CN111290426B - Prediction control method for automatic escape route avoidance of aircraft - Google Patents
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Abstract
The invention discloses a prediction control method for an automatic escape route avoidance of an aircraft, which comprises the following steps: step A: b, acquiring data such as flight state, position, speed, engine thrust and the like required by an algorithm from an inertial navigation system, a flight control system, an atmospheric data system and the like of the aircraft, and taking the data as the state input quantity of the step B; and (B) step (B): preprocessing the information data acquired in the step A, and converting the information data into a data format suitable for the step C; step C: b, according to a nonlinear flight motion model established in stages and a flight controller designed according to different maneuvering instructions in different stages, carrying out algorithm calculation in each stage in sequence by combining the state data information provided in the step B, wherein the state calculation result of the current step is used as the state input quantity of the next step until the calculation of a single prediction period is finished; step D: and C, repeating the steps A to C after the single-period algorithm of the step C is solved.
Description
Technical Field
The invention relates to the technical field of aviation control, in particular to a prediction control method for avoiding escape paths in an automatic ground proximity collision avoidance system applied in aviation, and the system comprises specific products such as an automatic ground proximity collision avoidance system, an air automatic collision avoidance system, a ground proximity warning system, a terrain perception and warning system and the like.
Background
An automatic ground proximity collision avoidance system (Auto Ground Collision Avoidance System, auto-GCAS for short) improves aircraft flight safety and reduces avionics systems for controlled flight ground collision accidents (Controlled Flight Into Terrain, CFIT for short). Based on the dynamics characteristics of the airplane, the method calculates and predicts the flight track of the airplane in real time according to the current state information of the airplane; calculating an expected collision area in real time by utilizing airborne digital terrain data and according to the flight track of the aircraft through a terrain scanning algorithm; comparing the flight track with the predicted collision area through calculation of a collision evaluation algorithm; when meeting the ground collision evaluation threshold value, immediately sending a ground collision prevention request to the flight control system; under the condition of no pilot override, triggering the plane to level and pull up so as to ensure the flight safety; and simultaneously, sending out alarm information of ground anti-collision to a cockpit display control system. The method can reduce the occurrence rate of CFIT under the extreme conditions of high overload consciousness loss or azimuth lost of pilots, and the like, and is mainly applied to aircrafts for high-speed flight and large maneuvering low-altitude combat missions.
Auto-GCAS belongs to a new technology in China, has been studied for many years abroad, is applied to aircrafts, and plays an important role in flight safety. The american Lockheed Martin airline is the dominant worldwide research and development manufacturer for automatic near-to-ground collision avoidance system devices. Recent data indicate that the comprehensive assembly of the F-16 warplane of the beauty air force is realized in 2014. Meanwhile, according to the report entitled "Fight/Attack Automatic Collision Avoidance Systems Business Case" issued by the air force flight laboratory (AFRL) in 2006, the Auto-GCAS system can effectively prevent 98% of CFIT from occurring, and the F-16 type fighter can reduce the economic loss of $614,690,761 by combining the past accident rate of the aircraft/attack machine. The development of Auto-GCAS systems is of great strategic and economic importance.
The false alarm rate of Auto-GCAS and the effectiveness of the system depend on the accuracy and effectiveness of prediction control of an escape path to a great extent, and at present, prediction of the aircraft track at home and abroad is only designed for a longitudinal flight channel of the aircraft or a simplified particle model to perform prediction control algorithm, so that the full-state characteristic of the aircraft cannot be comprehensively reflected. The longitudinal channel model ignores the effect of lateral channels on the aircraft flight trajectory, while the simplified particle model does not take into account changes in attitude angle.
However, in the case of high-speed and high-mobility aircrafts such as aircrafts, the change of attitude angle is directly related to maneuver, and a small traversing factor under the condition of high speed also has a great influence on the flight path. Therefore, the prediction control method which can comprehensively consider the state characteristics of the aircraft and control the flight track in stages is found, and has great significance for improving the accuracy and the effectiveness of avoiding escape paths, reducing the false alarm rate of Auto-GCAS and improving the flight safety of the aircraft.
Disclosure of Invention
The invention discloses a prediction control method for an automatic escape route avoidance of an aircraft, wherein an automatic ground proximity collision avoidance system of the aircraft needs to be used for predicting and controlling the automatic escape route in a short period of time (such as 5 seconds) in the future in a set time period (such as 40 milliseconds) based on information data such as the current state and the position provided by an inertial navigation system, an atmospheric data system, a flight control system and other flight management systems of the aircraft, and based on a nonlinear flight motion model established in stages and a flight controller designed according to different maneuvering instructions in different stages, the state characteristics of the flight can be comprehensively considered by adopting the design of the staged flight motion model, and meanwhile, the matching degree of the escape route avoidance of the aircraft and the system design requirement can be ensured by adopting the design of the staged maneuvering instruction.
