship it is closely related with flight safety, U.S. army just once occurred because of warship commander
The flight safety event of (Landing Signal Officer, abbreviation LSO) fault and generation.And carrying out LSO modeling is to carry out
Various factors coupling warship flight safety simulation and prediction and multi information interaction research basis.Therefore, carry out LSO and command behavior modeling
Study important in inhibiting.In current LSO model research, big multipair LSO is simplified.Such as bibliography [1] (Wang Li
Roc carrier landing commanding officer's command strategy studies [M] Harbin Engineering University master thesis, Harbin, 2012,3.)
LSO is instructed and is simplified, the obscurity model building of seven scales is established.Bibliography [2] (Qu Xiangju, Cui Hailiang, Wang Yangang carrier-borne aircraft
LSO simulation model [R] .GF-A0085884G under manual control, Beijing: BJ University of Aeronautics & Astronautics, 2005,10) also LSO is built
Mould method is studied, but is equally used fuzz method and instructed modeling to LSO.These researchs are that LSO instruction modeling plays
Particularly important fundamental role, but these researchs instruct, suggest class instruction and force class instruction without distinguishing info class in detail,
Also it is not based on LSO decision mechanism to model imperative instruction, therefore in more human-computer interaction closed-loop simulations, it can not be completely anti-
Reflect LSO commanding and decision-making process.Therefore, it is necessary to which providing one kind meets LSO decision mechanism, meet what flight safety emulation needed
Modeling method is forced in LSO instruction, is solved the above problems.
Summary of the invention
The longitudinal direction LSO imperative instruction modeling method provided by the invention based on virtual flight experience, specifically includes following step
It is rapid:
The first step establishes man-machine loop's kinetic model that threshold property is observed with pilot.
Second step determines that LSO and pilot arrange manipulation principle.
Third step, using flight safety index as objective function, the condition premised on agreement manipulates principle, optimizing is solved and is counted
Calculate instruction envelope curve.
4th step summarizes imperative instruction envelope curve, forms LSO and instructs production system.
In above-mentioned steps, LSO and pilot arrange manipulation principle, refer to the manipulation side of pilot and LSO both sides' default
Formula and amplitude size.Flight safety index refers to the standard for determining that flight risk occurs, it may include stern it is quiet it is high, warship deviation etc.
Content.Envelope curve is instructed to refer to using flight safety as target, LSO instruction issuing range, once that is, aircraft bias state enters finger
Envelope curve is enabled, then LSO just assigns corresponding pressure thrust command.Instruction envelope curve is inclined by height tolerance, deflection ratio in the present invention
One group of curve that difference, aircraft and mother ship carrier relative position are constituted.
The present invention has the advantages that
(1) the LSO imperative instruction modeling method based on virtual flight experience is provided, solves LSO imperative instruction model
The presence or absence of problem.It is generated for the LSO instruction in the emulation of more human-computer interaction flight safeties and provides modeling means, be various factors coupling
Carrier landing flight safety Building of Simulation Model is laid a good foundation.
(2) present invention establishes model using virtual flight empirical method according to human knowledge experience formation mechanism, and true
LSO instructs forming process more close.
(3) present invention uses Pilot Mathematical Model, by flight simulation, generates LSO imperative instruction envelope curve, ultimately forms
The production instruction system of similar human brain, can be realized by two-dimensional interpolation in simulations, easy to use.
Detailed description of the invention
Fig. 1 is man-machine loop's kinetic model schematic diagram of calculation flow that threshold property is observed with pilot.
Fig. 2 is " giving point throttle " instruction envelope curve schematic diagram.
Fig. 3 is that " giving point throttle " instruction allows area's simulation comparison example figure.
Fig. 4 is " restoring thrust " instruction envelope curve schematic diagram.
Fig. 5 is " open out " instruction envelope curve schematic diagram.
Fig. 6 is " opening reinforcing " instruction envelope curve schematic diagram.
1 deflection ratio Δ h of Fig. 7 embodimentdot=2m/s instruction envelope curve summarizes schematic diagram.
Fig. 8 is that LSO commander descends warship trailing end enlarged drawing in embodiment 2.
Fig. 9 is that LSO commands lower pilot to emulate manipulated variable in embodiment 2.
Specific embodiment
Below in conjunction with drawings and examples, the present invention is described in further detail.
