CN110347179A - A kind of horizontal flight energy management method of unpowered vehicle - Google Patents
A kind of horizontal flight energy management method of unpowered vehicle Download PDFInfo
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- CN110347179A CN110347179A CN201910557219.4A CN201910557219A CN110347179A CN 110347179 A CN110347179 A CN 110347179A CN 201910557219 A CN201910557219 A CN 201910557219A CN 110347179 A CN110347179 A CN 110347179A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses a kind of horizontal flight energy management methods of unpowered vehicle, it is related to aircraft flight control technology field, this method comprises: according to aircraft for the lateral position deviation and lateral velocity deviation of standard track, lateral deviation amount is calculated, then direction cumulative amount is obtained by calculation；The positional shift direction of direction cumulative amount expression aircraft；According to direction cumulative amount and velocity bias, lateral velocity guiding amount is calculated；Lateral position deviation is passed through into inertial element and proportional component, obtains lateral position guiding amount；Lateral velocity guiding amount and lateral position guiding amount are weighted summation, lateral steering instruction is generated, controls the horizontal flight of unpowered vehicle.The present invention has comprehensively considered lateral velocity deviation and lateral position deviation on the basis of standard track, and lateral steering merges speed control and avoided adjustment by crossrange maneuvering dissipation extra fuel, realizes the energy management of aircraft.
Description
Technical field
The present invention relates to aircraft flight control technology fields, and in particular to a kind of horizontal flight energy of unpowered vehicle
Quantity management method.
Background technique
Unpowered vehicle is in executive chairman's duration, remote aerial mission, by aerodynamic parameter and atmospheric density deviation
Caused energy deviation can cumulative rises at any time, it is excessive to eventually lead to end energy dissipation, or even cause in flight course
Track diverging, is unfavorable for later period task and hands over to the next shift.Therefore, it is necessary to carry out energy management to aircraft, energy accumulation deviation is controlled, is prevented
Only track dissipates.
The energy that aircraft has is designed according to its ultimate run, for general task, has certain energy
It is remaining.Existing aircraft energy management method calculates extra energy mainly by constantly predicting flight path in flight course
Amount, then big pose adjustment or change track height, excess energy is dissipated.But above method calculating process is complex, and
Adjustment was be easy to cause during realizing.
Summary of the invention
In view of the deficiencies in the prior art, the purpose of the present invention is to provide a kind of transverse directions of unpowered vehicle to fly
Row energy management method, can be by crossrange maneuvering dissipation extra fuel, and toning is avoided to haircut life.
To achieve the above objectives, the technical solution adopted by the present invention is that: a kind of horizontal flight energy of unpowered vehicle
Management method comprising step:
According to aircraft for the lateral position deviation and lateral velocity deviation of standard track, lateral deviation amount is calculated, then
Direction cumulative amount is obtained by calculation；The positional shift direction of direction cumulative amount expression aircraft；
According to direction cumulative amount and velocity bias, lateral velocity guiding amount is calculated；
Above-mentioned lateral position deviation is passed through into inertial element and proportional component, obtains lateral position guiding amount；
Lateral velocity guiding amount and lateral position guiding amount are weighted summation, lateral steering instruction is generated, controls nothing
The horizontal flight of power aerial vehicle.
Based on the above technical solution, lateral deviation amount is by lateral position deviation and lateral velocity deviation is weighted asks
With obtain.
Based on the above technical solution, above-mentioned calculating direction cumulative amount, specifically includes:
Direction symbol coefficient is obtained by hysteresis function by lateral deviation amount；When lateral deviation amount is less than minimum threshold,
Direction symbol coefficient is 1；When lateral deviation amount is greater than max-thresholds, direction symbol coefficient is ﹣ 1；When lateral deviation amount is most
When between small threshold value and max-thresholds, direction symbol coefficient is the direction symbol coefficient of previous moment；
According to the direction cumulative amount of previous moment and direction symbol coefficient and the direction symbol coefficient at current time, obtain
To the direction cumulative amount at current time；The direction cumulative amount of initial time is 0.
Based on the above technical solution, direction intergrating flow meter is shown as discrete transfer function form:
Wherein, StiFor the direction cumulative amount at current i moment, b is direction cumulative amount with the reversed accumulative of direction symbol coefficient
Rate, SiFor the direction symbol coefficient at current i moment, z is the domain discrete system z transformation operator.
