CN109683473A - A kind of comprehensive pilot-aircraft closed loop system modeling and verification method - Google Patents
A kind of comprehensive pilot-aircraft closed loop system modeling and verification method Download PDFInfo
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Abstract
A kind of comprehensive pilot-aircraft closed loop system modeling and verification method belong to flight test technology field, handling of the present invention according to driver when closing on boundary flight, foundation closes on boundary flight model of man-machine system, model is aimed at previous general man-machine loop to combine, constitute a kind of novel integrated model of man-machine system, solves the deficiency that single aiming trace model is applied in closing on boundary manipulation class event, aiming tracking characteristics in man-machine system and boundary handling characteristic can be carried out continuous, complete prediction, analysis, the blank closed on boundary response manipulation event man-machine system modeling and test mould is filled up.
Description
Technical field
A kind of comprehensive pilot-aircraft closed loop system modeling of the present invention and verification method belong to flight test technology field.
Background technique
Model of man-machine system is usually made of pilot control model, aircraft system model etc., sets in aircraft handling quality
It plays an important role in meter and research, the correctness and applicability of model of man-machine system is directly affected to aircraft handling quality
Anticipation.Up to now, typical model of man-machine system is to aim at trace model, in handling quality research, Aircraft Pilot Coupling Research
(PIO) trend prediction etc. is widely applied.However, with the development of technology and deeper into research, aim at tracking mould
The basic principle of type occurs feeling with driver in the whole process and novel boundary response manipulation oscillation event for explaining PIO event
Feel and experience is not inconsistent phenomenon；Meanwhile existing PIO trend prediction/design criteria cannot prevent completely PIO and similar oscillation thing again
The generation of part.
Summary of the invention
The purpose of the present invention: present invention foundation can represent pilot control behavior in aiming tracking and boundary response manipulation
Model and operating pattern conversion logic model, make up existing aiming trace model pilot control row when expression closes on boundary
For deficiency, establish can be used for man-machine loop's handling quality prediction comprehensive model of man-machine system.
Technical solution of the present invention: a kind of comprehensive pilot-aircraft closed loop system modeling and verification method, it is aobvious based on head-up information
Show system and realize, the described method comprises the following steps:
Step 1: establish pilot-aircraft closed loop system collective model framework: pilot-aircraft closed loop system collective model framework includes driver
Four maneuverability pattern logic judgment model, pilot control model, model aircraft, man-machine system feedback model parts, wherein driving
The person of sailing manipulates model and includes boundary response manipulation model, aims at trace model；The Boundary Feedback of the boundary response manipulation model
Gain KbBy closing on boundary speed Vb, close on boundary time tb, maximum close on boundary time tbmax, minimum close on boundary time
tbmin, maximum driver's gain KbmaxIt determines；Aiming at trace model is by instruction gain Kpp, Rate Feedback gain KrWhat is constituted is logical
Use model；Model aircraft is the model after test flight data is calibrated；Man-machine system feedback model is unit feedback model；
Step 2: the boundary response calculated in step 1 manipulates model: it is motor-driven to complete the aiming that head-up display information is supported
Avoid motor-driven Flight Test with boundary, by the test flight data of acquisition, calculates the parameter in boundary response manipulation model；Process packet
Include: formulation task determines Aviatrix, extracts key parameter of taking a flight test, calculating the parameter in boundary response manipulation model；Test mission
The motor-driven task of edged circle avoidance, transverse belt are tracked for the aiming for aiming at tracing task and the limitation of longitudinal tape boundary of non-boundary limitation
Aiming tracking edged circle of boundary limitation avoids motor-driven task；Aiming tracking edged circle of longitudinal tape boundary limitation avoids motor-driven
Business, the limitation of transverse belt boundary aiming tracking edged circle avoid motor-driven task be respectively complete to aim in respective bounds with
Track task can not touch boundary or cross the border；In head-up display information picture, pitching aims at tracking symbol and is designed as "+", and is located at flat
Depending on the middle part of monitor information picture；Rolling tracking symbol is designed as " ￤ " number, and it is located at the upper of head-up display information picture
Portion；Pitching aim at tracking symbol, position of the rolling tracking symbol in head-up display information picture according to predetermined set mathematics
Model variation；Pitching boundary symbol is designed as "=", and the distance between up-and-down boundary of pitching boundary symbol is according to presetting
Mathematical model present the period successively decrease；Rolling boundary limitation symbol is designed as "/", rolling boundary limits the right boundary of symbol
It is gradually reduced with the angle of head-up display information picture central symmetry axis according to preset mathematical model；Selection profession,