The present invention provides a kind of longitudinal direction LSO imperative instruction modeling method based on virtual flight experience, the method includes
Following steps:
Step 1: establishing the man-machine loop's kinetic model (Modified for observing threshold property with pilot
Optimal Control Pilot Model with Adaptive State Estimation and Optimal
Weigtings, abbreviation MOCM-AEW).This model will form LSO instruction envelope curve by virtual flight in the next steps.Such as
Shown in Fig. 1, the MOCM-AEW model include based on optimal Automobile driving weighting coefficient selection and MOCM-AE model and
Optimal weighting coefficients connected applications two parts, the specific steps are as follows:
Step 1: augmentation controlled device of the building shaped like following formula:
Wherein, xsIt is the augmented state vector with delay,For xsFirst derivative, As、Bs、Cs、Ds、EsIt is augmentation system
Matrix number, upIt is pilot guidance amount, y is output state amount, and w is external disturbance vector.Wherein Cs=[C DCd], Ds=D,X is aircraft small perturbation equation state vector.xdIt is to have
The augmented state vector of delay, Ad、Bd、CdRespectively time delay coefficient matrix.A, B, C, D, E are aircraft small perturbation equation systems
Matrix number.
Pilot's actual perceived vector yobsAre as follows:
yobs=Csxs+Dsup+vy (2)
Wherein vyIt is noise-aware related with recent observation history, is modeled using white Gaussian noise, also referred to as observation noise.
Observation noise intensity VyForWherein ρyIt is noise-aware signal-to-noise ratio, noise-aware is believed in typical single channel tracing task
It makes an uproar and compares ρyUsually 0.01, corresponding signal-to-noise ratio is -20dB,For observation noise variance.
Step 2 constructs pilot optimal control model target function according to aerial mission, sets initial weighting coefficients value
QyAnd ru.Pilot optimal control model target function J is constructed using Quadratic functionpIt is as follows:
Wherein, QyIt is observation vector weighting coefficient, ruIt is manipulation vector weighting coefficient, f is manipulation rate weighting coefficient,
It is upFirst derivative.They reflect pilot and want to different drive such as information observation, throttle lever, control stick, manipulation rates
The attention degree of element.Wherein the selection of f is dependent on given neural power delay constant Tn。E∞It is that target function steady state period is hoped
Value.The problem to be solved in the present invention is exactly to try to determine target function weighting coefficient QyAnd ruValue.
Step 3 calculates pilot's optimum control gain.Control planning can be obtained by the theory of optimal control are as follows:
Wherein,It is pilot optimal operation amount, GpIt is controller gain vector,It is the estimated value of state vector X, K is
The unique solution determined by following Riccati equation:
0=(Ao)TK+KAo+Qo-KBof-1(Bo)TK (5)
Wherein,
By X=[xs up]T=[x xd up]T(4) formula of substitution, then,
Wherein GnIt isGain vector,For xsEstimated value, Gn1It isGain vector.It enables,
Then,
IpAs pilot's optimum control gain.Therefore, (7) formula can be written as,
It enablesIntroduce manipulation noise vu, then
Wherein vuBe intensity be VuZero mean Gaussian white noise.ρuIt is manipulation noise signal-to-noise ratio coefficient,
It is manipulation noise variance.
Step 4: loop iteration solves observation noise variance and manipulation noise variance, calculates Kalman filter gain.
Simultaneous (1) and (11) formula obtain:
Wherein,For the first derivative of the augmented state vector X with manipulated variable, W is external disturbance vector,
vuTo manipulate noise, vyFor observation noise, C1=[C DCd D]。
The estimated value of state vector XIt can be obtained by Kalman filter, wherein filtering gain matrix F are as follows:
F=Σ1(C1)T(Vy)-1 (13)
Wherein, VyFor observation noise intensity, evaluated error matrix Σ1It is the unique solution determined by following Riccati equation:
0=A1Σ1+Σ1(A1)T+W1-Σ1(C1)T(Vy)-1(C1)Σ1 (14)
Wherein W1=diag (W, Vu), W is external disturbance intensity, VuTo manipulate noise intensity.With the man-machine of state estimation
Closed loop states equation is,
Wherein I1=[Ip, 0], Cδ=[0 Cd1], F is Kalman filter gain matrix, and δ is aircraft rudder surface amount of deflection.
