CN108121349A - It tows target height-lock control control system in a kind of extreme low-altitude sea of plunderring - Google Patents
It tows target height-lock control control system in a kind of extreme low-altitude sea of plunderring Download PDFInfo
- Publication number
- CN108121349A CN108121349A CN201611066500.0A CN201611066500A CN108121349A CN 108121349 A CN108121349 A CN 108121349A CN 201611066500 A CN201611066500 A CN 201611066500A CN 108121349 A CN108121349 A CN 108121349A
- Authority
- CN
- China
- Prior art keywords
- control
- altitude
- height
- target
- control system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000001133 acceleration Effects 0.000 claims abstract description 7
- 238000013016 damping Methods 0.000 claims description 4
- 230000003028 elevating effect Effects 0.000 abstract description 10
- 238000013461 design Methods 0.000 abstract description 7
- 230000000295 complement effect Effects 0.000 abstract description 4
- 230000005484 gravity Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000006641 stabilisation Effects 0.000 description 3
- 238000011105 stabilization Methods 0.000 description 3
- 238000013519 translation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/042—Control of altitude or depth specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
It tows target height-lock control control system in a kind of extreme low-altitude sea of plunderring, using the principle of direct lift force control, realize the control to elevating movement of towing target, it employs a kind of Kalman's complementary filter algorithm and filters out altitude signal noise, on altitude signal and vertical acceleration basis of signals is obtained, the vertical velocity signal of high quality can be obtained.Extreme low-altitude sea height-lock control control system of towing target of plunderring can control to tow target and realize and extreme low-altitude, high-precision plunder extra large height-lock control, promote the technical merit of such domestic equipment, control system response is fast, control accuracy is high, can accurately control tow target do it is extreme low-altitude plunder extra large height-lock control, reached design requirement.
Description
Technical field
The present invention relates to a kind of extreme low-altitude seas of plunderring to tow target height-lock control control system, suitable for machinery field.
Background technology
Tow Target is a kind of special unmanned vehicle by aircraft towed flight, and the system of towing target of complete set is main
Including traction aircraft, folding and unfolding cable device, towing cable and tow target.Wherein, traction aircraft is generally someone or UAV, folding and unfolding
Electric and pneumatic formula winch aboard is generally mounted in cable dress, towing cable is about several kms of a root long by winch folding and unfolding
And diameter only has several millimeters of wirerope, mostly shape of towing target is drawn by towing cable and flown similar to the unpowered vehicle of guided missile.Aviation
The guided missile class target for being mainly used for simulation enemy to attack towed target is the examination of the air defence weapon systems such as one's own side's antiaircraft missile, cannon
Test or train offer simulated target.It after flight, is not hit if towed target, winding towing cable by winch will tow target receipts
It returns, so towing target can repeatedly use, there is very high cost performance.
With advances in technology, Anti-ship Missile takes the anti-mode of dashing forward of " extreme low-altitude sea skimming " more, correspondingly,
It is also fast-developing towards this direction for simulating anti-warship guided missle classification target Tow Target.Since the 1980s, it has been equipped with
The extreme low-altitude of high-precision height-lock control control system plunders the extra large master rapidly become in western developed country Tow Target family that tows target
Stream and Typical Representative.Research that is domestic then just starting this field in late 1990s develops rank still in initial stage at present
Section.
The content of the invention
The present invention proposes a kind of extreme low-altitude sea of plunderring and tows target height-lock control control system, using the original of direct lift force control
Reason, realizes the control to elevating movement of towing target, employs a kind of Kalman's complementary filter algorithm and filter out altitude signal noise, obtaining
It takes in altitude signal and vertical acceleration basis of signals, the vertical velocity signal of high quality can be obtained.
The technical solution adopted in the present invention is：
The controlled quentity controlled variable of the control system is made of two parts, and the proportional controller directly proportional to difference in height is as main control to height
Degree is modified and the derivative controller directly proportional to vertical velocity is mainly used for the damping characteristic of improvement system.
The control system takes radio altimeter and accelerometer combination control, i.e. difference in height and vertical velocity two
Road feedback signal is that the sensor combinations being made up of radio altimeter and vertical acceleration meter provide.
The control system mainly resolves mainboard, servos control plate and rudder by radio altimeter, accelerometer, control law
Machine forms, and wherein accelerometer, control law resolve mainboard and servos control plate is integrated in a height control computer.
The beneficial effects of the invention are as follows：It is extreme low-altitude plunder sea tow target height-lock control control system can control tow target realize it is ultralow
It is empty, high-precision to plunder extra large height-lock control, the technical merit of such domestic equipment is promoted, control system response is fast, control accuracy
Height, can accurately control tow target do it is extreme low-altitude plunder extra large height-lock control, reached design requirement.
Description of the drawings
Fig. 1 is the direct lift force control mop elevating movement schematic diagram of the present invention.
Fig. 2 is the control principle block diagram of the present invention.
Fig. 3 is the complementary filter algorithm pattern of the present invention.