Experienced Aviatrix completes above-mentioned every test mission, anisotropic with the significance difference for reducing test flight data；It is mentioned from test flight data
Take pilot control signal, aspect angle signal and angle rate signal, pitching sideband signal, rolling sideband signal, attitude angle
Aim at tracking signal, attitude angle aim at tracking change rate signal, minimax boundary time numerical value, according to formula (1), (2),
(3) boundary response manipulation model parameter K can be found outb；Building closes on boundary time t by parameterb, maximum close on boundary time
tbmax, minimum close on boundary time tbmin, maximum driver's gain KbmaxThe manipulation output error function err of decisionminFormula
(4), the numerical value for adjusting 4 parameters makes the driver behaviour in the numerical value and test flight data of boundary response manipulation model output signal
The error function err of vertical signal numerical valueminNumerical value it is minimum, and finally obtain boundary response and manipulate model parameter Kb:
Wherein:For aircraft parameter variable quantity,For boundary parameter variable quantity；
tb=(ub-uf)/vbFormula (2)
Wherein: ufIt is measured immediately for aircraft parameter；ubFor boundary parameter；tbmaxSide is closed on minimal controller gain for driver
The time required to boundary；tbminThe time required to driver closes on boundary with maximum feedback gain；
KbIt is tbPiecewise function, corresponding relationship is as follows:
errmin=min (uls- dx) formula (4)
Wherein: ulsModel output signal is manipulated for boundary response；Dx is longitudinally, laterally driver's input signal in taking a flight test；
Step 3: manipulating model using boundary response obtained in step 2, establish integrated man-machine's closed loop model, by comprehensive people
The aspect numerical result of machine closed loop model output is compared with test flight data, establishes error majorized function err_outmin；
Further micro-adjustment boundary response manipulates model parameter Kb, reduce error majorized function err_outminError to acceptable model
It is final to determine integral boundary reaction manipulation model parameter K in enclosingb；
err_outmin=min (u-ut) formula (5)
Wherein: u is man-machine closed loop model attitude angle output parameter；utFor middle aspect angular dimensions of taking a flight test.
Step 4: calculating the pilot control mode logic judgment model in step 1, aim at trace command up, aim at tracking
Error uerr, boundary response manipulation limitation coboundary ubup, boundary response manipulation limitation lower boundary ubdown, pilot-aircraft closed loop system it is comprehensive
Model exports the instant parameter u of aircraftfFor input data；When pilot-aircraft closed loop system collective model exports the instant parameter u of aircraftf
Numerical value be less than or equal to aim at trace command upWith aiming tracking error uerrThe sum of and be more than or equal to aim at trace command upIt subtracts
Aim at tracking error uerrDifference when, pilot control mode is to aim at tracing mode, and pilot control types of models code is
"0"；When pilot-aircraft closed loop system collective model exports the instant parameter u of aircraftfNumerical value be less than boundary response manipulation limitation coboundary
ubupAnd it is greater than and aims at trace command upWith aiming tracking error uerrThe sum of, or when pilot-aircraft closed loop system collective model exports aircraft
Instant parameter ufNumerical value be greater than boundary response manipulation limitation lower boundary ubdownAnd it is less than and aims at trace command upSubtract aiming with
Track error uerrValue when, pilot control mode be boundary response manipulation, pilot control types of models code be " 1 "；Work as people
Machine closed-loop system collective model exports the instant parameter u of aircraftfNumerical value be more than or equal to boundary response manipulation limitation coboundary ubupOr
Limitation coboundary u is manipulated less than or equal to boundary responsebdownWhen, aircraft occurs border collision or surmounts boundary, pilot control mould
Type type code is " 2 ", and pilot-aircraft closed loop system collective model does not work, and whole output parameter values are zero；
In addition, the pitching in a kind of comprehensive pilot-aircraft closed loop system modeling and verification method step 2 aims at tracking symbol, rolling
Position of the tracking symbol in head-up display information picture changes according to preset constant value, will make to aim at tracing task more
It is easily accomplished, the manipulative behavior Mode Areas of driver is shown clearly；A kind of comprehensive pilot-aircraft closed loop system as described in claim 1
Modeling and verification method, it is characterised in that the task in step 2 can also be in desktop simulator, fixed base simulator, movable basic mode
It is carried out on quasi- device；Earlier task study, preview and training are provided for test mission；A kind of comprehensive pilot-aircraft closed loop system modeling and
The error majorized function of verification method step 3 is transformed toWherein,For man-machine closed loop model appearance
State angular speed output parameter,It takes a flight test middle carriage angle rate parameter, it will accelerate the speed that err_out reduces；It is a kind of comprehensive
When the pilot control types of models code of the modeling of conjunction property pilot-aircraft closed loop system and verification method step 4 is " 2 ", man-machine loop system
System collective model whole output parameter value reinitializes, and model starts the repetition continuous service in new period.
