CN111026159A - Method for realizing BC (BC) reverse channel navigation function of helicopter flight control system - Google Patents
Method for realizing BC (BC) reverse channel navigation function of helicopter flight control system Download PDFInfo
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- 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 method for realizing a BC (body control) backspace navigation function of a helicopter flight control system, which comprises the following steps of (1) preselecting a track CRS (Cross-reference signal) knob to select a landing direction, and (2) when one of the following two conditions is met, the BC function belongs to a ready state; condition 1: LOC deviation is more than 2.5 dot; condition 2: LOC deviation is more than or equal to 0.33dot and less than or equal to 2.5dot, and the pre-selected flight path CRS and the current magnetic heading psiRIs not greater than 25 °; (3) when the following two conditions are met simultaneously, the BC function belongs to an interception state, and a helicopter transverse rolling shaft is controlled to fly along a course which forms an included angle of 25 degrees with a preselected flight path CRS; condition 1: LOC deviation is more than or equal to 0.33dot and less than or equal to 2.5 dot; condition 2: preselection track CRS and current magnetic heading psi within 25 DEG or lessRAnd (4) when the LOC deviation α is less than 0.33dot, the function of the flight control system BC belongs to a tracking state.
Description
Technical Field
The invention belongs to an automatic flight control technology of an aviation aircraft, and relates to a method for realizing a BC (BC) reverse channel navigation function of a helicopter flight control system.
Background
In the civil aviation field, in order to save money, the ILS instrument landing system is established on one side of an airplane runway only in general, wherein the ILS instrument landing system comprises an LOC channel signal aligned with the centerline of the runway, a GS glide-down signal indicating the landing angle of the airplane and a distance signal between the runway entrance, and the signals can guide the helicopter to automatically approach to a low altitude and then manually land.
If the aircraft approaches from the other side of the airport forward landing runway, the signal can not be used, but the LOC channel signal can be used for guiding the aircraft to be aligned with the runway in a reverse direction, navigating to the upper space of the airport, and manually operating the aircraft to descend to the height until landing, namely a BC reverse channel navigation function.
At present, the light civil helicopters which are known to operate in China have no BC function or have BC function buttons but are forbidden, and meanwhile, the published documents of the method for realizing the BC reverse channel navigation function of the light civil helicopters are not searched.
Disclosure of Invention
The purpose of the invention is: the method for realizing the BC backspace navigation function of the helicopter flight control system meets the requirement of the BC backspace navigation function of a light civil helicopter.
The technical scheme of the invention is as follows:
a method for realizing a BC (BC) reverse channel navigation function of a helicopter flight control system comprises the following steps:
step 1: firstly, selecting a landing direction, namely a reverse channel direction, through a pre-selected track CRS knob on a helicopter;
step 2: a preparation stage: when one of the following two conditions is met, the BC function belongs to a 'ready' state, but does not control the helicopter;
condition 1: helicopter LOC deviation >2.5 dot;
condition 2: the LOC deviation of the helicopter is less than or equal to 0.33dot and less than or equal to 2.5dot, and the CRS of the preselected flight path and the current magnetic heading psiRIs not greater than 25 ° ";
and step 3: an interception stage: when the following two conditions are met simultaneously, the BC function belongs to an interception state, and the helicopter transverse rolling shaft is controlled to fly along a course which forms an included angle of 25 degrees with the pre-selected flight path CRS;
condition 1: the LOC deviation of the helicopter is less than or equal to 2.5dot and less than or equal to 0.33 dot;
condition 2: preselection track CRS and current magnetic heading psi within 25 DEG or lessRThe absolute value of the difference is less than or equal to 90 degrees;
and 4, in the tracking stage, when the LOC deviation α on the helicopter is less than 0.33dot, the function of the flight control system BC belongs to a tracking state, and the transverse shaft of the helicopter is controlled to enable the course to be coincident with a preselected track CRS.
