CN106873363A - A kind of modeling method of aircraft angle of attack signal - Google Patents
A kind of modeling method of aircraft angle of attack signal Download PDFInfo
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Abstract
The invention discloses a kind of modeling method of aircraft angle of attack signal, including in the signal flow model and signal stream of the aircraft angle of attack each link Mathematical Modeling.Wherein, signal flow model is described from the true angle of attack of aircraft to flight control using the physical process and processing links angle of attack signal, including the transmission delay in influence of influence, the interference of aircraft flow field of the aircraft pitch rotation to the angle of attack to angle of attack measurement, the dynamic response of angle of attack sensor, sensor signal measures conversion, the smothing filtering of input signal, sensor position error amendment, the smothing filtering of output signal and each link.The Mathematical Modeling of each link gives the typical Mathematics Model form of links in signal stream, can carry out mathematical description and analog simulation to the physical process of links and signal transacting.The present invention is capable of achieving the high-precision analog to aircraft angle of attack signal, improves the efficiency and confidence level of Flight Control Algorithm design, there is application value higher in Aeronautics and Astronautics industry.
Description
Technical field
The invention belongs to technical field of flight control, it is related to a kind of to realize high-precision analog to aircraft angle of attack signal
Modeling method.
Background technology
The angle of attack, the i.e. angle of attack, are the angles of the aircraft body longitudinal axis and air speed direction.The angle of attack directly determines the liter of aircraft
Power, pitching/rolling/yaw stability and three axes control efficiency, may cause aircraft stall, out of control when the angle of attack is excessive.Thus,
In flight control, the angle of attack is one of most important signal, is applied not only to the stability enhancing of aircraft, is additionally operable to stall announcement
The safety-critical functions such as alert, angle of attack protection.High-precision analog to angle of attack signal is that above work(is realized in flight control design case
The basis of energy.
Currently, mainly angle of attack sensor dynamic is represented using second order Dynamic mode, and use in domestic flight control design case
Pure delay link reflects the time delay of angle of attack signal measurement, ignores other rings such as sensor voltage filtering, output signal filtering
Section.But the performance boost and function with modern air data computer are complicated, to angle of attack signal in air data computer
Filtering, resolve that link is also more, more complicated, these filtering links cause angle of attack signal big delayed phase occur, and influence flies
The design accuracy of correlation function, reduces design efficiency in row control；Stability of a system reduction, influence flight are even resulted in when serious
Safety.
Design of Flight Control must assure that safety requirements, while should try one's best raising design accuracy and efficiency.This is just needed
The angle of attack signal model of higher precision is used in the design.From from the perspective of signal modeling, should be at the design initial stage just to meeting
The links such as filtering, resolving in angle signal give system and consider and assess.
The content of the invention
The purpose of the present invention is：A kind of modeling method of angle of attack signal is provided, to not considering in conventional method, and in the modern times
The true link such as very important filtering, resolving is paid attention in Design of Flight Control, is improved to aircraft angle of attack signal
Simulation precision.