Advantages of the present invention: establishing boundary response pilot control model for the first time, can be used for aircraft and closes on boundary manipulation spy
Property prediction；By logical transition model, it is automatically performed the conversion for aiming at tracking maneuverability pattern and boundary response maneuverability pattern, thus
The motor-driven whole process of man-machine loop is continuously described and Predicting Performance Characteristics；Be put forward for the first time shown based on head-up display information,
Motor-driven task is avoided on boundary, is avoided in the target acquistion type tasks based on driver's actual visual system, visual coordinate system
The series of problems that mass data obtains facilitates the implementation and post-flight data analysis of test, by strictly selecting task driver, i.e.,
It can produce the test sample data for model verifying.
Detailed description of the invention
Fig. 1 is novel integrated pilot-aircraft closed loop system model framework chart.
Wherein KppTo aim at driver's gain in trace model；KrIt is to aim at angular speed feedback oscillator in trace model；Kb
It is angular speed feedback oscillator in boundary response manipulation model；KbmaxIt is maximum driver's gain in boundary response manipulation model；VbIt is
Close on boundary rate；tbmaxIt is that maximum closes on boundary time；tbminIt is that minimum closes on boundary time；tbIt is to close on boundary time；uf
It is that aircraft parameter is measured immediately；It is aircraft parameter variable quantity；ubIt is boundary parameter；It is boundary parameter variable quantity.
Fig. 2 is pilot control model logic judgement figure.
Wherein upIt is the echo signal aimed in tracing task；uerrIt is the tracking error signal aimed in tracing task；
ubupIt is the upper boundary values of boundary response manipulation task；ubdownIt is the lower border value of boundary response manipulation task.
Fig. 3 is to aim at tracking and boundary response manipulation task head-up display picture.
Wherein 1 is normal g-load instantaneous value；2 be speed scale band；3 be indicator air speed instantaneous value；4 be angle of attack instantaneous value；5
It is horizon；6 be pitching ladder；7 be aircraft symbol；8 be collimating fault band；9 be height instantaneous value；10 be following in elevation instruction character
Number；11 be altitude scale band；12 be target range；13 be pitching angle tracking boundary；14 be rolling angle tracking boundary；15 be rolling
Angle tracking instruction character；16 be roll angle indicating graduation band.
Fig. 4 is that the rolling in embodiment tracks target angular curve.
Fig. 5 is the left and right roll angle restricted boundary curve, rolling target following angle and the aircraft that gradually successively decrease in embodiment
Roll angle difference curve.
Fig. 6 is the calculated result in embodiment: Boundary Feedback gain and the relation curve for closing on boundary time.
Specific embodiment
The present invention is described in more detail with reference to the accompanying drawing.
