CN107972849B - Logic design method for automatic driving and manual control - Google Patents
Logic design method for automatic driving and manual control Download PDFInfo
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- CN107972849B CN107972849B CN201711231727.0A CN201711231727A CN107972849B CN 107972849 B CN107972849 B CN 107972849B CN 201711231727 A CN201711231727 A CN 201711231727A CN 107972849 B CN107972849 B CN 107972849B
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- automatic driving
- automatic
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- switch
- driving
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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
- B64C13/22—Initiating means actuated automatically, e.g. responsive to gust detectors readily revertible to personal control
-
- 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
- B64C13/18—Initiating means actuated automatically, e.g. responsive to gust detectors using automatic pilot
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Mechanical Control Devices (AREA)
Abstract
The logic design method for automatic driving and manual operation and control provided by the invention can enter and exit automatic driving under normal conditions, and meanwhile, a pilot performs manual operation under emergency conditions to prevent accidents. The logic design method for automatic driving and manual control disclosed by the invention designs the entry/exit logic of automatic driving and the switching logic of automatic driving and manual control, can give consideration to the authority distribution of automatic driving and pilots, and ensures the reasonable switching of automatic driving and manual control.
Description
Technical Field
The invention belongs to the technical field of airplane piloting control, and particularly relates to a logic design method for automatic piloting and manual control.
Background
Currently, most airplanes have an autopilot function, and the use of autopilot can reduce the burden of pilots, so that the airplanes automatically fly according to given attitude, heading and altitude. The pilot can be enabled to concentrate on completing other work related to flight safety and flight tasks, such as navigation, communication, investigation, attack and the like.
When the automatic piloting is used, the automatic piloting controls the airplane, and a pilot monitors the airplane; when autopilot is turned off, the pilot controls the aircraft. In using autopilot, the pilot may manually maneuver to adjust the aircraft to a desired target if an emergency situation is encountered or the pilot needs to intervene in the flight. After the manual operation is finished, the airplane still enters an automatic driving state. When the authority is switched between automatic driving and manual operation, the switching logic needs to be considered comprehensively, and the authority of the automatic driving and the pilot needs to be distributed reasonably.
Disclosure of Invention
The invention aims to solve the technical problems and provides a logic design method for automatic driving and manual control, which designs the entry/exit logic of automatic driving and the switching logic of automatic driving and manual control, can give consideration to the authority distribution of automatic driving and pilots, and ensures the reasonable switching of automatic driving and manual control.
In order to solve the technical problem, the invention is realized by the following technical scheme: a method of logic design for autopilot and manual manipulation, comprising an autopilot button/switch, the autopilot button/switch comprising: an AP switch for entering/exiting automatic driving; the automatic leveling button is positioned on the handle of the steering column to enable the plane to become in a level flight state; the AP cutting button is positioned on the handle of the steering column and quits automatic driving; the AP force switch is positioned on a steering column handle and is used for controlling the airplane by a pilot in an automatic driving state; the working modes under automatic driving comprise: ATT: a pose-preserving modality; ALT: a height-preserving mode; AL: an automatic leveling mode; CSS: manual override;
the logic design of automatic driving and manual control comprises the following steps:
firstly, when the automatic driving interlocking condition is met, pressing an AP switch or an automatic leveling button to enter automatic driving;
secondly, after the airplane enters automatic driving, pressing the AP force switch to carry out manual operation, and after the AP force switch is loosened, returning the airplane to a corresponding mode of automatic driving;
after the airplane enters automatic driving, manual control is carried out through rod displacement, and after the rod is loosened, the airplane returns to the corresponding mode of automatic driving;
fourthly, after the airplane enters the automatic piloting, the airplane does not meet the automatic piloting interlocking condition and quits the automatic piloting;
after entering automatic driving, pressing AP switch or AP cutting button to quit automatic driving.
Preferably, the automatic driving interlock condition includes:
firstly, the inertial navigation system is normal and comprises effective course and effective posture;
the atmospheric data system is normal, including the standard air pressure is effective in height and the lifting speed is effective;
the steering column handle buttons are normal, including an automatic leveling button, an AP force switch and an AP cutting button;
flight control system state less than II
LGH being in retracted state
The automatic driving interlocking condition can be formed only when the above 5 conditions are simultaneously met, and automatic driving can not be performed when any condition is not met.
Preferably, when the autopilot interlock condition is met, the pilot can turn on autopilot by pressing the "AP on-off" button, by default entering the ATT mode; the 'automatic leveling button' has a certain priority level, and after the button is manually pressed, if the interlocking condition is met, automatic driving is switched on, the AL mode is immediately entered, and the ALT mode is entered after the interlocking condition is ended.