Covariance matrix XcovIt is following Lyapunov non trivial solution:
Wherein,Qlyp=diag (W, Vy,Vu), VyIt is that observation is made an uproar
Sound intensity degree, VuManipulate noise intensity.
Then, output covariance matrix:
Wherein,
Thus it obtains observation noise variance and manipulation noise variance is respectively as follows:
In this way for given initial manipulation noise intensity VuWith observation noise intensity Vy, one can be respectively obtainedWithAnd it can calculate separately to obtain signal-to-noise ratio coefficient ρyAnd ρu, it is possible thereby to loop iteration calculating be formed, until signal-to-noise ratio meets
ρy=0.01 and ρuUntil=0.003.Meanwhile available Kalman filter gain after iteration.
Step 5: parameter function J.
Wherein, Je=Ycov(1,1), Ju=Ycov(2,2),
Row_u=row_X-row_x-row_xd, row_X is the line number of vector X, and row_x is the line number of vector x, row_xdIt is vector xd
Line number.
Step 6: assumed to calculate weighting coefficient according to optimal Automobile driving.
According to weighting coefficient selection principle and target function calculating principle, pilot can be optimal to Automobile driving,
Keep target function minimum.Different Q is set as a result,yAnd ru, can be obtained by conjugate gradient method optimizing until target function J
Minimum value.OCM model optimal weighting coefficients Q is thereby determined thatyAnd ru。
Step 7: pilot model initial value is set according to optimal weighting coefficients and dummy pilot target function.
Step 8: discrete aircraft state equation calculation obtains aircraft current time dynamic response.
Equation (1), equation (11) discretization is as follows:
WhereinH、Bdis、DdisIt is state-transition matrix.Фu、Budis、EudisBe manipulation vector discrete equation state to
Amount.Given xs、y、w、upIn k-1 moment initial value, aircraft current time dynamic response can be calculated.
Step 9: pilot perceives according to the external world and carries out adaptive state estimation.Time-varying noise estimator is as follows,
Wherein (k) indicates the k moment, and (k-1) indicates the k-1 moment,To disturb Estimation of Mean,Variance matrix estimation is disturbed,
ε is new breath vector,It is observation Noise Variance Estimation,It is observation noise Estimation of Mean, d is Gradual forgetting coefficient, dk-1=(1-
b)/(1-bk), 0 <b < 1, b are forgetting factor.P is status predication equation matrix, and I is unit matrix, and D (k) is Recursion Operator, expression
Formula is as follows:
Sef-adapting filter are as follows:
P (k | k)=[In-KF(k)H(k)]P(k|k-1) (32)
It is the estimated value of X, KFIt is filtering gain.
Step 10: by formula (22) according to the theory of optimal control, pilot optimal operation amount is obtained.
Step 11: the man-machine loop's kinetic model building for observing threshold property with pilot finishes.
Step 2: determining that LSO and pilot arrange manipulation principle.
The thrust of LSO and pilot's agreement is determined according to airplane throttle characteristic and throttle lever setting.Assuming that carrier-borne aircraft is normal
Throttle lever limit when manipulating of gliding is trim position ± 10 °.Then assume the throttle commands corresponding relationship of LSO and pilot's agreement
Such as the following table 1:
Table 1 forces thrust command to arrange table
Wherein δT0It is downslide trim condition throttle lever position.
Step 3: the condition premised on agreement manipulates principle, optimizing is solved and is counted using flight safety index as objective function
Calculate instruction envelope curve.
To guarantee safety of going around, stern headroom is generally required to be at least 3m, therefore flight safety index of the present invention is with stern
Quiet high 3m is standard.In warship commander, LSO prejudges state of flight, if LSO anticipation aircraft reaches stern Shi Jinggao
Then think dangerous less than 3 meters, then LSO assigns corresponding imperative instruction.Herein, the method for computations envelope curve is, to fly
Machine and the deflection ratio deviation delta h at ideal relative position X, the position X of warship pointdotWith height tolerance Δ h0For independent variable, to arrive
The quiet high 3m of bottom stern is objective function, is input with a certain imperative instruction, using conjugation using first step MOCM-AEW model
Gradient method optimizing, then the corresponding deflection ratio deviation of available one group of imperative instruction and height tolerance curve set, that is, refer to
Enable envelope curve.