A kind of comprehensive pilot-aircraft closed loop system modeling and verification method, are realized based on head-up information display system, described
Method the following steps are included:
Step 1: pilot-aircraft closed loop system collective model framework is established, as shown in Fig. 1, pilot-aircraft closed loop system collective model frame
Structure includes pilot control mode logic judgment model, pilot control model, model aircraft, man-machine system feedback model four
Part, wherein pilot control model includes boundary response manipulation model, aims at trace model；Boundary response manipulates in model
Each parameter value is calculated by the test flight data that attitude angle aiming tracking edged circle of band edge boundary avoids motor-driven task, in step
It is discussed in detail in rapid 2；Aiming trace model is universal model, aims at tracking test flight data from attitude angle using conventional method and calculates
It obtains；Logic judgment model is that posture and collimating fault, the relationship of boundary limits value carry out calculating selection at that time according to aircraft, in detail
Thin process is shown in step 4；Model aircraft is that the execution after test flight data is calibrated aims at tracking and motor-driven task is avoided on boundary
Aircraft flight simulation model；Man-machine system feedback model is the model that feedback factor is 1；
Step 2: the boundary response calculated in step 1 manipulates model: utilizing specific test mission data, calculates model ginseng
Number；Key job is to formulate test mission and key parameter of taking a flight test is utilized to calculate each parameter value in the model；
Test mission is the aiming tracing task of the non-boundary limitation shown based on head-up information, the limitation of longitudinal tape boundary
It aims at tracking edged circle and avoids motor-driven task, the motor-driven task of aiming tracking edged circle avoidance of transverse belt boundary limitation；Head-up is aobvious
Show that the arrangement information that device is shown is shown in attached drawing 3 and related symbol explanation, pitching aims at tracking symbol, rolling tracking symbol in head-up display
Position in device information frame according to predetermined set mathematical model consecutive variations；Between the up-and-down boundary of pitching boundary symbol
Distance is successively decreased according to the preset mathematical model presentation period；Rolling boundary limits value according to preset mathematical model by
Gradually successively decrease；Aiming at tracing task is exactly the prompt operating aircraft that driver aims at tracking symbol or rolling tracking symbol according to pitching,
So that aircraft symbol and pitch demand Overlapping Symbol on head-up display, roll angle instruction and roll angle trace command symbol weight
Folded, the difference of tracking echo signal value and aspect angle value should be by regulation in given collimating fault band；Execute band edge
When the tracing task of boundary, aircraft symbol cannot surmount or rest on following in elevation restricted boundary up and down, roll angle indicator
It number cannot surmount or rest on rolling tracking restricted boundary, at this time driver's constantly closing on boundary, gradually until thoroughly
It abandons aiming at tracing task, completes boundary with all strength and avoid in motor-driven task；Longitudinally, laterally driver behaviour is extracted from test flight data
Vertical signal, aircraft pitch angle signal, rolling angle signal, pitch rate signal, rolling angle rate signal, following in elevation limit side
Sector signal, rolling tracking restricted boundary signal, attitude angle aim at tracking signal, attitude angle aims at tracking change rate signal, maximum
Minimum closes on the numerical value of boundary time, can find out boundary response manipulation model parameter K according to formula (1), (2), (3)b；Building
Boundary time t is closed on by parameterb, maximum close on boundary time tbmax, minimum close on boundary time tbmin, maximum driver's gain
KbmaxThe manipulation output error function err of decisionminFormula (4), tbmax、tbmin、KbmaxInitial value can be analyzed from test flight data
Middle acquisition: increasing separately on the basis of initial value or reduces the numerical value of above-mentioned 4 parameters, makes error function errminNumerical value most
It is small, and finally obtain boundary response and manipulate model parameter Kb；
Step 3: manipulating model using boundary response obtained in step 2, establish integrated man-machine's closed loop model, by comprehensive people
The aspect numerical result of machine closed loop model output is compared with test flight data, establishes error majorized function err_outmin；
Further micro-adjustment boundary response manipulates model parameter Kb, reduce error majorized function err_outminError to acceptable model
It is final to determine integral boundary reaction manipulation model parameter K in enclosingb；
Step 4: calculating the pilot control mode logic judgment model in step 1, according to shown in Fig. 2, up、uerr、ubup、
ubdown、uf；To input parameter, when the condition that pilot control types of models code is " 0 " meets, pilot control mode is to take aim at
Quasi- tracing mode；When the condition that pilot control types of models code is " 1 " meets, pilot control mode is boundary response behaviour
It is vertical；When the condition that pilot control types of models code is " 2 " meets, aircraft occurs border collision or surmounts boundary, man-machine
Closed-loop system collective model does not work, and after postponing a period of time, whole output parameter values are reset；
In addition, the pitching in a kind of comprehensive pilot-aircraft closed loop system modeling and verification method step 2 aims at tracking symbol, rolling
Position of the tracking symbol in head-up display information picture changes according to preset constant value, and driver can pre-estimate
Target position takes some countermeasures in advance, aiming tracing task is more easily accomplished, the manipulative behavior Mode Areas of driver is shown clearly；
A kind of comprehensive pilot-aircraft closed loop system modeling as described in claim 1 and verification method, it is characterised in that the task in step 2
It can also be carried out on desktop simulator, fixed base simulator, movable base simulator, provide earlier research, demonstration for test mission
And training；The error majorized function of a kind of comprehensive pilot-aircraft closed loop system modeling and verification method step 3 is transformed toWherein,For man-machine closed loop model attitude angular rate output parameter,For middle aircraft appearance of taking a flight test
State angular speed parameter, it will accelerate the speed that err_out reduces；A kind of comprehensive pilot-aircraft closed loop system modeling and verification method step
When rapid 4 pilot control types of models code is " 2 ", pilot-aircraft closed loop system collective model whole output parameter value is again initial
Change, model starts the repetition continuous service in new period.
