CN106873363B - 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 methods of aircraft angle of attack signal, the mathematical model of each link in signal flow model and signal stream including the aircraft angle of attack.Wherein, signal flow model is described from the true angle of attack of aircraft to control of flying using the physical process and processing links angle of attack signal, and influence, the influence that the interference of aircraft flow field measures the angle of attack including aircraft pitch rotation to the angle of attack, the dynamic response of angle of attack sensor, sensor signal measures conversion, the smothing filtering of input signal, sensor position error are corrected, the transmission delay in the smothing filtering and each link of output signal.The mathematical model of each link gives the typical Mathematics Model form of links in signal stream, can physical process to links and signal processing carry out mathematical description and analog simulation.The high-precision analog to aircraft angle of attack signal can be achieved in the present invention, improves the efficiency and confidence level of Flight Control Algorithm design, there is higher application value in Aeronautics and Astronautics industry.
Description
Technical field
The invention belongs to technical field of flight control, and high-precision analog can be realized to aircraft angle of attack signal by being related to one kind
Modeling method.
Background technique
The angle of attack, the i.e. angle of attack are the angles of the aircraft body longitudinal axis Yu 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 also used to stall announcement
The safety-criticals functions such as alert, angle of attack protection.High-precision analog to angle of attack signal is that the above function is realized in flight control design case
The basis of energy.
Currently, angle of attack sensor dynamic mainly is represented using second order Dynamic mode in domestic flight control design case, and used
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 as the performance boost of modern air data computer and function complicate, to angle of attack signal in air data computer
Filtering, resolve link it is also more, more complicated, these filtering links cause angle of attack signal big delayed phase occur, influence to fly
The design accuracy of correlation function, reduces design efficiency in row control；System stability reduction is even resulted in when serious, influences to fly
Safety.
Design of Flight Control must assure that safety requirements, while should improve design accuracy and efficiency as far as possible.This is just needed
The angle of attack signal model of higher precision is used in the design.It, should be at design initial stage just to meeting from the perspective of signal modeling
The links such as filtering, resolving in angle signal give system and consider and assess.
Summary of the invention
The object of the present invention is to provide a kind of modeling methods of angle of attack signal, do not consider 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
It is rapid:
The first step, the signal flow model for establishing the angle of attack, comprising: influence of the aircraft pitch rotation to the angle of attack, aircraft stream
Influence, the dynamic response of angle of attack sensor, the sensor signal measurement that interference measure the angle of attack convert, input signal it is smooth
It filters, sensor position error is corrected, the transmission delay in the smothing filtering and each link of output signal；
Second step, to the links in signal flow model in the first step, establish its mathematical model, 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 q, then incoming flow angle of attack increment at sensor caused by angular speed are as follows: Δ α=arctan
(Vq/VT)≈Vq/VT=-Xq/VT；
B) influence measured the angle of attack is interfered for aircraft flow field, in each Mach number (Ma), aircraft configurations in link 2
(Conf) the local air flow angle of attack α under, at weathercock1With incoming flow angle of attack αqIt in good linear relationship, can be expressed as: α1=k1αq+b1,
Wherein coefficient k1And b1It is the function of Ma and Conf；
C) link 3 are the dynamic response of angle of attack sensor, to most common weather vane type angle of attack sensor, in local air flow
Angle of attack αsUnder effect, drift angle δsDynamic response can be indicated with typical two―step element are as follows:Its
Middle ωnFor the natural frequency of angle of attack weathercock, ξ is the damping ratio of angle of attack weathercock；
D) link 4 are that the measurement of angle of attack sensor drift angle to potentiometer output voltage is converted, if sensor drift angle is δαs,