Based on the above technical solution, velocity bias is that speed term dissipative coefficient and aircraft close the ratio between speed,
Lateral velocity guiding amountExpression formula are as follows:
Wherein, CVFor lateral steering coefficient, V is that aircraft closes speed, and U is speed term dissipative coefficient, StiFor the current i moment
Direction cumulative amount.
Based on the above technical solution, lateral position guiding amountExpression formula are as follows:
Wherein,For inertial element, s is pull-type operator；T is the time constant of inertial element；KpTo be led to position
Draw coefficient, i.e. proportional component coefficient；Δ Z is lateral position deviation of the aircraft relative to standard track.
Based on the above technical solution, lateral steering instructsExpression formula are as follows:
Wherein,For lateral velocity guiding amount；For lateral position guiding amount；wvFor the weight factor of speed guiding amount,
The weight factor of speed guiding amount is expressed as the function of speed cumulative amount.
Based on the above technical solution, further include calculating speed cumulative amount, specifically include:
Speed is defined to symbol coefficient, is determined according to conjunction velocity deviation of the aircraft for standard track；When conjunction speed
Deviation be less than or equal to threshold value when, speed to symbol coefficient be 1；When close velocity deviation be more than or equal to threshold value when, speed to
Symbol coefficient is ﹣ 1；
According to the speed cumulative amount of previous moment and speed to the speed at symbol coefficient and current time to symbol system
Number, obtains the speed cumulative amount at current time；The speed cumulative amount of initial time is 0.
Based on the above technical solution, speed intergrating flow meter is shown as discrete transfer function form:
Wherein, ShiFor the speed cumulative amount at current i moment；SwiFor the current i moment speed to symbol coefficient；C is speed
Cumulative amount is with speed to the accumulation rate of symbol coefficient；Z is the domain discrete system z transformation operator.
Based on the above technical solution, above-mentioned lateral steering instruction is the control instruction angle of aircraft.
Compared with the prior art, the advantages of the present invention are as follows:
(1) the horizontal flight energy management method of unpowered vehicle of the invention, method is simple, easy to accomplish；With mark
On the basis of quasi- track, lateral velocity deviation and lateral position deviation have been comprehensively considered, lateral steering merges speed control, passes through cross
To motor-driven dissipation extra fuel, adjustment was avoided, realizes the energy management of aircraft, simultaneously, moreover it is possible to improve aircraft and evade and block
Regions and the area Jin Bifei ability, effectively improve the fighting efficiency of aircraft.
(2) the horizontal flight energy management method of unpowered vehicle of the invention makes lateral speed by direction cumulative amount
Degree guiding amount and offset direction are on the contrary, to correct offset；Influence of the speed for control instruction is influenced by speed cumulative amount, when
When aircraft conjunction velocity deviation is smaller always, the weight factor for the guiding amount that can increase speed, to increase speed for control instruction
Influence；When aircraft conjunction velocity deviation is larger always, the weight factor of speed guiding amount can be reduced, become to avoid to speed
Change sensitive and cause overshoot big, adjustment or even track was caused to dissipate.
Detailed description of the invention
Fig. 1 is the flow chart of the horizontal flight energy management method of unpowered vehicle in the embodiment of the present invention；
Fig. 2 is that lateral steering instructs generation step figure in the embodiment of the present invention；
Fig. 3 is the characteristic schematic diagram of direction symbol coefficient in the embodiment of the present invention；
Fig. 4 is the different relation schematic diagrams for rolling instruction with time constant in the embodiment of the present invention.
Specific embodiment
Invention is further described in detail with reference to the accompanying drawings and embodiments.
Referring to figure 1 and figure 2, the embodiment of the present invention provides a kind of horizontal flight energy management side of unpowered vehicle
Method comprising step:
S1. lateral deviation amount is calculated for the lateral position deviation and lateral velocity deviation of standard track according to aircraft,
Direction cumulative amount is obtained by calculation again；The positional shift direction of direction cumulative amount expression aircraft.
S2. according to direction cumulative amount and velocity bias, lateral velocity guiding amount is calculated.
S3. above-mentioned lateral position deviation is passed through into inertial element and proportional component, obtains lateral position guiding amount.
S4. lateral velocity guiding amount and lateral position guiding amount are weighted summation, lateral steering instruction are generated, with control
The horizontal flight of unpowered vehicle processed.