And 3, controlling the helicopter transverse roller to fly along a course which forms an included angle of 25 degrees with the preselected flight path CRS, and comprising the following steps of:
step 3.1 calculate the current magnetic heading psiRA difference value output value V1 between the CRS and the backspace track;
step 3.2, calculating an LOC deviation output value V2 of the helicopter in the interception and capture stage;
3.3, calculating a helicopter roll angle control quantity V3 in an interception stage;
step 3.4, sending the helicopter roll angle control quantity V3 in the interception stage into a roll channel of a flight control system to control the helicopter to follow a pre-selected track CRS and the current magnetic heading psiRThe absolute value of the difference is equal to 25 degrees' flight, the helicopter approaches the runway of the airport, and the LOC deviation of the helicopter is gradually reduced in the process.
Step 3.1 said calculating the current magnetic heading ψRAnd a difference value output value V1 between the CRS and the backspace track specifically is as follows: calculating the current magnetic heading psiRAnd the difference value between the current magnetic heading psi and the back-track CRS is subjected to increase and decrease link processing, and the processed difference value is multiplied by a coefficient K1 to obtain the current magnetic heading psiRAnd the difference value between the back-track CRS outputs a value V1.
The increase and decrease link processing on the difference specifically comprises the following steps: when the difference is greater than or equal to 180 degrees, the difference is subtracted by 360 degrees, when the difference is less than or equal to-180 degrees, the difference is added by 360 degrees, and when the difference is within +/-180 degrees, the difference is kept unchanged.
Step 3.2, calculating a helicopter LOC deviation output value V2, specifically comprising: and multiplying the helicopter LOC deviation by a coefficient K2, and then carrying out +/-25 amplitude limiting processing on the product result to obtain a helicopter LOC deviation output value V2.
Step 3.3, calculating the helicopter roll angle control quantity V3 in the interception stage specifically comprises the following steps: and adding the V1 and the V2, and then carrying out airspeed parameter adjustment and amplitude limiting to obtain a helicopter roll angle control quantity V3 in the interception stage, wherein the amplitude limit value of the helicopter roll angle control quantity V3 in the interception stage is in direct proportion to the airspeed of the helicopter.
And 4, controlling the helicopter transverse roller to enable the course to be overlapped with the pre-selected track CRS, and specifically comprising the following steps:
step 4.1 calculate the current magnetic heading psiRA differential output value V4 of the difference between the CRS and the backspace track;
step 4.2, calculating a helicopter LOC deviation output value V5 in the tracking stage;
4.3, calculating a helicopter roll angle control quantity V6 in a tracking stage;
and 4.4, sending the helicopter roll angle control quantity V6 in the tracking stage into a roll channel of the flight control system, and controlling the course of the helicopter to fly along a preselected flight path CRS through the roll channel.
Step 4.1 said calculating the current magnetic heading ψRAnd a differential output value V4 of a difference value between the CRS and a backspace track is as follows: calculating the current magnetic heading psiRDeviation from a preselected track CRS; and increasing and decreasing the deviation value in the following manner: when the difference is larger than or equal to 180 degrees, subtracting 360 degrees from the difference, when the difference is smaller than or equal to-180 degrees, adding 360 degrees to the difference, when the difference is positioned between +/-180 degrees, keeping the difference unchanged, and carrying out K3 s/K3 s +1 differential link processing on the processed deviation to obtain the current magnetic heading psiRAnd the difference between the back channel CRS and the differential output value V4.
Step 4.2, calculating a tracking phase helicopter LOC deviation output value V5 specifically comprises: and multiplying the helicopter LOC deviation by a coefficient K4, and then carrying out +/-10 amplitude limiting processing on the product result to obtain a helicopter LOC deviation output value V5 in the tracking stage.