The invention provides a prediction control method for an automatic escape route avoidance of an aircraft, which is characterized by comprising the following steps:
step A: acquiring information data such as the current state and the position of an aircraft from a flight management system such as an inertial navigation system, an atmospheric data system and a flight control system of the aircraft;
and (B) step (B): preprocessing the information data acquired in the step A, and converting the information data into a data format suitable for the step C;
step C: b, according to a nonlinear flight motion model established in stages and a flight controller designed according to different maneuvering instructions in different stages, carrying out algorithm calculation in each stage in sequence by combining the state data information provided in the step B, wherein the state calculation result of the current step is used as the state input quantity of the next step until the calculation of a single prediction period is finished;
step D: and (3) repeating the steps A to C after the single-period algorithm of the step C is solved, wherein the result output by each step C is the prediction control result of the automatic evasion escape route in the current state of the aircraft.
Further, the information data such as the flight state and the position in the step a includes longitude, latitude, track inclination angle, ground speed and the like provided by a satellite positioning system or an inertial navigation device; the atmospheric data computer provides data such as air pressure height, vacuum speed and temperature; and attitude angle and attitude angular rate data provided by the heading attitude computing device; the current thrust data of the aircraft provided by the engine throttle lever.
Furthermore, the data preprocessing in the step B is that the data information provided by the airborne system is not necessarily consistent with the information required by the aircraft model, and the data information needs to be converted according to the interrelation between the data information and the information. The longitude, latitude and altitude information provided by the inertial navigation system is based on an aircraft position representation method under an earth spherical coordinate system, and the calculation of the position information in the established aircraft model is based on a ground coordinate system, so that the information is required to be converted into the earth rectangular coordinate system, and the conversion processing formula is as follows:
further, the nonlinear flight motion model established in the step C in a staged manner is divided into four stages: full state phase, roll leveling phase, quick pull-up phase and equiangular climbing phase. Different motion phases correspond to different flight motion models. In addition, different motorized control designs are performed for the roll-leveling phase and the quick pull-up phase, wherein the control objective of the roll-leveling phase is to maintain the roll angle at the target angle φ c The method comprises the steps of carrying out a first treatment on the surface of the The control objective of the quick pull-up phase is to maintain the pitch angle change of the aircraft at the target angle θ c 。
Further, the four-stage flight motion model in the step C is obtained by simplifying equations of different stages based on the following six-degree-of-freedom twelve-state full-state model, and the detailed content is further described in the specific embodiment, where the first-stage full-state flight motion model is as follows:
the force equation set for the full state is as follows:
wherein u, v, w are the decomposition amounts of the aircraft speed on the X, Y and Z axes of the machine body coordinate system, F x ,F y ,F z For a resultant force corresponding to the axial direction, p, q, r correspond to roll, pitch, and yaw angular rates, respectively.
The full state set of moment equations is as follows:
wherein p, q, r correspond to roll, pitch and yaw angular rates, M x For rolling moment, M y For pitching moment, M z For yaw moment, I x ,I y ,I z ,I xz The rotational inertia and the inertia product are set as the input values of the aircraft configuration parameters.
The full state set of equations of motion is as follows:
wherein phi, theta, phi correspond to roll, pitch and yaw angles, respectively, and p, q, r correspond to roll, pitch and yaw angle rates, respectively.
The navigation equation set for the full state is as follows:
wherein ,the position change rates of the axes in the ground coordinate system are respectively obtained.
Further, the control design of the roll leveling stage and the quick pull stage in the step C is shown in fig. 3 and fig. 4, wherein each control parameter is adjustable according to the characteristics of each aircraft.
Further, the repetition period of step D with respect to steps a to C is an adjustable parameter, and the value set in the present invention is 50 ms, depending on the complexity of the algorithm and the dominant frequency characteristic of the calculation carrier.
The prediction control method for the automatic escape route avoidance of the aircraft can realize accurate prediction of the flight escape route, simultaneously considers the state change of each channel and the change of the flight attitude, provides accurate prediction route input for an alarm system of the aircraft, reduces the false alarm rate of the system, reduces the operation load of a pilot, improves the operation confidence of the pilot, fully exerts the operational efficiency of the aircraft, and comprehensively ensures the flight safety of the aircraft by combining with an airborne system such as a flight management system, a flight control system and the like.
Drawings
The invention will be further described with reference to the accompanying drawings.
Fig. 1 illustrates a prediction phase diagram of an automatic avoidance escape path according to an embodiment of the present invention.
Fig. 2 illustrates a single-cycle mode switching flowchart of a predictive control method of automatically evading escape routes according to an embodiment of the present invention.
Fig. 3 illustrates a functional principle structural diagram of a roll-leveling phase controller according to an embodiment of the present invention.
Fig. 4 illustrates a functional principle structural diagram of a quick pull stage controller according to an embodiment of the present invention.
Detailed Description
The technical scheme of the present invention is described below by means of preferred embodiments, but the following embodiments do not limit the scope of the present invention.