In figure：1. elevating plane aerodynamic center；2.3 traction lifting lugs；3. center of gravity.
Specific embodiment
The present invention is described further with reference to the accompanying drawings and examples.
Such as Fig. 1, the height-lock control towed target is realized indeed through the control to its elevating movement in predetermined altitude track
Upper flight, belongs to flight tracking control.Conventional way (such as aircraft and guided missile) is to take Torque Control, i.e., by changing torque of towing target
It balances to change pitch angle posture, and then changes lift size, realize the control to height.This control mode is that posture is steady
System is determined as inner looping, and highly stable system is established as external loop on the basis of attitude stabilization system.It then takes herein
Another unconventional design, i.e., need not design attitude stabilization system, and the stabilization for posture of towing target relies on the nature of its own
Stability (weathercock stability) ensures, since type aerodynamic configuration of towing target takes high stability layout, steady state stability is
Nearly 10 times or so of conventional missile, therefore this condition is satisfied.On this basis, the principle controlled using direct opening force,
A literary height control loop need to only be built, you can realize the control to elevating movement of towing target.
Direct lift force control (Direct Lift Control, DLC) is one kind of side-jet control, i.e., is grasped by controlling
Vertical aerofoil in the case of not change of flight device pitch attitude angle, changes total life, makes aircraft with a kind of approximate " translation "
Mode changes height.Tow target only there are one drop Ji is opened, and be directly installed on the center of gravity towed target, i.e., center of gravity, elevating plane it is pneumatic in
The heart and towing cable draw lifting lug on same vertical line.In this way, the opening force increment that elevating plane deflection generates just acts directly on weight of towing target
At the heart, directly control tow target move up and down adjust its height track.During elevating movement, due to there are flying drilling angle,
New line or nose-down pitching moment can be generated by towing target, and pitch attitude angle is caused to change, but itself there is very high weathercock to stablize due to towing target
Property, the pitch angle variation of very little will generate static-stability torque very greatly to be balanced, thus pitch angle α can be maintained at always
In the range of one very little close to 0 °, it is possible to approx regard the vertical movement towed target as a kind of " translation " movement.
This control mode based on DLC principles is particularly suitable for the adjustment in the range of low height, is capable of providing higher bandwidth and control
Precision, this meets just with the extreme low-altitude requirement for plunderring extra large height-lock control of towing target.
It is understood based on above-mentioned analysis, is controlled using general by deviation, the height-lock control control towed target only needs a height
Stable loop can be completed.The difference in height feedback signal that i.e. control system receiving sensor provides, resolves by control law, driving
Elevating plane deflects, and generates lift increment and directly acts on center of gravity of towing target, changes high degree of motion rail in a manner of approximate " translation "
Mark realizes that height controls.In addition, introducing vertical velocity feedback signal, to improve the damping characteristic in highly stable circuit, avoid
It is shaken on assigned altitute.
Such as Fig. 2, the design premises of control system are the movement founding mathematical models of object in order to control.Since the system of towing target is
Aircraft-towing cable-is taken to tow target and draws the mode of flight, motion model is totally different from generally conventional aircraft, it is impossible to is isolated
Ground is to modeling of towing target.Therefore, the method for building up of flight dynamics model is also special that specific method is as follows：It assumes initially that
The flight parameter for dragging machine is fully controllable by pilot in the range of certain, can be dragging the movement of machine false so in the modelling phase
Want to be a kind of known controllable particle movement processing；It tows target to be a kind of typically similar to the aircraft of guided missile, there is maturation
Modeling method；Towing cable is the most special, is the flexible steel hawser that a root long degree has several kms, and shape awing changes, institute
It is studied with cannot function as a rigid body, it is necessary to be segmented towing cable, using the method for " infitesimal analysis " by studying towing cable infinitesimal
Flight dynamics model establish the flight dynamics model of entire towing cable；Finally according to the uniformity and work of tie point displacement
Firmly with reaction force principle, you can obtain complete target-tow flight kinetic model.
Such as Fig. 2, controlled quentity controlled variable is made of two parts：The proportional controller conduct directly proportional to difference in height, main control is to height
It is modified and the derivative controller directly proportional to vertical velocity is mainly used for the damping characteristic of improvement system.
In the system actual design, radio altimeter and accelerometer combination control are taken, i.e. difference in height and vertical
It is that the sensor combinations being made up of radio altimeter and vertical acceleration meter provide to speed two-way feedback signal.
Such as Fig. 3, after basic control law determines, the main problem that must be resolved is how to obtain high quality
Feedback control signal.Radio altimeter signal since the influence of the factors such as the heave of waves is in itself containing substantial amounts of noise, if
Vertical velocity signal is directly obtained using altitude signal differential, system can be caused unstable；If it is accumulated using accelerometer signal
It separately wins and takes vertical velocity signal, and there are problems that error accumulation.It is filtered out so employing a kind of Kalman's complementary filter algorithm
Altitude signal noise, and obtain the vertical velocity signal of high quality.Its design philosophy is acquired with vertical acceleration signal integration
Vertical velocity acquires height to vertical velocity integration, by this highly compared with the actual measurement highly of altimeter, obtains one
A departure rejoins the departure in normal acceleration and vertical speed as error estimate and continues to transport
It calculates.