Step 4.3, calculating the helicopter roll angle control quantity V6 in the tracking stage specifically includes: and adding a differential output value V4 of a difference value between the front magnetic heading psi R and a back channel track CRS and a LOC deviation output value V5 of the helicopter in the tracking stage, and then carrying out airspeed parameter adjustment and amplitude limitation to obtain a helicopter roll angle control quantity V6 in the tracking stage, wherein the amplitude limitation value of the helicopter roll angle control quantity V6 in the tracking stage is in direct proportion to the airspeed of the helicopter.
The invention has the advantages that: the method for realizing the BC back channel navigation function of the helicopter flight control system is provided, the BC back channel navigation function is realized on a light civil helicopter, and the requirement of the BC back channel navigation function of the light civil helicopter is met.
Drawings
Fig. 1 is a functional block diagram of the present invention.
Detailed Description
The present invention is described in further detail below. Referring to fig. 1, a method for implementing a BC backspace navigation function of a helicopter flight control system includes the following steps:
step 1: firstly, selecting a landing direction, namely a reverse channel direction, through a pre-selected track CRS knob on a helicopter;
step 2: a preparation stage: when one of the following two conditions is met, the BC function belongs to a 'ready' state, but does not control the helicopter;
condition 1: helicopter LOC deviation >2.5 dot;
condition 2: the LOC deviation of the helicopter is less than or equal to 0.33dot and less than or equal to 2.5dot, and the CRS of the preselected flight path and the current magnetic heading psiRIs not greater than 25 ° ";
and step 3: an interception stage: when the following two conditions are met simultaneously, the BC function belongs to an interception state, and the helicopter transverse rolling shaft is controlled to fly along a course which forms an included angle of 25 degrees with the pre-selected flight path CRS;
condition 1: the LOC deviation of the helicopter is less than or equal to 2.5dot and less than or equal to 0.33 dot;
condition 2: preselection track CRS and current magnetic heading psi within 25 DEG or lessRThe absolute value of the difference is less than or equal to 90 degrees;
and 4, in the tracking stage, when the LOC deviation α on the helicopter is less than 0.33dot, the function of the flight control system BC belongs to a tracking state, and the transverse shaft of the helicopter is controlled to enable the course to be coincident with a preselected track CRS.
And 3, controlling the helicopter transverse roller to fly along a course which forms an included angle of 25 degrees with the preselected flight path CRS, and comprising the following steps of:
step 3.1 calculate the current magnetic heading psiRA difference value output value V1 between the CRS and the backspace track;
step 3.2, calculating an LOC deviation output value V2 of the helicopter in the interception and capture stage;
3.3, calculating a helicopter roll angle control quantity V3 in an interception stage;
step 3.4, sending the helicopter roll angle control quantity V3 in the interception stage into a roll channel of a flight control system to control the helicopter to follow a pre-selected track CRS and the current magnetic heading psiRThe absolute value of the difference is equal to 25 degrees' flight, the helicopter approaches the runway of the airport, and the LOC deviation of the helicopter is gradually reduced in the process.
Step 3.1 said calculating the current magnetic heading ψRAnd a difference value output value V1 between the CRS and the backspace track specifically is as follows: calculating the current magnetic heading psiRAnd the difference value between the current magnetic heading psi and the back-track CRS is subjected to increase and decrease link processing, and the processed difference value is multiplied by a coefficient K1 to obtain the current magnetic heading psiRAnd the difference value between the back-track CRS outputs a value V1.
The increase and decrease link processing on the difference specifically comprises the following steps: when the difference is greater than or equal to 180 degrees, the difference is subtracted by 360 degrees, when the difference is less than or equal to-180 degrees, the difference is added by 360 degrees, and when the difference is within +/-180 degrees, the difference is kept unchanged.
Step 3.2, calculating a helicopter LOC deviation output value V2, specifically comprising: and multiplying the helicopter LOC deviation by a coefficient K2, and then carrying out +/-25 amplitude limiting processing on the product result to obtain a helicopter LOC deviation output value V2.