Step 4: summarizing imperative instruction envelope curve, forms LSO and instruct production system.
" to a throttle, recovery thrust, open out, opening reinforcing ", four curves summarize, that is, form LSO pressure and refer to
Enable production system.
Embodiment 1:
Below with " giving point throttle " instruction instruction envelope curve calculating process and beneficial effect of the present invention.
Step 1: establishing the man-machine loop's kinetic model (MOCM-AEW) for observing threshold property with pilot.Wherein
Model parameter is as shown in table 2.
2 MOCM-AEW model parameter of table
Step 2: it is as shown in table 1 to determine that LSO and pilot arrange manipulation principle.
Step 3: the condition premised on agreement manipulates principle, optimizing is solved and is counted using flight safety index as objective function
Calculate instruction envelope curve.According to the previous flying experience of LSO, " giving a point throttle " be occurred according to the bias state and deviation of aircraft opportunity to
Out.Analogue simulation is carried out to LSO flying experience using MOCM-AEW pilot model thus.Calculated result is as shown in Fig. 2, root
According to initial deflection ratio deviation delta hdot, distance it is ideal warship point distance X, height tolerance Δ h0, give the LSO " to a throttle " and refer to
Enabling allows area.As shown in Fig. 2, dash area is to instruct to allow area under every curve.Simultaneously as calculating the target letter used
Number is quiet height at stern, thus instruct allow area location boundary be x=-80m, i.e., stern point relative ideal warship point coordinate.
By emulation as it can be seen that with deflection ratio increase, instruction allow area be gradually reduced.As aircraft is close to stern, LSO instruction allows
Height tolerance is gradually reduced.This is consistent with actual conditions.To illustrate that instruction allows the reasonability in area, it is respectively compared instruction packet
Inside and outside line it is each a bit, such as A point in Fig. 2 and B point, example deflection ratio increment is 4m/s, and deviation appearance position is X=-300m, height
Deviation is respectively Δ hA=-15m and Δ hB=10m.Carry out warship emulation, A point, B point and ideal warship warship track such as Fig. 3
Shown, the quiet height of A point and B point at stern is -4.7423m and 14.8617m (being positive downwards) respectively.Obviously it flies for B point
State, even if LSO gives " giving point throttle " instruction, aircraft will hit warship.Therefore can be illustrated by the calculating of this instruction,
LSO instruction envelope curve calculating of the present invention is accurate and reasonable.
Step 4: summarizing imperative instruction envelope curve, forms LSO and instructs production system.It is same to calculate " restoring thrust ", " add
Throttle ", " opening reinforcing " instruction envelope curve as shown in figures 4-6.With Δ hdotMore identical deflection ratio different instruction for=2m/s
Instruction envelope curve, as shown in Figure 7.Referring to Fig. 7, wherein region 1,2,3,4 is deflection ratio Δ hdotWhen=2m/s " to point a throttle ",
The instruction area LSO of " restoring thrust ", " open out " and " opening reinforcing ".And aircraft bias state once enters region 5, even if flight
Member opens reinforcing, and aircraft, which reaches the quiet height of stern, will be less than 3m, generation it is larger warship risk.
LSO after summarizing forces the application method of thrust command as follows:
Step 1: carrying out state judgement to each moment (position X) into after decision point of going around.According to position and currently
Deflection ratio (X, Δ hdot), progress two-dimensional interpolation, calculating current state is corresponding " to a point throttle, recovery thrust, open out, to be added
Power " envelope curve height tolerance boundary value.
Step 2: according to current flight state (X, Δ h, Δ hdot), according to instruction envelope curve, select LSO instruction.
Step 3: being instructed according to LSO, pilot is manipulated or carries out more human-computer interaction closed-loop simulations according to instruction.
It is thus achieved that LSO forces thrust command modeling and simulation.