Potentiometer output voltage is U, then the process mathematical model are as follows: U=kU·δαs, wherein kUFor potentiometer drift angle to output voltage
Conversion coefficient；
E) link 5 are the analog/digital conversion of air data computer, and conversion process is expressed with pure delay link, mathematics
Model are as follows:Wherein τ is delay time constant；
F) link 6 are smothing filtering of the air data computer to potentiometer output voltage, single order smothing filtering algorithm mould
Type are as follows: y (n)=C0·x(n)+C1·y(n-1)；Wherein, y (n) is that current clap exports, and x (n) claps input to be current, and y (n-1) is
Previous bat output, C0And C1Currently to clap and weight coefficient shared by previous bat, it is desirable that sum of the two 1；Second order smothing filtering is calculated
Method model are as follows: y (n)=C0·x(n)+C1·x(n-1)+C2·y(n-1)+C3·y(n-2)；Wherein, y (n) is defeated currently to clap
Out, x (n) is current bat input, and x (n-1) is previous bat input, and y (n-1) is previous bat output, and y (n-2) is preceding two bats output,
C0、C1、C2、C3For weight coefficient shared by the above items, it is desirable that the sum of four coefficients are 1；
G) link 7 are conversion of the potentiometer voltage to drift angle, transformational relation are as follows:
H) link 8 are that the location error of angle of attack sensor is corrected, if the local air flow angle of attack that sensor measures is α1, fly
The true angle of attack of row device is α, corrects relationship are as follows: α=k2α1+b2；Wherein, coefficient k2And b2It is the function of Ma and Conf；
I) link 9 are the smothing filtering of true angle of attack signal, single order smothing filtering algorithm model are as follows: y (n)=C0·x(n)+
C1Y (n-1), wherein each parameter definition is the same as link 6；
J) link 10 are the transmission process of data/address bus, are expressed with pure delay link, mathematical model are as follows:
Wherein τ is delay time constant；
The input of above each link, output relation are sequentially connected in series by third step by link number, are obtained true from aircraft
The angle of attack uses total mathematical model of angle of attack signal to flight control, is used for flight control design case.
The utility model has the advantages that a kind of modeling method of angle of attack signal of the present invention, establishes the aircraft angle of attack caused by of the invention
Signal flow model, using the physical process of the angle of attack description of system is given to flight control to the true angle of attack of aircraft.It is right
Links in signal stream establish its typical Mathematics Model according to its physical principle.The two combines, and improves angle of attack letter
Number modeling it is comprehensive, it can be achieved that high-precision analog to aircraft angle of attack signal, helps to improve the essence of flight control design case
Degree, efficiency and safety, there is higher application value in Aeronautics and Astronautics industry.
Detailed description of the invention
Fig. 1 is signal flow diagram of the invention.
Specific embodiment
It is illustrated with reference to the accompanying drawing with a kind of modeling method of the embodiment to aircraft angle of attack signal.
(1) system consider from the true angle of attack of aircraft to flight control using angle of attack signal each physical process and
Processing links establish the signal flow model of the angle of attack, and as shown in Fig. 1, signal flow model includes: aircraft pitch rotation to the angle of attack
Influence, the influence that the interference of aircraft flow field measure the angle of attack, the dynamic response of angle of attack sensor, sensor signal measurement turn
It changes, the smothing filtering of input signal, sensor position error are corrected, the transmission in the smothing filtering and each link of output signal
Delay.
(2) to links in signal flow model, its mathematical model is established.Wherein:
K) link 1 is influence of the pitch rotation to the aircraft angle of attack.Its formation mechenism is: since 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 VT, pitch rate q,
Then incoming flow angle of attack increment at sensor caused by angular speed are as follows:
Δ α=arctan (Vq/VT)≈Vq/VT=-Xq/VT；
L) influence measured the angle of attack is interfered for aircraft flow field in link 2.Because there is flow field around in aircraft fuselage
It interferes, local air flow direction will be inconsistent with direction of flow at angle of attack sensor, keeps the local air flow angle of attack different from the incoming flow angle of attack.