Step 3.3, calculating the helicopter roll angle control quantity V3 in the interception stage specifically comprises the following steps: and adding the V1 and the V2, and then carrying out airspeed parameter adjustment and amplitude limiting to obtain a helicopter roll angle control quantity V3 in the interception stage, wherein the amplitude limit value of the helicopter roll angle control quantity V3 in the interception stage is in direct proportion to the airspeed of the helicopter.
And 4, controlling the helicopter transverse roller to enable the course to be overlapped with the pre-selected track CRS, and specifically comprising the following steps:
step 4.1 calculate the current magnetic heading psiRWith back channel track CThe difference between RS differentiates the output value V4;
step 4.2, calculating a helicopter LOC deviation output value V5 in the tracking stage;
4.3, calculating a helicopter roll angle control quantity V6 in a tracking stage;
and 4.4, sending the helicopter roll angle control quantity V6 in the tracking stage into a roll channel of the flight control system, and controlling the course of the helicopter to fly along a preselected flight path CRS through the roll channel.
Step 4.1 said calculating the current magnetic heading ψRAnd a differential output value V4 of a difference value between the CRS and a backspace track is as follows: calculating the current magnetic heading psiRDeviation from a preselected track CRS; and increasing and decreasing the deviation value in the following manner: when the difference is larger than or equal to 180 degrees, subtracting 360 degrees from the difference, when the difference is smaller than or equal to-180 degrees, adding 360 degrees to the difference, when the difference is positioned between +/-180 degrees, keeping the difference unchanged, and carrying out K3 s/K3 s +1 differential link processing on the processed deviation to obtain the current magnetic heading psiRAnd the difference between the back channel CRS and the differential output value V4.
Step 4.2, calculating a tracking phase helicopter LOC deviation output value V5 specifically comprises: and multiplying the helicopter LOC deviation by a coefficient K4, and then carrying out +/-10 amplitude limiting processing on the product result to obtain a helicopter LOC deviation output value V5 in the tracking stage.
Step 4.3, calculating the helicopter roll angle control quantity V6 in the tracking stage specifically includes: and adding a differential output value V4 of a difference value between the front magnetic heading psi R and a back channel track CRS and a LOC deviation output value V5 of the helicopter in the tracking stage, and then carrying out airspeed parameter adjustment and amplitude limitation to obtain a helicopter roll angle control quantity V6 in the tracking stage, wherein the amplitude limitation value of the helicopter roll angle control quantity V6 in the tracking stage is in direct proportion to the airspeed of the helicopter.
Example 1, taking a certain helicopter as an example, suppose that the landing direction is selected to be 90 degrees by a pre-selected track CRS knob, the current magnetic heading of the helicopter is 45 degrees, the airspeed is 160kn, and the current LOC deviation is 3dot
A ready stage:
and if the current magnetic heading is larger than 2.5dot, the BC function belongs to a ready state, the flight control system does not control the helicopter, the helicopter keeps the current magnetic heading to continue flying, and the LOC deviation is gradually reduced in the process.
An interception stage:
when the LOC deviation is reduced to 2.5dot, the difference value between 90 degrees of the CRS preselected flight path and 45 degrees of the current magnetic heading psi R is 90-45 degrees which is 45 degrees, and the difference value accords with an interception condition, so that the BC function of the flight control system is switched to an interception stage, and the control calculation of the interception stage is as follows:
a) the difference between the current magnetic heading of psi R at 45 degrees and the preselected track of CRS at 90 degrees is 45-90-45 degrees, the K1 coefficient is selected to be 1, and the V1 is 45-K1 is selected to be 45-45 degrees
b) The K2 coefficient is-30, V2 is 2.5dot (-30) is-75 deg, and because the amplitude is over + -25, V2 is limited, and V2 is-25 deg
c)V3＝V1+V2＝45-25＝20
d) The V3 is sent to the flight control system roll channel, and the roll angle is controlled to be 20 degrees for right turning, so that the magnetic heading of the helicopter is gradually increased to approach 90 degrees of CRS, and the LOC deviation is gradually reduced in the process.