The horizontal flight energy management method of the unpowered vehicle of this embodiment, it is comprehensive on the basis of standard track
Lateral velocity deviation and lateral position deviation are considered, lateral steering merges speed control, makes aircraft in flight and track
It penetrates face and deviates a crossrange maneuvering angle, dissipation excess energy；Lateral steering instruction and speed, there are negative-feedbacks for position deviation amount
Relationship can guarantee that track is finally restrained, avoid adjustment, realize the energy management of aircraft, simultaneously, moreover it is possible to improve aircraft rule
It keeps away and intercepts region and the area Jin Bifei ability, effectively improve the fighting efficiency of aircraft.
Above-mentioned lateral deviation amount is pressed certain by lateral position deviation and lateral velocity deviation of the aircraft for standard track
Priority aggregation obtains.Lateral deviation amount can be considered the quantization parameter of aircraft lateral run-out standard track, expression formula are as follows:
Δ P=a Δ Z+ Δ Vz
Wherein, Δ P is lateral deviation amount, and Δ Z is lateral position deviation of the aircraft relative to standard track, Δ VzIt is winged
Lateral velocity deviation of the row device relative to standard track, a are the weight factor of lateral velocity deviation.
In above-mentioned steps S1, direction cumulative amount is calculated, is specifically included:
Direction symbol coefficient is obtained by hysteresis function by lateral deviation amount first；When lateral deviation amount is less than minimum threshold
When, direction symbol coefficient is 1；When lateral deviation amount is greater than max-thresholds, direction symbol coefficient is ﹣ 1；When lateral deviation amount exists
When between minimum threshold and max-thresholds, direction symbol coefficient is the direction symbol coefficient of previous moment.The direction of initial time
Symbol coefficient S0It is 1.Therefore, shown in Figure 3, the direction symbol coefficient S at current i momentiAre as follows:
Wherein, m is the max-thresholds of lateral deviation amount, and m is greater than 0；﹣ m is the minimum threshold of lateral deviation amount；Si-1For
The direction symbol coefficient at i-1 moment, i.e. the direction symbol coefficient of previous moment.
Then according to the direction cumulative amount of previous moment and direction symbol coefficient and the direction symbol system at current time
Number, obtains the direction cumulative amount at current time.Direction cumulative amount meets Sti∈ [0,1], the direction cumulative amount of initial time are 0.
Therefore, the direction cumulative amount St at current i momentiAre as follows:
Sti=Sti-1-b(Si+Si-1)
St0=0
Wherein, b is reversed accumulation rate of the direction cumulative amount with direction symbol coefficient；Sti-1It is tired for the direction at i-1 moment
Metering；St0For the direction cumulative amount of initial time.
In the present embodiment, direction cumulative amount StiIt is represented by discrete transfer function form:
Wherein, z is the domain discrete system z transformation operator.Remember quantity of state XkIndicate k × TsThe variate-value at moment, for unilateral change
It changes, there are Xk+1=z × Xk, wherein TsIndicate the discrete sampling time.
In the present embodiment, when aircraft transversal displacement is negative and is less than minimum threshold, direction symbol coefficient is ﹣ 1, table
Show that aircraft needs positive amendment；When transversal displacement is positive and is greater than max-thresholds, direction symbol coefficient is 1, indicates to fly
Row device needs negative sense to correct；When transversal displacement is between minimum threshold and max-thresholds, direction symbol coefficient remains unchanged.
Therefore, direction symbol coefficient indicates an adjustment direction, it is assumed that when aircraft left avertence, direction symbol coefficient is 1 (i.e.
1), then when right avertence, direction symbol coefficient is (i.e. the right side 1) ﹣ 1 on a left side.Direction cumulative amount is determined by direction symbol coefficient is accumulative, it is assumed that even
Continue several sampling periods and be to left avertence, then direction cumulative amount levels off to 0；Continuous several sampling periods are to right avertence, then just
1 is leveled off to cumulative amount；Continuous several sampling periods are left and right offsets or without offset, then direction cumulative amount levels off to 0.5.
In the present embodiment, velocity bias is that speed term dissipative coefficient and aircraft close the ratio between speed.Therefore, lateral velocity
Guiding amount is directly proportional to speed term dissipative coefficient, is inversely proportional with the conjunction speed of aircraft, and with direction cumulative amount at cosine function
Relationship.Make lateral velocity guiding amount and offset direction by direction cumulative amount on the contrary, to correct offset.