The technical scheme is that：A kind of modeling method of aircraft angle of attack signal, it is characterised in that：Including following step
Suddenly：
The first step, the signal flow model for setting up the angle of attack, including：Influence, aircraft stream of the aircraft pitch rotation to the angle of attack
Influence to angle of attack measurement of interference, the dynamic response of angle of attack sensor, sensor signal measures conversion, input signal it is smooth
Transmission delay in filtering, sensor position error amendment, the smothing filtering of output signal and each link；
Second step, to the links in signal flow model in the first step, set up its Mathematical Modeling, specifically include：
A) link 1, is influence of the pitch rotation to the aircraft angle of attack, if the arm of force of angle of attack sensor relative CG is X, is flown
Row device air speed is VT, pitch rate is q, then angle of attack increment is flowed at the sensor that angular speed causes and is：Δ α=arctan
(Vq/VT)≈Vq/VT=-Xq/VT；
B) link 2, are influence of the aircraft flow field interference to angle of attack measurement, in each Mach number (Ma), aircraft configurations
(Conf) under, the local air flow angle of attack α at weathercock1With flow angle of attack αqIn good linear relation, can be expressed as：α1=k αq+ b,
Wherein coefficient k and b are the function of Ma and Conf；
C) link 3, are the dynamic response of angle of attack sensor, to the most frequently used weather vane type angle of attack sensor, in local air flow
Angle of attack αsUnder effect, its drift angle δsDynamic response can be expressed as with typical two―step element：Its
Middle ωnIt is the natural frequency of angle of attack weathercock, ξ is the damping ratio of angle of attack weathercock；
D) link 4, are measures conversion of the angle of attack sensor drift angle to potentiometer output voltage, if sensor drift angle is δαs,
Potentiometer output voltage is U, then the process mathematical model is：U=k δαs, wherein, k arrives output voltage for potentiometer drift angle
Conversion coefficient；
E) link 5, are the analog/digital conversion of air data computer, and transfer process is expressed with pure delay link, mathematics
Model is：Wherein τ is time delay constant；
F) link 6, are smothing filtering of the air data computer to potentiometer output voltage, single order smothing filtering algorithm mould
Type is：Y (n)=C0·x(n)+C1·y(n-1)；Wherein, y (n) claps output for current, and x (n) claps input for current, and y (n-1) is
It is previous to clap output, C0And C1Clapped and the weight coefficient shared by previous bat for current, it is desirable to which sum of the two is 1；Second order smothing filtering is calculated
Method model is：Y (n)=C0·x(n)+C1·x(n-1)+C2·y(n-1)+C3·y(n-2)；Wherein, y (n) is currently to clap defeated
Go out, currently to clap input, x (n-1) is input into x (n) for previous bat, y (n-1) claps output for previous, and y (n-2) is preceding two bat outputs,
C0、C1、C2、C3Weight coefficient for more than shared by items, it is desirable to which four coefficient sums are 1；
G) link 7, are conversion of the potentiometer voltage to drift angle, and transformational relation is：
H) link 8, are the site error amendment of angle of attack sensor, if the local air flow angle of attack that sensor is measured is α1, fly
The true angle of attack of row device is α, and amendment relation is：α=k α1+b；Wherein, coefficient k and b are the function of Ma and Conf；
I) link 9, are the smothing filtering of true angle of attack signal, and single order smothing filtering algorithm model is：Y (n)=C0·x(n)+
C1Y (n-1), wherein the definition of each parameter is with link 6；
J) link 10, are the transmitting procedure of data/address bus, are expressed with pure delay link, and Mathematical Modeling is：
Wherein τ is time delay constant；
3rd step, the input of each link, output relation are sequentially connected in series by link numbering by more than, obtain true from aircraft
The angle of attack uses total Mathematical Modeling of angle of attack signal to flight control, for flight control design case.
Beneficial effect produced by the present invention：A kind of modeling method of angle of attack signal of the present invention, establishes the aircraft angle of attack
Signal flow model, the description of system is given using the physical process of the angle of attack to flight control to the true angle of attack of aircraft.It is right
Links in signal stream, according to its physical principle, establish its typical Mathematics Model.The two is combined, and improves angle of attack letter
Number modeling it is comprehensive, be capable of achieving, to the high-precision analog of aircraft angle of attack signal, to be favorably improved the essence of flight control design case
Degree, efficiency and security, there is application value higher in Aeronautics and Astronautics industry.
Brief description of the drawings
Fig. 1 is signal flow diagram of the invention.
Specific embodiment
A kind of modeling method of aircraft angle of attack signal is illustrated with implementation method below in conjunction with the accompanying drawings.
(1) system consider from the true angle of attack of aircraft to flight control using each physical process angle of attack signal and
Processing links, set up the signal flow model of the angle of attack, and as shown in Figure 1, signal flow model includes：Aircraft pitch rotation is to the angle of attack
Influence, aircraft flow field interference to the angle of attack measurement influence, the dynamic response of angle of attack sensor, sensor signal measurement turn
Change, the smothing filtering of input signal, sensor position error amendment, the transmission in the smothing filtering of output signal and each link
Postpone.