A tracking stage:
when the LOC deviation is reduced to 0.33dot, the tracking condition is met, so that the BC function of the flight control system is switched to a tracking stage, and the control calculation of the tracking stage is as follows:
a) selecting K3 coefficient 8, V4 ═ (psi R current magnetic heading-CRS preselected track 90 degree:) 8s/(8s +1)
b) Selecting K4 coefficient-5, V5-0.33 dot (-5) -1.65
c) V6 ═ V4+ V5 ═ (ψ R current magnetic heading-CRS preselected trajectory 90 °) 8s/(8s +1) -1.65
d) The V6 is sent to a roll channel of a flight control system, the roll angle is controlled to be V6 turning, and the heading of the helicopter is controlled to fly along a preselected flight path CRS to approach a navigation target point.
The above-mentioned embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to implement the same, and not to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered by the scope of the present invention.
Claims (10)
1. A method for realizing a BC (BC) reverse channel navigation function of a helicopter flight control system is characterized by comprising the following steps of: the method comprises the following steps:
step 1: firstly, selecting a landing direction, namely a reverse channel direction, through a pre-selected track CRS knob on a helicopter;
step 2: a preparation stage: when one of the following two conditions is met, the BC function belongs to a 'ready' state, but does not control the helicopter;
condition 1: helicopter LOC deviation >2.5 dot;
condition 2: the LOC deviation of the helicopter is less than or equal to 0.33dot and less than or equal to 2.5dot, and the CRS of the preselected flight path and the current magnetic heading psiRIs not greater than 25 ° ";
and step 3: an interception stage: when the following two conditions are met simultaneously, the BC function belongs to an interception state, and the helicopter transverse rolling shaft is controlled to fly along a course which forms an included angle of 25 degrees with the pre-selected flight path CRS;
condition 1: the LOC deviation of the helicopter is less than or equal to 2.5dot and less than or equal to 0.33 dot;
condition 2: preselection track CRS and current magnetic heading psi within 25 DEG or lessRThe absolute value of the difference is less than or equal to 90 degrees;
and 4, in the tracking stage, when the LOC deviation α on the helicopter is less than 0.33dot, the function of the flight control system BC belongs to a tracking state, and the transverse shaft of the helicopter is controlled to enable the course to be coincident with a preselected track CRS.
2. The method for realizing the BC backspace navigation function of the helicopter flight control system according to claim 1, wherein the method comprises the following steps: and 3, controlling the helicopter transverse roller to fly along a course which forms an included angle of 25 degrees with the preselected flight path CRS, and comprising the following steps of:
step 3.1 calculate the current magnetic heading psiRA difference value output value V1 between the CRS and the backspace track;
step 3.2, calculating an LOC deviation output value V2 of the helicopter in the interception and capture stage;
3.3, calculating a helicopter roll angle control quantity V3 in an interception stage;
step 3.4 helicopter roll in capture phaseThe angle control quantity V3 is sent to a roll channel of a flight control system to control the helicopter to follow a pre-selected track CRS and the current magnetic heading psiRThe absolute value of the difference is equal to 25 degrees' flight, the helicopter approaches the runway of the airport, and the LOC deviation of the helicopter is gradually reduced in the process.
3. The method for realizing the BC backspace navigation function of the helicopter flight control system according to claim 2, wherein the method comprises the following steps: step 3.1 said calculating the current magnetic heading ψRAnd a difference value output value V1 between the CRS and the backspace track specifically is as follows: calculating the current magnetic heading psiRAnd the difference value between the current magnetic heading psi and the back-track CRS is subjected to increase and decrease link processing, and the processed difference value is multiplied by a coefficient K1 to obtain the current magnetic heading psiRAnd the difference value between the back-track CRS outputs a value V1.