Local air flow angle of attack α under each Mach number (Ma), aircraft configurations (Conf), at weathercock1With incoming flow angle of attack αqIn good line
Sexual intercourse can be expressed as: α1=k1αq+b1.Wherein coefficient k1And b1It is the function of Ma and Conf；
M) link 3 are the dynamic response of angle of attack sensor.To most common weather vane type angle of attack sensor, in local air flow
Angle of attack αsUnder effect, drift angle δsDynamic response can be indicated with typical two―step element are as follows:Its
Middle ωnFor the natural frequency of angle of attack weathercock, ξ is the damping ratio of angle of attack weathercock；
N) link 4 are that the measurement of angle of attack sensor drift angle to potentiometer output voltage is converted.If sensor drift angle is δαs,
Potentiometer output voltage is U, then the process mathematical model are as follows: U=kU·δαs.Wherein, kUFor potentiometer drift angle to output voltage
Conversion coefficient；
O) link 5 are the analog/digital conversion of air data computer.The conversion process can be expressed with pure delay link,
Mathematical model are as follows:Wherein τ is delay time constant；
P) link 6 are smothing filtering of the air data computer to potentiometer output voltage.Common single order smothing filtering
Algorithm model are as follows: y (n)=C0·x(n)+C1·y(n-1).Wherein, y (n) is that current clap exports, and x (n) claps input, y to be current
(n-1) it is exported for previous bat, C0And C1Currently to clap and weight coefficient shared by previous bat, it is desirable that sum of the two 1.Commonly
Second order smothing filtering algorithm model are as follows: y (n)=C0·x(n)+C1·x(n-1)+C2·y(n-1)+C3Y (n-2) wherein, y
(n) output is clapped to be current, x (n) claps input to be current, and x (n-1) is previous bat input, and y (n-1) is that previous bat exports, y (n-2)
Output, C are clapped for preceding two0、C1、C2、C3For weight coefficient shared by the above items, it is desirable that the sum of four coefficients are 1；
Q) link 7 are the conversion of potentiometer voltage to drift angle.Transformational relation are as follows:
R) link 8 are that the location error of angle of attack sensor is corrected.If the local air flow angle of attack that sensor measures is α1, fly
The true angle of attack of row device is α, then it is usual to correct relationship are as follows: α=k2α1+b2.Wherein, coefficient k2And b2It is the function of Ma and Conf；
S) link 9 are the smothing filtering of true angle of attack signal.Common single order smothing filtering algorithm model are as follows: y (n)=
C0·x(n)+C1Y (n-1), wherein each parameter definition is the same as link 6；
T) link 10 are the transmission process of data/address bus.The process can be expressed with pure delay link, mathematical model are as follows:Wherein τ is delay time constant.
(3) input of above each link, output relation are sequentially connected in series by link number, are can be obtained true from aircraft
The angle of attack uses total mathematical model of angle of attack signal to flight control, is used for flight control design case.