Embodiment
It rolling angle tracking pilot-aircraft closed loop system model foundation and tests just, steps are as follows:
Step 1: establishing model framework: establishing rolling angle tracking pilot-aircraft closed loop system collective model, model includes driver
Four maneuverability pattern logic judgment, pilot control model, aircraft state equation, man-machine system unit feedback model part groups
At wherein pilot control model includes roll angle boundary response manipulation model, roll angle aiming trace model；
Step 2: model parameter calculation:
A) model aircraft is microvariations state equation, and matrix A, B, C, D are respectively as follows:
B) tracing task is the roll attitude angle tracking with boundary, in which:
The mathematical formulae for tracking target is as follows,
Rolling boundary value production decline law: since ± 30 ° of roll angles, successively decreased respectively every 30 seconds on left and right roll angle boundary
20%, design details table is as follows:
1 rolling boundary value of table changes table
Task description: being 6000 meters, indicator air speed 650km/h in pressure altitude, absolutely empty configuration trim aircraft, and driver is horizontal
To operating aircraft, the aircraft roll angle indicator track roll angle target on head-up display is accorded with, is preferably covered；Pay attention to simultaneously
Aircraft roll angle not surmount the restricted boundary value of left and right rolling at that time, once boundary is contacted or surmounts, after delay 5 seconds, epicycle
Task terminates.
C) selection parameter is shown in Table 2 from test flight data；
2 test flight data selection parameter table of table
| Serial number | Title | Symbol | Unit |
| 1 | Data time section | Time | Sec |
| 2 | Pressure altitude | HP | M |
| 3 | Mach number | Ma | |
| 4 | Indicator air speed | Vi | km/h |
| 5 | Track target angle | Roll_target | ° |
| 6 | Rolling left margin limit angles | Roll_LB | ° |
| 7 | Rolling right margin limit angles | Roll_RB | ° |
| 8 | Aircraft roll angle | Roll | ° |
| 9 | Aircraft rolling angular speed | P | °/s |
| 10 | Aircraft crab angle | PSI | ° |
| 11 | Aircraft yaw angular speed | R | °/s |
| 12 | Driver's fore-and-aft control instruction | Fz | mm |
| 13 | The instruction of driver's lateral control | Fx | mm |
| 14 | The instruction of driver's directional control | Fy | mm |
| 15 | Head-up display roll angle indicator corresponds to numerical value | ROLL_HUD | ° |
| 16 | Aircraft angle of attack | ALPHA | ° |
| 17 | Aircraft normal g-load | Nz | ° |
| 18 | Aircraft yaw angle | BETA | ° |
| 19 | Aircraft lateral overload | Ny | ° |
| 20 | Data sampling time interval | dt | sec |
D) rolling angular speed, roll angle, roll angle limits value substitution formula (1)~(3) are had:
Vb=P- (Roll_LB-Roll_LBlast)/dt formula (7)
Wherein: Roll_LBlast is bat value in the limitation of roll angle left margin.
tb=(Roll_LB-Roll)/VbFormula (8)
E) K is established according to formula (3)bWith tbRelational expression；
F) error function is established according to formula (5)
errmin=min (uls- Fx) formula (9)
Adjust tmin、tmax、KbmaxValue calculates Kb、errmin, until errminMeet error requirements, finally acquires result such as
Under:
tmin=10, tmax=0.8, Kbmax=20
G) roll angle aims at tracking driving model:
It can be obtained by Fig. 1 and aiming tracing task:
upls=Kpp*(ROLL-ROLL_target)-Kr* p formula (10)
Establish error function:
errp_min=min (upls- Fx) formula (11)
errp_outmin=min (Rollp_ mod-Roll) formula (12)
Adjust KPP、KrMake error function errp_minMinimum, errp_outminIt meets the requirements, finally obtains Kpp=0.4, Kd=
0.5.Step 3: constructing err_out according to formula (5)minIt is shown below:
err_outmin=min (Roll_mod-Roll) formula (13)
Wherein, Roll_mod is the roll angle of pilot-aircraft closed loop system output.