(2) to links in signal flow model, its Mathematical Modeling is set up.Wherein：
K) link 1, is influence of the pitch rotation to the aircraft angle of attack.Its formation mechenism is：Because angle of attack sensor is installed
Presence of the position away from the aircraft center of gravity arm of force, when aircraft pitch rotation, pitch rate will make have additional speed at sensor
Degree and additional angle of attack increment.If the arm of force of angle of attack sensor relative CG is X, aircraft airspeed is VT, pitch rate is q,
Angle of attack increment is flowed at the sensor that then angular speed causes is：Δ α=arctan (Vq/VT)≈Vq/VT=-Xq/VT；
L) link 2, are influence of the aircraft flow field interference to angle of attack measurement.Because aircraft fuselage exists to flow field around
Interference, local air flow direction will be inconsistent with direction of flow at angle of attack sensor, makes the local air flow angle of attack different to flow the angle of attack.
Under each Mach number (Ma), aircraft configurations (Conf), the local air flow angle of attack α at weathercock1With flow angle of attack αqIn good line
Sexual intercourse, can be expressed as：α1=k αq+b.Wherein coefficient k and b are the function of Ma and Conf；
M) link 3, are the dynamic response of angle of attack sensor.To the most frequently used weather vane type angle of attack sensor, in local air flow
Angle of attack αsUnder effect, its drift angle δsDynamic response can be expressed as with typical two―step element：Its
Middle ωnIt is the natural frequency of angle of attack weathercock, ξ is the damping ratio of angle of attack weathercock；
N) link 4, are measures conversion of the angle of attack sensor drift angle to potentiometer output voltage.If sensor drift angle is δαs,
Potentiometer output voltage is U, then the process mathematical model is：U=k δαs.Wherein, k is to arrive output voltage in potentiometer drift angle
Conversion coefficient；
O) link 5, are the analog/digital conversion of air data computer.The transfer process can be expressed with pure delay link,
Mathematical Modeling is：Wherein τ is time delay constant；
P) link 6, are smothing filtering of the air data computer to potentiometer output voltage.Conventional single order smothing filtering
Algorithm model is：Y (n)=C0·x(n)+C1·y(n-1).Wherein, y (n) claps output for current, and x (n) claps input, y for current
(n-1) output, C are clapped for previous0And C1Clapped and the weight coefficient shared by previous bat for current, it is desirable to which sum of the two is 1.Conventional
Second order smothing filtering algorithm model is：Y (n)=C0·x(n)+C1·x(n-1)+C2·y(n-1)+C3Y (n-2) wherein, y
N () claps output for current, x (n) claps input for current, and x (n-1) claps input for previous, and y (n-1) claps output, y (n-2) for previous
It is preceding two bat outputs, C0、C1、C2、C3Weight coefficient for more than shared by items, it is desirable to which four coefficient sums are 1；
Q) link 7, are conversion of the potentiometer voltage to drift angle.Transformational relation is：
R) link 8, are the site error amendment of angle of attack sensor.If the local air flow angle of attack that sensor is measured is α1, fly
The true angle of attack of row device is α, then correct relation and be usually：α=k α1+b.Wherein, coefficient k and b are the function of Ma and Conf；
S) link 9, are the smothing filtering of true angle of attack signal.Conventional single order smothing filtering algorithm model is：Y (n)=
C0·x(n)+C1Y (n-1), wherein the definition of each parameter is with link 6；
T) link 10, are the transmitting procedure of data/address bus.The process can be expressed with pure delay link, and Mathematical Modeling is：Wherein τ is time delay constant.
(3) input of each link, output relation are sequentially connected in series by link numbering by more than, you can obtain true from aircraft
The angle of attack uses total Mathematical Modeling of angle of attack signal to flight control, for flight control design case.