Preferably, the manual override step of automatic driving comprises:
the first step is as follows: judge whether autopilot is in the AL mode, if, the driver controls through the artifical control of pole displacement, pole displacement controls including two conditions: firstly, the displacement amount | DZ | of the longitudinal rod is larger than 45mm (half rod amount); secondly, the displacement amount | DX | >30mm (half-rod amount) of the transverse rod meets one of the requirements, and override is carried out on automatic driving; if not, entering the second step;
the second step is that: the driver manually controls, and manual override comprises the following three conditions, namely pressing the AP force switch; secondly, the displacement amount | DZ | of the longitudinal rod is larger than 10 mm; thirdly, the displacement amount | DX | >10mm of the transverse rod; if one of them is satisfied, override is performed for autonomous driving.
Compared with the prior art, the invention has the following beneficial effects:
the logic design method for automatic driving and manual operation and control can enter and exit automatic driving under normal conditions, and meanwhile, the pilot performs manual operation under emergency conditions after the automatic driving is entered, so that accidents are prevented.
The logic design method for automatic driving and manual control disclosed by the invention designs the entry/exit logic of automatic driving and the switching logic of automatic driving and manual control, can give consideration to the authority distribution of automatic driving and pilots, and ensures the reasonable switching of automatic driving and manual control.
Detailed Description
The examples are explained in detail.
A method of logic design for autopilot and manual manipulation, comprising an autopilot button/switch, the autopilot button/switch comprising: an AP switch for entering/exiting automatic driving; the automatic leveling button is positioned on the handle of the steering column to enable the plane to become in a level flight state; the AP cutting button is positioned on the handle of the steering column and quits automatic driving; the AP force switch is positioned on a steering column handle and is used for controlling the airplane by a pilot in an automatic driving state; the working modes under automatic driving comprise: ATT: a pose-preserving modality; ALT: a height-preserving mode; AL: an automatic leveling mode; CSS: and (4) manual override.
The autopilot interlock condition includes:
firstly, the inertial navigation system is normal and comprises effective course and effective posture;
the atmospheric data system is normal, including the standard air pressure is effective in height and the lifting speed is effective;
the steering column handle buttons are normal, including an automatic leveling button, an AP force switch and an AP cutting button;
flight control system state less than II
LGH being in retracted state
When the above conditions are met, the 'AP switch' or the 'automatic leveling button' is pressed, automatic driving can be started, otherwise, when any one condition is not met, automatic driving cannot be started.
Investment of automatic driving
When the autopilot interlock condition is met, the pilot can turn on autopilot by pressing the "AP switch" and default to the attitude hold mode. The automatic leveling button has a certain priority level, and after the button is manually pressed, if the interlocking condition is met, automatic driving is switched on, the automatic leveling mode is immediately entered, and the height maintaining mode is entered after the automatic leveling mode is ended.
Exit from autonomous driving
In the autopilot normal operating state, the pilot can exit autopilot by manual request. There are two cases of manual request to exit autonomous driving: pressing the "AP switch" or pressing the "AP-cut button" on the steering column handle.
Automatic drive override
Because automatic leveling can be used for pilot's world not time-sharing to use in order to guarantee flight safety, consequently automatic leveling authority is higher, when autopilot was in automatic leveling mode, the pressing force switch carried out the manual control and is invalid, can not withdraw from automatic leveling mode, need the driver to adopt the manipulation of big pole volume just can cut off automatic leveling, when following two conditions: firstly, the displacement amount | DZ | of the longitudinal rod is larger than 45mm (half rod amount); second, the lateral rod displacement | DX | >30mm (half rod amount). If one of these is satisfied, it is deemed to override the autonomous driving.
When autonomous driving is in a non-autoleveling mode, the manual override includes the following three conditions: firstly, pressing an AP force switch; secondly, the displacement amount | DZ | of the longitudinal rod is larger than 10mm half rod amount; and thirdly, if one of the transverse rod displacement | DX | >10mm half-rod quantity is satisfied, the automatic driving is considered to be overridden.
The logic design of automatic driving and manual control comprises the following steps:
firstly, when the automatic driving interlocking condition is met, pressing an AP switch or an automatic leveling button to enter automatic driving;
secondly, after the airplane enters automatic driving, the AP force switch is pressed to carry out manual operation, and after the AP force switch is loosened, the airplane returns to the corresponding mode of automatic driving, as shown in the table 1;
TABLE 1 after override by force switch, on mode
Thirdly, after the airplane enters the automatic piloting mode, the airplane is manually controlled through the displacement of the rod, and after the rod is loosened, the airplane returns to the corresponding mode of the automatic piloting mode, as shown in the table 2;
TABLE 2 make-after-completion mode by rod displacement override
Fourthly, after the airplane enters the automatic piloting, the airplane does not meet the automatic piloting interlocking condition and quits the automatic piloting;
after entering automatic driving, pressing AP switch or AP cutting button to quit automatic driving.
The above list is only one of the specific embodiments of the present invention. It will be clear that the invention is not limited to the above embodiments, but that many similar modifications are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the present invention are to be considered within the scope of the invention.