Above-mentioned lateral velocity guiding amountExpression formula are as follows:
Wherein, CVFor lateral steering coefficient, constant value can be taken according to the flight characteristics of aircraft；V is that aircraft is current
Speed is closed, U is speed term dissipative coefficient, related relative to the conjunction velocity deviation Δ V of standard track to aircraft.
Shown in Figure 4, speed term dissipative coefficient U and conjunction velocity deviation Δ V are linear relationship:
Wherein, p and q is the preset value for closing velocity deviation, is determined according to flying vehicles control characteristic.
Above-mentioned lateral position guiding amountIt indicates the control of lateral position deviation, inertial element is passed through by lateral position deviation
It is obtained with proportional component, expression formula are as follows:
Wherein,For inertial element, T is the time constant of inertial element, and s is laplace operator s, i.e. Laplce calculates
Son, the relationship with z are as follows: z=exp (s × Ts), TsIndicate the discrete sampling time；KpFor to position steering coefficient, i.e. ratio
Link coefficient.
In the present embodiment, the lateral steering of aircraft is instructedOne is pressed by lateral velocity guiding amount and lateral position guiding amount
Determine weight factor weighted sum to obtain, expression formula are as follows:
Wherein, wvWeight factor for the weight factor of speed guiding amount, speed guiding amount is expressed as speed cumulative amount
Function, functional relation directly proportional to speed cumulative amount, and speed cumulative amount is directly related with the conjunction velocity deviation of aircraft.
Optionally, the weight factor w of speed guiding amountvExpression formula are as follows:
wv=β f (Shi)
Wherein, β is that speed adjusts specific gravity, β ∈ (0,1)；f(Shi) it is monotonically increasing function, and codomain is [0,1].f
(Shi) SIN function or first order linear function can be taken as.
The method of the present embodiment further includes calculating speed cumulative amount, is specifically included:
Speed is defined first to symbol coefficient, is determined according to conjunction velocity deviation of the aircraft for standard track；Work as conjunction
Velocity deviation be less than or equal to threshold value when, speed to symbol coefficient be 1；When closing velocity deviation more than or equal to threshold value, speed
Spending to symbol coefficient is ﹣ 1.The speed of initial time to symbol coefficient be ﹣ 1.Therefore, the speed at current i moment is to symbol coefficient
SwiAre as follows:
Wherein, n is the threshold value for closing velocity deviation, and different constant values can be chosen by the aircraft flight stage.
Then according to the speed cumulative amount of previous moment and speed to the speed at symbol coefficient and current time to symbol
Coefficient obtains the speed cumulative amount at current time.Speed cumulative amount meets Shi∈ [0, h], h are the integer greater than 1.When initial
The speed cumulative amount at quarter is 0.Therefore, the speed cumulative amount Sh at current i momentiAre as follows:
Shi=Shi-1+c(Swi+Swi-1)
Wherein, c be speed cumulative amount with speed to the accumulation rate of symbol coefficient, Shi-1It is accumulative for the speed at i-1 moment
Amount, Swi-1For the i-1 moment speed to symbol coefficient.
In the present embodiment, speed intergrating flow meter is shown as discrete transfer function form are as follows:
In the present embodiment, the speed convergence of aircraft is driven by lateral steering instruction, i.e. Δ V reduces.When Δ V is small always
When n, speed cumulative amount then accumulates, and the weight factor of speed guiding amount is caused to increase, and indicates speed for control instruction
Influence increase；When Δ V is always more than n, speed cumulative amount then accumulative minimizing causes the weight factor of speed guiding amount to subtract
It is small, it indicates to reduce influence of the speed for control instruction.Therefore, it when conjunction velocity deviation is larger always, needs to reduce speed and leads
The weight factor for the amount of drawing avoids sensitive to velocity variations and causes overshoot big, and adjustment or even track was caused to dissipate.
In the present embodiment, lateral steering instruction is the control instruction angle of aircraft, to control the crossrange maneuvering of aircraft.
The energy management method of the present embodiment has comprehensively considered lateral velocity deviation and transverse direction on the basis of standard track
Position deviation, lateral steering, which merges speed control, realizes the energy of aircraft by a wide range of crossrange maneuvering dissipation extra fuel
Management, the preferable voyage and terminal-velocity for controlling aircraft.
The present invention is not limited to the above-described embodiments, for those skilled in the art, is not departing from
Under the premise of the principle of the invention, several improvements and modifications can also be made, these improvements and modifications are also considered as protection of the invention
Within the scope of.The content being not described in detail in this specification belongs to the prior art well known to professional and technical personnel in the field.