Claims (1)
1. a kind of modeling method of aircraft angle of attack signal, it is characterised in that: the following steps are included:
The first step, the signal flow model for establishing the angle of attack, comprising: influence of the aircraft pitch rotation to the angle of attack, aircraft flow field are dry
Disturb to the angle of attack measurement influence, angle of attack sensor dynamic response, sensor signal measurement conversion, input signal smooth filter
Wave, sensor position error amendment, output signal smothing filtering and each link in transmission delay；
Second step, to the links in signal flow model in the first step, establish its mathematical model, 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 q, then incoming flow angle of attack increment at sensor caused by angular speed are as follows: Δ α=arctan (Vq/VT)
≈Vq/VT=-Xq/VT；
B) influence measured the angle of attack is interfered for aircraft flow field, in each Mach number (Ma), aircraft configurations in link 2
(Conf) the local air flow angle of attack α under, at weathercock1With incoming flow angle of attack αqIt in good linear relationship, can be expressed as: α1=k1αq+b1,
Wherein coefficient k1And b1It is the function of Ma and Conf；
C) link 3 are the dynamic response of angle of attack sensor, to most common weather vane type angle of attack sensor, in local air flow angle of attack αs
Under effect, drift angle δsDynamic response can be indicated with typical two―step element are as follows:Wherein ωn
For the natural frequency of angle of attack weathercock, ξ is the damping ratio of angle of attack weathercock；
D) link 4 are that the measurement of angle of attack sensor drift angle to potentiometer output voltage is converted, if sensor drift angle is δαs, current potential
Meter output voltage is U, then the process mathematical model are as follows: U=kU·δαs, wherein kUFor turning for potentiometer drift angle to output voltage
Change coefficient；
E) link 5 are the analog/digital conversion of air data computer, and conversion process is expressed with pure delay link, mathematical model
Are as follows:Wherein τ is delay time constant；
F) link 6 are smothing filtering of the air data computer to potentiometer output voltage, single order smothing filtering algorithm model
Are as follows: y (n)=C0·x(n)+C1·y(n-1)；Wherein, y (n) is that current clap exports, and x (n) claps input to be current, before y (n-1) is
One claps output, C0And C1Currently to clap and weight coefficient shared by previous bat, it is desirable that sum of the two 1；Second order smothing filtering algorithm
Model are as follows: y (n)=C0·x(n)+C1·x(n-1)+C2·y(n-1)+C3·y(n-2)；Wherein, y (n) is that current clap exports, x
It (n) is current bat input, x (n-1) is previous bat input, and y (n-1) is previous bat output, and y (n-2) is preceding two bats output, C0、
C1、C2、C3For weight coefficient shared by the above items, it is desirable that the sum of four coefficients are 1；
G) link 7 are conversion of the potentiometer voltage to drift angle, transformational relation are as follows:
H) link 8 are that the location error of angle of attack sensor is corrected, if the local air flow angle of attack that sensor measures is α1, aircraft is true
The angle of attack is α, corrects relationship are as follows: α=k2α1+b2；Wherein, coefficient k2And b2It is the function of Ma and Conf；
I) link 9 are the smothing filtering of true angle of attack signal, single order smothing filtering algorithm model are as follows: y (n)=C0·x(n)+C1·y
(n-1), wherein each parameter definition is the same as link 6；
J) link 10 are the transmission process of data/address bus, are expressed with pure delay link, mathematical model are as follows:Wherein τ
For delay time constant；
The input of above each link, output relation are sequentially connected in series by third step by link number, are obtained from the true angle of attack of aircraft
Total mathematical model that angle of attack signal is used to flight control, is used for flight control design case.
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| CN111122901B (en) * | 2019-12-31 | 2021-11-02 | 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 |
| 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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| CN102682149A (en) * | 2012-02-03 | 2012-09-19 | 西安费斯达自动化工程有限公司 | Modeling method for aircraft longitudinal phase plane directly based on three-dimensional model |
| CN102938002A (en) * | 2012-10-11 | 2013-02-20 | 西北工业大学 | Aircraft modeling method based on adjustable parameter maximum information criterion |
| CN105468008A (en) * | 2015-12-12 | 2016-04-06 | 中国航空工业集团公司西安飞机设计研究所 | Airplane angle-of-attack protection control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5590853A (en) * | 1992-02-03 | 1997-01-07 | Safe Flight Instrument Corporation | Aircraft control system |
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| CN102682149A (en) * | 2012-02-03 | 2012-09-19 | 西安费斯达自动化工程有限公司 | Modeling method for aircraft longitudinal phase plane directly based on three-dimensional model |
| CN102938002A (en) * | 2012-10-11 | 2013-02-20 | 西北工业大学 | Aircraft modeling method based on adjustable parameter maximum information criterion |
| CN105468008A (en) * | 2015-12-12 | 2016-04-06 | 中国航空工业集团公司西安飞机设计研究所 | Airplane angle-of-attack protection control method |
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