Finely tune tmin、tmax、Kbmax、KbMake err_outminIt meets the requirements.Final confirmation tmin=9.7, tmax=0.81, Kbmax
=19, KbIt is calculated by parting expression.
Step 4: logic judgment model
According to transverse driving bar shift value, rolling angle value, tracking target value, rolling right boundary limit angles in test flight data
Value confirms that pilot control mode enters when the difference of aircraft roll angle and tracking target value is less than boundary and limits 80% amplitude
Tracking operating pattern is aimed at, logical model output is " 0 "；When aircraft roll angle and the difference for tracking target value are limited greater than boundary
When 80% amplitude, pilot control mode enters boundary response operating pattern, and logical model output is " 1 "；When aircraft roll angle
And when tracking the difference of target value more than or equal to boundary limitation, border collision occurs or surmounts, task terminates, and logical model output is
"2"；
Step 5: integrated man-machine's closed loop model final result of final test example is as follows:
3 integrated man-machine's closed loop model parameter list of table
Claims (5)
1. a kind of comprehensive pilot-aircraft closed loop system modeling and verification method, are realized, feature based on head-up information display system
It is, the described method comprises the following steps:
Step 1: establish pilot-aircraft closed loop system collective model framework: pilot-aircraft closed loop system collective model framework includes pilot control
Four mode logic judgment model, pilot control model, model aircraft, man-machine system feedback model parts, wherein driver
Model is manipulated to include boundary response manipulation model, aim at trace model；The Boundary Feedback gain of the boundary response manipulation model
KbBy closing on boundary speed Vb, close on boundary time tb, maximum close on boundary time tbmax, minimum close on boundary time tbmin, most
Big driver's gain KbmaxIt determines；Aiming at trace model is by instruction gain Kpp, Rate Feedback gain Kr constitute universal model；
Model aircraft is the model after test flight data is calibrated；Man-machine system feedback model is unit feedback model；
Step 2: the boundary response calculated in step 1 manipulates model: complete that head-up display information supports aiming is motor-driven and side
Boundary avoids motor-driven Flight Test, by the test flight data of acquisition, calculates the parameter in boundary response manipulation model；Process includes:
Formulation task determines Aviatrix, extracts key parameter of taking a flight test, calculating the parameter in boundary response manipulation model；Test mission is
The motor-driven task of aiming tracking edged circle avoidance for aiming at tracing task and the limitation of longitudinal tape boundary of non-boundary limitation, lateral band edge
Aiming tracking edged circle of boundary avoids motor-driven task；Aiming tracking edged circle of longitudinal tape boundary limitation avoids motor-driven
Business, the limitation of transverse belt boundary aiming tracking edged circle avoid motor-driven task be respectively complete to aim in respective bounds with
Track task can not touch boundary or cross the border；In head-up display information picture, pitching aims at tracking symbol and is designed as "+", and is located at flat
Depending on the middle part of monitor information picture；Rolling tracking symbol is designed as " ￤ " number, and it is located at the upper of head-up display information picture
Portion；Pitching aim at tracking symbol, position of the rolling tracking symbol in head-up display information picture according to predetermined set mathematics
Model variation；Pitching boundary symbol is designed as "=", and the distance between up-and-down boundary of pitching boundary symbol is according to presetting
Mathematical model present the period successively decrease；Rolling boundary limitation symbol is designed as "/", rolling boundary limits the right boundary of symbol
It is gradually reduced with the angle of head-up display information picture central symmetry axis according to preset mathematical model；Selection profession,
Experienced Aviatrix completes above-mentioned every test mission, anisotropic with the significance difference for reducing test flight data；It is mentioned from test flight data
Take pilot control signal, aspect angle signal and angle rate signal, pitching sideband signal, rolling sideband signal, attitude angle
Aim at tracking signal, attitude angle aim at tracking change rate signal, minimax boundary time numerical value, according to formula (1), (2),
(3) boundary response manipulation model parameter K can be found outb；Building closes on boundary time t by parameterb, maximum close on boundary time
tbmax, minimum close on boundary time tbmin, maximum driver's gain KbmaxThe manipulation output error function err of decisionminFormula