Embodiment 2
Warship emulation is used to verify LSO demand model below.If under LSO commander, the landing precision of aircraft
It is improved with safety, then just illustrating that LSO modeling provided in the present invention is reasonable.Simulating, verifying example parameter such as table
Shown in 2.For the drift correction ability under clear relatively LSO instruction, the influence for avoiding randomness from generating is removed in warship emulation
Atmospheric perturbation influence.It is forced in class thrust command simulation in LSO, sets differential location X=-1429m, initial deviation Δ hdot
=4.5m/s, Δ h=20m.Comparing LSO forces the flight simulation result under thrust command as shown in figure 8, for intuitive display, only
Give end orbit enlarged drawing.Fig. 9 is that figure is compared in the pilot guidance under LSO commander.As seen from Figure 8, it is commanded without LSO
When, quiet high h=-1.0543m (inverted triangle track) of the aircraft at stern, (the circle when only LSO info class and suggestion class instruct
The locus of points), quiet high h=-1.7147, and LSO is assigned after forcing thrust command, quiet a height of h=-3.9491m (the positive triangle rail of aircraft
Mark).Ensuring the reasonability in flight safety by this comparative descriptions LSO imperative instruction.Fig. 9 shows LSO and refers to simultaneously
Pilot guidance behavior under waving, it is seen that when away from warship 480m or so, LSO, which has been assigned, opens reinforcing instruction, thus ensures winged
Machine flight safety.
The present invention can not really instruct with LSO for tradition LSO and establish associated status.Thrust command is forced to be adopted LSO
It is obtained with virtual flight experience, establishes LSO imperative instruction envelope curve, form LSO instruction production system.Embodiment shows LSO
Commander is improving landing precision, it is ensured that plays a significant role in terms of flight safety, this illustrates LSO demand model modeling of the present invention
The reasonability and model accuracy of method.
Claims (4)
1. based on virtual flight experience warship commander longitudinal direction imperative instruction modeling method, it is characterised in that:
The first step establishes man-machine loop's kinetic model that threshold property is observed with pilot；
Second step determines that LSO and pilot arrange manipulation principle；
Third step, using flight safety index as objective function, the condition premised on agreement manipulates principle, optimizing, which is solved and calculated, to be referred to
Enable envelope curve；The flight safety index refers to the standard for determining that flight risk occurs；
4th step summarizes imperative instruction envelope curve, forms LSO and instructs production system；Specific step is as follows for the first step,
Step 1: augmentation controlled device of the building shaped like following formula:
Wherein, xsIt is the augmented state vector with delay,For xsFirst derivative, As、Bs、Cs、Ds、EsIt is augmentation coefficient square
Battle array, upIt is pilot guidance amount, y is output state amount, and w is external disturbance vector, wherein Cs=[C DCd], Ds=D,X is aircraft small perturbation equation state vector, xdIt is to have
The augmented state vector of delay, Ad、Bd、CdRespectively time delay coefficient matrix, A, B, C, D, E are aircraft small perturbation equation systems
Matrix number,
Pilot's actual perceived vector yobsAre as follows:
yobs=Csxs+Dsup+vy (2)
Wherein vyIt is observation noise, observation noise intensity VyForWherein ρyIt is noise-aware signal-to-noise ratio,For observation
Noise variance；
Step 2 constructs pilot optimal control model target function according to aerial mission, sets initial weighting coefficients value QyWith
ru；Pilot optimal control model target function J is constructed using Quadratic functionpIt is as follows:
Wherein, QyIt is observation vector weighting coefficient, ruIt is manipulation vector weighting coefficient, f is manipulation rate weighting coefficient,It is up
First derivative, E∞It is target function steady state period prestige value；
Step 3 calculates pilot's optimum control gain；
Control planning is obtained by the theory of optimal control are as follows:
Wherein,It is pilot optimal operation amount, GpIt is controller gain vector,It is the estimated value of state vector X, K is under
Arrange the unique solution that Riccati equation determines:
0=(Ao)TK+KAo+Qo-KBof-1(Bo)TK (5)
Wherein,
By X=[xs up]T=[x xd up]T(4) formula of substitution, then,
Wherein GnIt isGain vector,For xsEstimated value, Gn1It isGain vector；It enables,
Then,
IpAs pilot's optimum control gain, therefore, (7) formula are written as,
It enablesIntroduce manipulation noise vu, then
Wherein vuBe intensity be VuZero mean Gaussian white noise；ρuIt is manipulation noise signal-to-noise ratio coefficient,It is behaviour
