CN108255185A - A kind of lateral asymmetric suppressing method of self-identifying formula - Google Patents
A kind of lateral asymmetric suppressing method of self-identifying formula Download PDFInfo
- Publication number
- CN108255185A CN108255185A CN201711293759.3A CN201711293759A CN108255185A CN 108255185 A CN108255185 A CN 108255185A CN 201711293759 A CN201711293759 A CN 201711293759A CN 108255185 A CN108255185 A CN 108255185A
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- laterally
- asymmetric
- integrator
- master instruction
- lateral
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000005516 engineering process Methods 0.000 abstract description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 238000005406 washing 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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- 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
The invention belongs to flight control technologies, are related to a kind of self-identifying formula laterally asymmetric suppressing method.The present invention includes the following steps：Increase integrator link in crosswise joint restrains branch；Laterally the lateral of asymmetric generation is inputted from master instruction as integrator；Integrator switch is connected when laterally reaching stable state from master instruction, integrator switch is disconnected when being laterally not up to stable state from master instruction；Laterally in the presence of asymmetry, corresponding transverse direction enters inner looping from master instruction after " proportional+integral " control, generates corresponding control surface deflection so as to eliminate laterally asymmetric influence.
Description
Technical field
The invention belongs to flight control technologies, are related to a kind of self-identifying formula laterally asymmetric suppressing method.
Background technology
In engineering in practice, often there are certain asymmetry for the aircraft of symmetric design, can increase to a certain extent
Pilot bears or causes the accuracy decline that flight controls；And excessive laterally asymmetry can then lead to not perform combat duty
Even result in that aircraft is out of control to occur accident.Because of center of gravity caused by fuel consumption or arm discharge etc. in task process is performed
Lateral deviation can cause larger laterally asymmetry, and unilateral engine loss or rudder face failure can then cause serious transverse direction not right
Claim；Especially UAV or to work in having for automatic Pilot mode man-machine, needed when lateral asymmetry occurs and
When automatic identification and take corresponding control strategy, prevent aircraft out of control.Therefore, lateral asymmetry is that Flight Vehicle Design can not
The problem of avoidance；How effectively to overcome lateral asymmetry, improve flight quality and control accuracy, ensure flight safety, for flying
Row Control System Design is most important.
Invention content
The technical problems to be solved by the invention are：A kind of self-identifying formula laterally asymmetric suppressing method is provided, makes flight
Utensil has higher crosswise joint precision, and in asymmetric configuration flight, crosswise joint precision is still met the requirements；And exist
Under serious laterally asymmetric fault condition, ensure that aircraft safety is controllable.
The technical scheme is that：A kind of lateral asymmetric suppressing method of self-identifying formula, includes the following steps：
1) increase integrator link in crosswise joint restrains branch；
2) laterally the lateral of asymmetric generation is inputted from master instruction as integrator；
3) integrator switch is connected when laterally reaching stable state from master instruction, product is disconnected when being laterally not up to stable state from master instruction
Divide device switch；
4) laterally in the presence of asymmetry, corresponding transverse direction enters inner looping from master instruction after " proportional+integral " control,
Corresponding control surface deflection is generated so as to eliminate laterally asymmetric influence.
The beneficial effects of the invention are as follows：The present invention in restraining branch in crosswise joint by increasing integrator link, laterally not
Laterally enter inner looping after " proportional+integral " control from master instruction caused by symmetrical, generate corresponding control surface deflection thus
Laterally asymmetric influence is eliminated, improves control accuracy and safety；The present invention is lateral using Mr. Yu's type multi-purpose unmanned aerial vehicle
Control law makes it have higher crosswise joint precision, and in asymmetric configuration flight, crosswise joint precision is still met the requirements；
Unilateral aileron is stuck to be existed under serious laterally asymmetric fault condition, ensure that aircraft safety is controllable, at the same still have compared with
High crosswise joint precision.
Description of the drawings
Fig. 1 is a kind of logic diagram of specific embodiment of the lateral asymmetric suppressing method of self-identifying formula of the present invention.
Specific embodiment
The specific embodiment of the present invention is described further below in conjunction with the accompanying drawings.
The present invention increases integrator ring to overcome laterally asymmetric adverse effect in crosswise joint restrains branch
Section utilizes " proportional+integral " control to eliminate crosswise joint error.If without integral element, lateral asymmetry can cause in nothing
Always there are a stable transverse direction from master instruction when instructing rolling, which connects when transverse direction reaches stable state from master instruction
It is logical, it disconnects, is realized to laterally asymmetric automatic identification when laterally mandatory rolling is when unstable state.It is laterally asymmetric to exist
When, corresponding transverse direction enters inner looping from master instruction after " proportional+integral " control, generates corresponding control surface deflection so as to disappear
Except laterally asymmetric influence, control accuracy and safety are improved.
Referring to Fig. 1, which show a kind of control logic block diagram of laterally specific embodiment of asymmetric automatic suppressing method,
Major function is the lateral asymmetry of automatic identification and connects " proportional+integral " control controller, in the RCF entrance of generation comprehensive directive
Circuit generates corresponding control surface deflection, and lateral asymmetry is inhibited.Specific calculating control law logic, parameter are as follows：
1) link filtering parameter is washed out according to APRC signal characteristics selection in practical flight：WOR=2.0rad/s.
2) according to APRCWO signal of the transverse direction from master instruction APRC after washing out link, decision integrator switch SWINTR
Whether connect：APRCWO absolute values are less than 0.2, then SWINTR=1, and integrator is connected.
3) design integration branch gain：KI=0.1；
4) design proportion branch gain：KP=1.0；
5) integrator output violent change value is designed：RINTUL=20, RINTLL=-20.