Claims (3)
1. a kind of extreme low-altitude sea of plunderring is towed target height-lock control control system, it is characterized in that：The controlled quentity controlled variable of the control system is by two
It is grouped into, the proportional controller directly proportional to difference in height is as main control to being highly modified and with vertical velocity into just
The derivative controller of ratio is mainly used for the damping characteristic of improvement system.
2. one kind according to claim 1 is extreme low-altitude to plunder sea and tows target height-lock control control system, it is characterized in that：The control
System takes radio altimeter and accelerometer combination control, i.e. difference in height and vertical velocity two-way feedback signal is to pass through
What the sensor combinations that radio altimeter and vertical acceleration meter are formed provided.
3. one kind according to claim 1 is extreme low-altitude to plunder sea and tows target height-lock control control system, it is characterized in that：The control
System is mainly resolved mainboard, servos control plate and steering engine and is formed by radio altimeter, accelerometer, control law, wherein accelerating
Degree meter, control law resolve mainboard and servos control plate is integrated in a height control computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611066500.0A CN108121349A (en) | 2016-11-28 | 2016-11-28 | It tows target height-lock control control system in a kind of extreme low-altitude sea of plunderring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611066500.0A CN108121349A (en) | 2016-11-28 | 2016-11-28 | It tows target height-lock control control system in a kind of extreme low-altitude sea of plunderring |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108121349A true CN108121349A (en) | 2018-06-05 |
Family
ID=62225158
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611066500.0A Pending CN108121349A (en) | 2016-11-28 | 2016-11-28 | It tows target height-lock control control system in a kind of extreme low-altitude sea of plunderring |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108121349A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114115332A (en) * | 2021-10-29 | 2022-03-01 | 北京星途探索科技有限公司 | Ground sweeping flight technology applied to short-range supersonic speed cruise bomb |
-
2016
- 2016-11-28 CN CN201611066500.0A patent/CN108121349A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114115332A (en) * | 2021-10-29 | 2022-03-01 | 北京星途探索科技有限公司 | Ground sweeping flight technology applied to short-range supersonic speed cruise bomb |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| McRuer et al. | Aircraft dynamics and automatic control | |
| CN106527491B (en) | A kind of fixed-wing unmanned aerial vehicle control system and horizontal crabbing method for controlling trajectory | |
| CN102508493B (en) | Flight control method for small unmanned aerial vehicle | |
| CN102645933B (en) | Method for implementing flexible combined overload control for aircraft in large airspace | |
| NL2017971B1 (en) | Unmanned aerial vehicle | |
| CN108873929B (en) | Method and system for autonomous landing of fixed-wing aircraft | |
| Park | Avionics and control system development for mid-air rendezvous of two unmanned aerial vehicles | |
| Slegers et al. | Use of variable incidence angle for glide slope control of autonomous parafoils | |
| CN109085849A (en) | A kind of autonomous control method of Shipborne UAV accuracy | |
| CN115826625B (en) | Unmanned aerial vehicle coordinated turning flight method for underwater detection task | |
| CN104503258B (en) | Coaxial double-rotary wing depopulated helicopter modeling method based on fiber cable laying | |
| CN108121349A (en) | It tows target height-lock control control system in a kind of extreme low-altitude sea of plunderring | |
| Regan et al. | mAEWing2: Initial Flight Test and System Identification of a Flexible UAV | |
| CN113805602A (en) | Unmanned aerial vehicle flight height control method considering gust influence | |
| RU2338235C1 (en) | Method for generating of flying aircraft angular motion adaptive control signal | |
| Wharington | Heuristic control of dynamic soaring | |
| CN104391364B (en) | Coaxial double-rotary wing depopulated helicopter parameter identification pilot system based on fiber cable laying | |
| CN105912004A (en) | Autonomous high-speed landing aid system and method for unmanned aerial vehicle | |
| Khantsis | Control system design using evolutionary algorithms for autonomous shipboard recovery of unmanned aerial vehicles | |
| US11989037B2 (en) | Method and controller for turn coordination of an aircraft, and an aircraft with turn coordination | |
| Ranneberg | Sensor setups for state and wind estimation for airborne wind energy converters | |
| YANG et al. | Design and experiment for laboratory-scale autonomous underwater gliders | |
| CN202433775U (en) | Flight control navigation system for miniature ornithopter | |
| Scheuermann et al. | Flight testing of autonomous parafoils using upper surface bleed air spoilers | |
| RU2775957C1 (en) | Method for controlling an aircraft for the implementation of automatic parachute landing of heavy loads |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180605 |
|
| WD01 | Invention patent application deemed withdrawn after publication |