Claims (3)
1. A logic design method for automatic driving and manual control is characterized in that: including an autopilot button/switch, the autopilot button/switch comprising: an AP switch for entering/exiting automatic driving; the automatic leveling button is positioned on the handle of the steering column to enable the plane to become in a level flight state; the AP cutting button is positioned on the handle of the steering column and quits automatic driving; the AP force switch is positioned on a steering column handle and is used for controlling the airplane by a pilot in an automatic driving state; the working modes under automatic driving comprise: ATT: a pose-preserving modality; ALT: a height-preserving mode; AL: an automatic leveling mode; CSS: manual override;
the logic design of automatic driving and manual control comprises the following steps:
firstly, when the automatic driving interlocking condition is met, pressing an AP switch or an automatic leveling button to enter automatic driving;
secondly, after the airplane enters automatic driving, pressing the AP force switch to carry out manual operation, and after the AP force switch is loosened, returning the airplane to a corresponding mode of automatic driving;
thirdly, after the airplane enters automatic driving, manual control is carried out through rod displacement, and after the rod is loosened, the airplane returns to a corresponding mode of automatic driving;
fourthly, after the airplane enters the automatic piloting, the airplane does not meet the automatic piloting interlocking condition and quits the automatic piloting;
after entering automatic driving, pressing an AP switch or an AP cutting button to quit automatic driving;
the manual override step of the autonomous driving comprises:
the first step is as follows: judge whether autopilot is in the AL mode, if, the driver controls through the artifical control of pole displacement, and the pole displacement is controlled and is included two conditions: firstly, the displacement amount | DZ | of the longitudinal rod is larger than 45 mm; secondly, overriding automatic driving when the displacement amount | DX | >30mm of the transverse rod meets one of the requirements; if not, entering the second step;
the second step is that: the driver manually controls, and manual override comprises the following three conditions, namely pressing the AP force switch; secondly, the displacement amount | DZ | of the longitudinal rod is larger than 10 mm; thirdly, the displacement amount | DX | >10mm of the transverse rod; if one of them is satisfied, override is performed for autonomous driving.
2. A method of automated driving and manual logic design according to claim 1, wherein: the autopilot interlock condition includes:
firstly, the inertial navigation system is normal and comprises effective course and effective posture;
the atmospheric data system is normal, including the standard air pressure is effective in height and the lifting speed is effective;
the steering column handle buttons are normal, including an automatic leveling button, an AP force switch and an AP cutting button;
flight control system state less than II
LGH being in retracted state
The automatic driving interlocking condition can be formed only when the above 5 conditions are simultaneously met, and automatic driving can not be performed when any condition is not met.
3. A method of automated driving and manual logic design according to claim 1, wherein: when the automatic driving interlocking condition is met, the pilot switches on automatic driving by pressing an AP switch button, and defaults to enter an ATT mode; the 'automatic leveling button' has priority level, and after the button is manually pressed, the automatic driving interlocking condition is met, the automatic driving is switched on, the AL mode is immediately entered, and the ALT mode is entered after the automatic driving interlocking condition is ended.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711231727.0A CN107972849B (en) | 2017-11-30 | 2017-11-30 | Logic design method for automatic driving and manual control |
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| CN201711231727.0A CN107972849B (en) | 2017-11-30 | 2017-11-30 | Logic design method for automatic driving and manual control |
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| CN107972849A CN107972849A (en) | 2018-05-01 |
| CN107972849B true CN107972849B (en) | 2021-02-05 |
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| CN114415706A (en) * | 2021-12-31 | 2022-04-29 | 中国航空工业集团公司西安飞机设计研究所 | Large aircraft pitch angle maintaining control algorithm |
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| CN102582826B (en) * | 2011-01-06 | 2015-09-30 | 佛山市安尔康姆航拍科技有限公司 | A kind of drive manner of four rotor unmanned aircrafts and system |
| US9272780B2 (en) * | 2012-02-10 | 2016-03-01 | Merlin Technology, Inc. | Rotorcraft autopilot and methods |
| FR2991664B1 (en) * | 2012-06-06 | 2014-05-23 | Eurocopter France | AUTOMATED FLIGHT CONTROL METHOD FOR GIRAVION, PROVIDING A TRACKING TRACK OF THE GIRAVION BY FOLLOWING MANUAL FLIGHT CONTROLS |
| CN103914077A (en) * | 2014-04-03 | 2014-07-09 | 江西洪都航空工业集团有限责任公司 | Manned/unmanned selectable dual-mode flight control system |
| CN104793611B (en) * | 2015-03-05 | 2017-10-13 | 江西洪都航空工业集团有限责任公司 | A kind of automated driving system with redundant configurations function |
| CN106184715B (en) * | 2015-04-29 | 2018-07-24 | 陕西飞机工业（集团）有限公司 | A kind of aircraft control stick trimming system |
| CN106809216A (en) * | 2015-11-27 | 2017-06-09 | 鸿富锦精密工业（深圳）有限公司 | Vehicle driving model switching system and method |
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