Claims (1)
1. a kind of lateral asymmetric suppressing method of self-identifying formula, it is characterized in that the described method comprises the following steps：
1) increase integrator link in crosswise joint restrains branch；
2) laterally the lateral of asymmetric generation is inputted from master instruction as integrator；
3) integrator switch is connected when laterally reaching stable state from master instruction, integrator is disconnected when being laterally not up to stable state from master instruction
Switch；
4) laterally in the presence of asymmetry, corresponding transverse direction enters inner looping from master instruction after " proportional+integral " control, generates
Corresponding control surface deflection is so as to eliminate laterally asymmetric influence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711293759.3A CN108255185A (en) | 2017-12-08 | 2017-12-08 | A kind of lateral asymmetric suppressing method of self-identifying formula |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711293759.3A CN108255185A (en) | 2017-12-08 | 2017-12-08 | A kind of lateral asymmetric suppressing method of self-identifying formula |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108255185A true CN108255185A (en) | 2018-07-06 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711293759.3A Pending CN108255185A (en) | 2017-12-08 | 2017-12-08 | A kind of lateral asymmetric suppressing method of self-identifying formula |
Country Status (1)
| Country | Link |
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| CN (1) | CN108255185A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110096070A (en) * | 2019-05-17 | 2019-08-06 | 成都飞机工业（集团）有限责任公司 | A kind of crosswise joint method in unilateral extension impact land |
| CN112623192A (en) * | 2020-12-29 | 2021-04-09 | 中国航空工业集团公司西安飞机设计研究所 | Automatic trim control method for rudder of airplane |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6796532B2 (en) * | 2002-12-20 | 2004-09-28 | Norman D. Malmuth | Surface plasma discharge for controlling forebody vortex asymmetry |
| US20090005919A1 (en) * | 2006-02-20 | 2009-01-01 | Airbus France | Method and Device for Detecting a Lateral Dissymmetry of an Aircraft |
| US20100292872A1 (en) * | 2009-05-18 | 2010-11-18 | Airbus Operations (Sas) | Method and device for automatically detecting a lateral dissymetry of an aircraft |
| CN102667654A (en) * | 2009-12-21 | 2012-09-12 | 波音公司 | Calculation and display of warning speed for thrust asymmetry control |
| CN103529692A (en) * | 2013-10-30 | 2014-01-22 | 中国航天空气动力技术研究院 | Fault reconstruction method for simple redundancy flight control system of long-endurance unmanned aerial vehicle |
| CN103645647A (en) * | 2013-12-04 | 2014-03-19 | 中国航空工业第六一八研究所 | Dynamic locus tracking control method of aircraft |
| CN104803005A (en) * | 2015-05-13 | 2015-07-29 | 南京航空航天大学 | Automatic carrier landing composite control method of carrier airflow compensation-containing carrier-borne aircraft |
| CN105599894A (en) * | 2016-02-25 | 2016-05-25 | 南京航空航天大学 | Stick force control method of aircraft driving side stick system |
-
2017
- 2017-12-08 CN CN201711293759.3A patent/CN108255185A/en active Pending
Patent Citations (8)
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|---|---|---|---|---|
| US6796532B2 (en) * | 2002-12-20 | 2004-09-28 | Norman D. Malmuth | Surface plasma discharge for controlling forebody vortex asymmetry |
| US20090005919A1 (en) * | 2006-02-20 | 2009-01-01 | Airbus France | Method and Device for Detecting a Lateral Dissymmetry of an Aircraft |
| US20100292872A1 (en) * | 2009-05-18 | 2010-11-18 | Airbus Operations (Sas) | Method and device for automatically detecting a lateral dissymetry of an aircraft |
| CN102667654A (en) * | 2009-12-21 | 2012-09-12 | 波音公司 | Calculation and display of warning speed for thrust asymmetry control |
| CN103529692A (en) * | 2013-10-30 | 2014-01-22 | 中国航天空气动力技术研究院 | Fault reconstruction method for simple redundancy flight control system of long-endurance unmanned aerial vehicle |
| CN103645647A (en) * | 2013-12-04 | 2014-03-19 | 中国航空工业第六一八研究所 | Dynamic locus tracking control method of aircraft |
| CN104803005A (en) * | 2015-05-13 | 2015-07-29 | 南京航空航天大学 | Automatic carrier landing composite control method of carrier airflow compensation-containing carrier-borne aircraft |
| CN105599894A (en) * | 2016-02-25 | 2016-05-25 | 南京航空航天大学 | Stick force control method of aircraft driving side stick system |
Non-Patent Citations (1)
| Title |
|---|
| 满朝媛: "小型无人机横侧向飞行控制律设计技术研究", 《中国优秀硕士学位论文全文数据库 工程科技II辑》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110096070A (en) * | 2019-05-17 | 2019-08-06 | 成都飞机工业（集团）有限责任公司 | A kind of crosswise joint method in unilateral extension impact land |
| CN112623192A (en) * | 2020-12-29 | 2021-04-09 | 中国航空工业集团公司西安飞机设计研究所 | Automatic trim control method for rudder of airplane |
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| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210318 Address after: 611731, No. four, West core road, hi tech West District, Sichuan, Chengdu Applicant after: AVIC (Chengdu) UAV System Co.,Ltd. Address before: 610091 planning and Development Department of Chengdu aircraft design and Research Institute, 1610 Riyue Avenue, Qingyang District, Chengdu City, Sichuan Province Applicant before: AVIC CHENGDU AIRCRAFT DESIGN & Research Institute |
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20180706 |