Vertical noise variance；
Step 4: loop iteration solves observation noise variance and manipulation noise variance, calculates Kalman filter gain；
Simultaneous (1) and (11) formula obtain:
Wherein,For the first derivative of the augmented state vector X with manipulated variable, W is external disturbance vector, vuTo manipulate noise, vyFor observation noise, C1
=[C DCdD]；
The estimated value of state vector XIt can be obtained by Kalman filter, wherein filtering gain matrix F are as follows:
F=Σ1(C1)T(Vy)-1 (13)
Wherein, VyFor observation noise intensity, evaluated error matrix Σ1It is the unique solution determined by following Riccati equation:
0=A1Σ1+Σ1(A1)T+W1-Σ1(C1)T(Vy)-1(C1)Σ1 (14)
Wherein W1=diag (W, Vu), W is external disturbance intensity, VuTo manipulate noise intensity；Man-machine loop with state estimation
State equation is,
Wherein I1=[Ip, 0], Cδ=[0 Cd1], F is Kalman filter gain matrix, and δ is aircraft rudder surface amount of deflection；
Covariance matrix XcovIt is following Lyapunov non trivial solution:
Wherein,Qlyp=diag (W, Vy,Vu), VyIt is that observation noise is strong
Degree, VuManipulate noise intensity；
Then, output covariance matrix:
Wherein,
Thus it obtains observation noise variance and manipulation noise variance is respectively as follows:
Loop iteration calculates, until signal-to-noise ratio meets ρy=0.01 and ρuUntil=0.003；Meanwhile it being obtained after iteration
Kalman filter gain；
Step 5: parameter function J；
Wherein, Je=Ycov(1,1), Ju=Ycov(2,2),row_u
=row_X-row_x-row_xd, row_X is the line number of vector X, and row_x is the line number of vector x, row_xdIt is vector xdRow
Number；
Step 6: assumed to calculate weighting coefficient according to optimal Automobile driving；
Set different QyAnd ru, by conjugate gradient method optimizing until target function J obtains minimum value；OCM is thereby determined that
Model optimal weighting coefficients QyAnd ru；
Step 7: pilot model initial value is set according to optimal weighting coefficients and dummy pilot target function；
Step 8: discrete aircraft state equation calculation obtains aircraft current time dynamic response；
Equation (1), equation (11) discretization is as follows:
WhereinH、Bdis、DdisIt is state-transition matrix, Фu、Budis、EudisIt is manipulation vector discrete equation state vector, gives
xs、y、w、upIn k-1 moment initial value, aircraft current time dynamic response can be calculated；
Step 9: pilot perceives according to the external world and carries out adaptive state estimation；
Time-varying noise estimator is as follows,
Wherein (k) indicates the k moment, and (k-1) indicates the k-1 moment,To disturb Estimation of Mean,Variance matrix estimation is disturbed, ε is
New breath vector,It is observation Noise Variance Estimation,It is observation noise Estimation of Mean, d is Gradual forgetting coefficient, dk-1=(1-b)/
(1-bk), 0 <b < 1, b are forgetting factor；P is status predication equation matrix, and I is unit matrix, and D (k) is Recursion Operator, expression formula
It is as follows:
Sef-adapting filter are as follows:
P (k | k)=[In-KF(k)H(k)]P(k|k-1) (32)
It is the estimated value of X, KFIt is filtering gain；
Step 10: by formula (22) according to the theory of optimal control, pilot optimal operation amount is obtained；
Step 11: the man-machine loop's kinetic model building for observing threshold property with pilot finishes.
2. it is according to claim 1 based on virtual flight experience warship commander longitudinal direction imperative instruction modeling method,
Be characterized in that: LSO described in second step and pilot arrange manipulation principle, refer to the manipulation side of pilot and LSO both sides' default
The thrust of formula and amplitude size, LSO and pilot's agreement is determined according to airplane throttle characteristic and throttle lever setting, it is assumed that carrier-borne aircraft
Normal throttle lever limit when manipulating of gliding is trim position ± 10 °, it assumes that LSO and the throttle commands of pilot's agreement are corresponding
Relationship is as follows:
Wherein δT0It is downslide trim condition throttle lever position.
3. it is according to claim 1 based on virtual flight experience warship commander longitudinal direction imperative instruction modeling method,
Be characterized in that: flight safety index described in third step refers to that stern headroom is at least 3m.
4. it is according to claim 1 based on virtual flight experience warship commander longitudinal direction imperative instruction modeling method,
Be characterized in that: the 4th step " to a throttle, recovery thrust, open out, will open reinforcing ", and four articles of curves summarize, that is, form
LSO imperative instruction production system.
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