Claims (1)
1. a kind of modeling method of aircraft angle of attack signal, it is characterised in that：Comprise the following steps：
The first step, the signal flow model for setting up the angle of attack, including：Influence of the aircraft pitch rotation to the angle of attack, aircraft flow field are done
Disturb influence, the dynamic response of angle of attack sensor, sensor signal measures conversion, the smooth filter of input signal to angle of attack measurement
Transmission delay in ripple, sensor position error amendment, the smothing filtering of output signal and each link；
Second step, to the links in signal flow model in the first step, set up its Mathematical Modeling, specifically include：
A) link 1, is influence of the pitch rotation to the aircraft angle of attack, if the arm of force of angle of attack sensor relative CG is X, aircraft
Air speed is VT, pitch rate is q, then angle of attack increment is flowed at the sensor that angular speed causes and is：Δ α=arctan (Vq/VT)
≈Vq/VT=-Xq/VT；
B) link 2, are influence of the aircraft flow field interference to angle of attack measurement, in each Mach number (Ma), aircraft configurations
(Conf) under, the local air flow angle of attack α at weathercock1With flow angle of attack αqIn good linear relation, can be expressed as：α1=k αq+ b,
Wherein coefficient k and b are the function of Ma and Conf；
C) link 3, are the dynamic response of angle of attack sensor, to the most frequently used weather vane type angle of attack sensor, in local air flow angle of attack αs
Under effect, its drift angle δsDynamic response can be expressed as with typical two―step element：Wherein ωnFor
The natural frequency of angle of attack weathercock, ξ is the damping ratio of angle of attack weathercock；
D) link 4, are measures conversion of the angle of attack sensor drift angle to potentiometer output voltage, if sensor drift angle is δαs, current potential
Meter output voltage is U, then the process mathematical model is：U=k δαs, wherein, k is conversion of the potentiometer drift angle to output voltage
Coefficient；
E) link 5, are the analog/digital conversion of air data computer, and transfer process is expressed with pure delay link, Mathematical Modeling
For：Wherein τ is time delay constant；
F) link 6, are smothing filtering of the air data computer to potentiometer output voltage, single order smothing filtering algorithm model
For：Y (n)=C0·x(n)+C1·y(n-1)；Wherein, y (n) claps output for current, and x (n) claps input for current, and y (n-1) is preceding
One claps output, C0And C1Clapped and the weight coefficient shared by previous bat for current, it is desirable to which sum of the two is 1；Second order smothing filtering algorithm
Model is：Y (n)=C0·x(n)+C1·x(n-1)+C2·y(n-1)+C3·y(n-2)；Wherein, y (n) claps output, x for current
N (), currently to clap input, x (n-1) is input into for previous bat, y (n-1) claps output for previous, and y (n-2) is preceding two bat outputs, C0、
C1、C2、C3Weight coefficient for more than shared by items, it is desirable to which four coefficient sums are 1；
G) link 7, are conversion of the potentiometer voltage to drift angle, and transformational relation is：
H) link 8, are the site error amendment of angle of attack sensor, if the local air flow angle of attack that sensor is measured is α1, aircraft is true
The angle of attack is α, and amendment relation is：α=k α1+b；Wherein, coefficient k and b are the function of Ma and Conf；
I) link 9, are the smothing filtering of true angle of attack signal, and single order smothing filtering algorithm model is：Y (n)=C0·x(n)+C1·y
(n-1), wherein the definition of each parameter is with link 6；
J) link 10, are the transmitting procedure of data/address bus, are expressed with pure delay link, and Mathematical Modeling is：Wherein τ
It is time delay constant；
3rd step, the input of each link, output relation are sequentially connected in series by link numbering by more than, are obtained from the true angle of attack of aircraft
Total Mathematical Modeling of angle of attack signal is used to flight control, for flight control design case.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111122901A (en) * | 2019-12-31 | 2020-05-08 | 中国航空工业集团公司西安飞机设计研究所 | Attack angle error automatic detection method and correction system thereof |
| CN112799417A (en) * | 2020-12-29 | 2021-05-14 | 中国航空工业集团公司西安飞机设计研究所 | Method for correcting angle-of-attack signal in large sideslip state |
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| US5590853A (en) * | 1992-02-03 | 1997-01-07 | Safe Flight Instrument Corporation | Aircraft control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111122901A (en) * | 2019-12-31 | 2020-05-08 | 中国航空工业集团公司西安飞机设计研究所 | Attack angle error automatic detection method and correction system thereof |
| CN112799417A (en) * | 2020-12-29 | 2021-05-14 | 中国航空工业集团公司西安飞机设计研究所 | Method for correcting angle-of-attack signal in large sideslip state |
| CN112799417B (en) * | 2020-12-29 | 2023-03-14 | 中国航空工业集团公司西安飞机设计研究所 | Method for correcting angle-of-attack signal in large sideslip state |
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