4. The method for realizing the BC backspace navigation function of the helicopter flight control system according to claim 3, wherein the method comprises the following steps: the increase and decrease link processing on the difference specifically comprises the following steps: when the difference is greater than or equal to 180 degrees, the difference is subtracted by 360 degrees, when the difference is less than or equal to-180 degrees, the difference is added by 360 degrees, and when the difference is within +/-180 degrees, the difference is kept unchanged.
5. The method for realizing the BC backspace navigation function of the helicopter flight control system according to claim 2, wherein the method comprises the following steps: step 3.2, calculating a helicopter LOC deviation output value V2, specifically comprising: and multiplying the helicopter LOC deviation by a coefficient K2, and then carrying out +/-25 amplitude limiting processing on the product result to obtain a helicopter LOC deviation output value V2.
6. The method for realizing the BC backspace navigation function of the helicopter flight control system according to claim 2, wherein the method comprises the following steps: step 3.3, calculating the helicopter roll angle control quantity V3 in the interception stage specifically comprises the following steps: and adding the V1 and the V2, and then carrying out airspeed parameter adjustment and amplitude limiting to obtain a helicopter roll angle control quantity V3 in the interception stage, wherein the amplitude limit value of the helicopter roll angle control quantity V3 in the interception stage is in direct proportion to the airspeed of the helicopter.
7. The method for realizing the BC backspace navigation function of the helicopter flight control system according to claim 1, wherein the method comprises the following steps: and 4, controlling the helicopter transverse roller to enable the course to be overlapped with the pre-selected track CRS, and specifically comprising the following steps:
step 4.1 calculate the current magnetic heading psiRA differential output value V4 of the difference between the CRS and the backspace track;
step 4.2, calculating a helicopter LOC deviation output value V5 in the tracking stage;
4.3, calculating a helicopter roll angle control quantity V6 in a tracking stage;
and 4.4, sending the helicopter roll angle control quantity V6 in the tracking stage into a roll channel of the flight control system, and controlling the course of the helicopter to fly along a preselected flight path CRS through the roll channel.
8. The method for realizing the BC backspace navigation function of the helicopter flight control system according to claim 7, wherein the method comprises the following steps: step 4.1 said calculating the current magnetic heading ψRAnd a differential output value V4 of a difference value between the CRS and a backspace track is as follows: calculating the current magnetic heading psiRDeviation from a preselected track CRS; and increasing and decreasing the deviation value in the following manner: when the difference is larger than or equal to 180 degrees, subtracting 360 degrees from the difference, when the difference is smaller than or equal to-180 degrees, adding 360 degrees to the difference, when the difference is positioned between +/-180 degrees, keeping the difference unchanged, and carrying out K3 s/K3 s +1 differential link processing on the processed deviation to obtain the current magnetic heading psiRAnd the difference between the back channel CRS and the differential output value V4.
9. The method for realizing the BC backspace navigation function of the helicopter flight control system according to claim 7, wherein the method comprises the following steps: step 4.2, calculating a tracking phase helicopter LOC deviation output value V5 specifically comprises: and multiplying the helicopter LOC deviation by a coefficient K4, and then carrying out +/-10 amplitude limiting processing on the product result to obtain a helicopter LOC deviation output value V5 in the tracking stage.
10. The method for realizing the BC backspace navigation function of the helicopter flight control system according to claim 7, wherein the method comprises the following steps: step 4.3, calculating the helicopter roll angle control quantity V6 in the tracking stage specifically includes: the front magnetic heading psiRAnd adding a differential output value V4 of a difference value between the differential output value and a backspace track CRS with a LOC deviation output value V5 of the helicopter in a tracking stage, and then carrying out airspeed parameter adjustment and amplitude limiting to obtain a helicopter roll angle control quantity V6 in the tracking stage, wherein the amplitude limiting value of the helicopter roll angle control quantity V6 in the tracking stage is in direct proportion to the airspeed of the helicopter.
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| CN114063646A (en) * | 2021-11-16 | 2022-02-18 | 中国商用飞机有限责任公司 | Aircraft control method, aircraft control device, aircraft and computer-readable storage medium |
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