Claims (10)
1. a kind of horizontal flight energy management method of unpowered vehicle, which is characterized in that itself comprising steps of
According to aircraft for the lateral position deviation and lateral velocity deviation of standard track, lateral deviation amount is calculated, then is passed through
Direction cumulative amount is calculated；The direction cumulative amount indicates the positional shift direction of aircraft；
According to direction cumulative amount and velocity bias, lateral velocity guiding amount is calculated；
The lateral position deviation is passed through into inertial element and proportional component, obtains lateral position guiding amount；
Lateral velocity guiding amount and lateral position guiding amount are weighted summation, lateral steering instruction is generated, controls unpowered
The horizontal flight of aircraft.
2. the horizontal flight energy management method of unpowered vehicle as described in claim 1, it is characterised in that: the transverse direction
Departure is obtained by the weighted summation of lateral position deviation and lateral velocity deviation.
3. the horizontal flight energy management method of unpowered vehicle as described in claim 1, which is characterized in that the calculating
Direction cumulative amount, specifically includes:
Direction symbol coefficient is obtained by hysteresis function by lateral deviation amount；When lateral deviation amount is less than minimum threshold, direction
Symbol coefficient is 1；When lateral deviation amount is greater than max-thresholds, direction symbol coefficient is ﹣ 1；When lateral deviation amount is in Minimum Threshold
When between value and max-thresholds, direction symbol coefficient is the direction symbol coefficient of previous moment；
According to the direction cumulative amount of previous moment and direction symbol coefficient and the direction symbol coefficient at current time, worked as
The direction cumulative amount at preceding moment；The direction cumulative amount of initial time is 0.
4. the horizontal flight energy management method of unpowered vehicle as claimed in claim 3, which is characterized in that tire out direction
Metering is expressed as discrete transfer function form:
Wherein, StiFor the direction cumulative amount at current i moment, b is reversed accumulation rate of the direction cumulative amount with direction symbol coefficient,
SiFor the direction symbol coefficient at current i moment, z is the domain discrete system z transformation operator.
5. the horizontal flight energy management method of unpowered vehicle as described in claim 1, which is characterized in that the speed
Offset is that speed term dissipative coefficient and aircraft close the ratio between speed, the lateral velocity guiding amountExpression formula are as follows:
Wherein, CVFor lateral steering coefficient, V is that aircraft closes speed, and U is speed term dissipative coefficient, StiFor the side at current i moment
To cumulative amount.
6. the horizontal flight energy management method of unpowered vehicle as described in claim 1, which is characterized in that the transverse direction
Position guiding amountExpression formula are as follows:
Wherein,For inertial element, s is pull-type operator；T is the time constant of inertial element；KpIt is to be guided to position
Number, i.e. proportional component coefficient；Δ Z is lateral position deviation of the aircraft relative to standard track.
7. the horizontal flight energy management method of unpowered vehicle as described in claim 1, which is characterized in that the transverse direction
Steering instructionExpression formula are as follows:
Wherein,For lateral velocity guiding amount；For lateral position guiding amount；wvIt is described for the weight factor of speed guiding amount
The weight factor of speed guiding amount is expressed as the function of speed cumulative amount.
8. the horizontal flight energy management method of unpowered vehicle as claimed in claim 7, which is characterized in that further include meter
Speed cumulative amount is calculated, is specifically included:
Speed is defined to symbol coefficient, is determined according to conjunction velocity deviation of the aircraft for standard track；When conjunction velocity deviation
When less than or equal to threshold value, speed to symbol coefficient be 1；When closing velocity deviation and being more than or equal to threshold value, speed is to symbol
Coefficient is ﹣ 1；
According to the speed cumulative amount of previous moment and speed to the speed at symbol coefficient and current time to symbol coefficient, obtain
To the speed cumulative amount at current time；The speed cumulative amount of initial time is 0.
9. the horizontal flight energy management method of unpowered vehicle as claimed in claim 8, which is characterized in that tire out speed
Metering is expressed as discrete transfer function form:
Wherein, ShiFor the speed cumulative amount at current i moment；SwiFor the current i moment speed to symbol coefficient；C is accumulative for speed
Amount is with speed to the accumulation rate of symbol coefficient；Z is the domain discrete system z transformation operator.
10. such as the horizontal flight energy management method of the described in any item unpowered vehicles of claim 1-9, feature exists
In: the lateral steering instruction is the control instruction angle of aircraft.
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