(4), the numerical value for adjusting 4 parameters makes the driver behaviour in the numerical value and test flight data of boundary response manipulation model output signal
The error function err of vertical signal numerical valueminNumerical value it is minimum, and finally obtain boundary response and manipulate model parameter Kb:
Wherein:For aircraft parameter variable quantity,For boundary parameter variable quantity；
tb=(ub-uf)/vbFormula (2)
Wherein: ufIt is measured immediately for aircraft parameter；ubFor boundary parameter；tbmaxBoundary institute is closed on minimal controller gain for driver
It takes time；tbminThe time required to closing on boundary for driver with maximum feedback gain；
KbIt is tbPiecewise function, corresponding relationship is as follows:
errmin=min (uls- dx) formula (4)
Wherein: ulsModel output signal is manipulated for boundary response；Dx is longitudinally, laterally driver's input signal in taking a flight test；
Step 3: manipulating model using boundary response obtained in step 2, establish integrated man-machine's closed loop model, integrated man-machine is closed
The aspect numerical result of ring model output is compared with test flight data, establishes error majorized function err_outmin；Into one
It walks micro-adjustment boundary response and manipulates model parameter Kb, reduce error majorized function err_outminError to tolerance interval in,
It is final to determine integral boundary reaction manipulation model parameter Kb；
err_outmin=min (u-ut) formula (5)
Wherein: u is man-machine closed loop model attitude angle output parameter；utFor middle aspect angular dimensions of taking a flight test.
Step 4: calculating the pilot control mode logic judgment model in step 1, aim at trace command up, aim at tracking error
uerr, boundary response manipulation limitation coboundary ubup, boundary response manipulation limitation lower boundary ubdown, pilot-aircraft closed loop system collective model
Export the instant parameter u of aircraftfFor input data；When pilot-aircraft closed loop system collective model exports the instant parameter u of aircraftfNumber
Value is less than or equal to aim at trace command upWith aiming tracking error uerrThe sum of and be more than or equal to aim at trace command upSubtract aiming
Tracking error uerrDifference when, pilot control mode be aim at tracing mode, pilot control types of models code be " 0 "；When
Pilot-aircraft closed loop system collective model exports the instant parameter u of aircraftfNumerical value be less than boundary response manipulation limitation coboundary ubupAnd it is big
In aiming trace command upWith aiming tracking error uerrThe sum of, or when pilot-aircraft closed loop system collective model output aircraft is joined immediately
Number ufNumerical value be greater than boundary response manipulation limitation lower boundary ubdownAnd it is less than and aims at trace command upSubtract aiming tracking error
uerrValue when, pilot control mode be boundary response manipulation, pilot control types of models code be " 1 "；Work as man-machine loop
System integration model exports the instant parameter u of aircraftfNumerical value be more than or equal to boundary response manipulation limitation coboundary ubupOr be less than etc.
Limitation coboundary u is manipulated in boundary responsebdownWhen, aircraft occurs border collision or surmounts boundary, pilot control types of models
Code is " 2 ", and pilot-aircraft closed loop system collective model does not work, and whole output parameter values are zero.
2. a kind of comprehensive pilot-aircraft closed loop system modeling as described in claim 1 and verification method, it is characterised in that in step 2
Pitching aim at tracking symbol, position of the rolling tracking symbol in head-up display information picture and become according to preset constant value
Change, aiming tracing task is more easily accomplished, the manipulative behavior Mode Areas of driver is shown clearly.
3. a kind of comprehensive pilot-aircraft closed loop system modeling as described in claim 1 and verification method, it is characterised in that in step 2
Task can also be carried out on desktop simulator, fixed base simulator, movable base simulator.
4. a kind of comprehensive pilot-aircraft closed loop system modeling as described in claim 1 and verification method, it is characterised in that step 3
Error majorized function is transformed toWherein,For man-machine closed loop model attitude angular rate output parameter,For
It takes a flight test middle carriage angle rate parameter, it will accelerate the speed that err_out reduces.
5. a kind of comprehensive pilot-aircraft closed loop system modeling as described in claim 1 and verification method, it is characterised in that step 4
When pilot control types of models code is " 2 ", pilot-aircraft closed loop system collective model whole output parameter value is reinitialized, mould
Type starts the repetition continuous service in new period.
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