The prediction control method for the automatic evasion path of the aircraft provided by the invention is built in any device with data acquisition, processing, output and storage functions on the aircraft in the form of software, such as near-earth alarm equipment, a flight control system, a flight management system, a comprehensive environment monitoring system and other avionics. In addition, the method for predicting and controlling the automatic evasion escape route provided by the invention can be applied to not only aircrafts, but also aircrafts with near-field anti-collision protection requirements such as unmanned aerial vehicles.
Fig. 1 is a schematic diagram of a prediction phase of an automatic avoidance escape route formed according to an embodiment of the present invention. The method of the invention sequentially carries out the evading path prediction control of each stage according to the sequence shown in figure 1 by a single step length in each single period, the full-state stage is connected into the transverse rolling leveling stage, the states of the transverse rolling leveling stage connected into the rapid lifting stage and the tail end of the rapid lifting stage are maintained to enter into the equiangular constant-speed climbing stage, and only the position state of the airplane is changed.
Fig. 2 is a single-cycle mode switching flowchart of a predictive control method for an aircraft automatic evasion escape path formed in accordance with an embodiment of the present invention. The direct circulation relation and judgment conditions of each stage are specifically and specifically described. Fig. 3 is a functional schematic block diagram of a roll-leveling phase controller formed in accordance with an embodiment of the present invention. Fig. 4 is a functional schematic block diagram of a quick pull phase controller formed in accordance with an embodiment of the present invention. The method of the present invention will be described with reference to fig. 1, fig. 2, fig. 3 and fig. 4.
Referring to fig. 1 and 2, the predictive control method of automatically evading the escape route includes four stages of a full state mode, a roll leveling mode, a quick pull-up mode, and a climb mode in a single cycle mode. The kinematic equations and the dynamic equations solved in different modes are also different, and specific path prediction equations are now detailed on the basis of the above.
The full state mode is used for solving the problem that the system delay and other uncertain factors are adopted, free flight trajectory calculation under inorganic dynamic control is carried out based on initial flight state data of the aircraft, and a specific motion state equation is as follows:
the roll leveling mode is to firstly roll leveling the wings of the aircraft to a horizontal position at the moment of avoiding the motor starting point, and prepare for a longitudinal quick pull-up mode of the next stage. Considering the transient nature of roll-leveling maneuvers, in this mode, only the roll angle and yaw angle changes are considered, and the pitch angle changes are not considered, with the pitch rate being zero. The specific equation of motion is as follows:
the quick pull mode is a longitudinal quick pull maneuver that begins to be performed when the aircraft wing is roll-flattened to a horizontal position. In this mode, the roll angle is kept zero and the yaw angle is kept unchanged, i.e. the roll angle rate and yaw angle rate are zero, and the change of pitch angle and other state quantities is calculated. The specific equation of motion is as follows:
the 2-D climbing mode is to execute equiangular climbing maneuvers after the maneuver-avoiding pitch angle is quickly pulled up to a target value. In this mode, the control keeps the climb angle and climb speed unchanged, taking into account only the position changes of the aircraft. The specific equation of motion is shown below:
referring to fig. 2, an initial input signal of a predictive control module for automatically evading an escape route is current flight data of an aircraft required by an acquisition algorithm of a flight management module, and the data comprise longitude, latitude, track inclination angle, ground speed and the like provided by a satellite positioning system or an inertial navigation device; the atmospheric data computer provides data such as air pressure height, vacuum speed and temperature; and attitude angle and attitude angular rate data provided by the heading attitude computing device. First, upon receiving the collected data, the data needs to be converted, including the following:
for airspeed in the provided airflow coordinate system, the airspeed can be converted into a triaxial speed quantity in the machine body coordinate system through coordinate system conversion, and a specific conversion formula is as follows:
the position information in the rectangular coordinate system of the earth is converted into position information expressed in terms of longitude (λ_rad), latitude (l_rad), and Altitude (h_m, h=h+re), and the specific conversion formula is as follows:
in order to facilitate the use of subsequent modules and the analysis of flight trajectories, the flight position obtained by the navigation equation set calculation is represented by three-axis components under the ground coordinate system, and the position components under the ground coordinate system are firstly required to be converted into the earth rectangular coordinate system by a coordinate conversion formula, the specific calculation formula is as follows:
referring to fig. 2, maneuver control items are introduced in the second stage and the third stage of the automatic evasion escape path prediction, and the rudder deflection angle of the aircraft is changed through the control of the target instruction and the flight state, so that the flight state of the aircraft is changed, and evasion maneuver is realized. The second stage performs roll leveling maneuver control according to the target roll angle instruction, and the third stage performs quick pull-up maneuver control according to the target pitch angle instruction, as shown in the specific control system block diagrams 3 and 4.
In fig. 3, the roll leveling machine control introduces PID feedback control by comparing the error value of the actual roll angle obtained by the second stage calculation with the set target roll angle, and simultaneously adds the control quantity of the roll angle rate, and adjusts the control parameters, so that the roll angle of the aircraft can reach a steady state within a specified time. While taking into account the effect of roll-leveling while yaw rate on the flight path.
In fig. 4, the fast pull-up maneuver is performed by comparing the difference between the actual yaw angle calculated in the third stage and the set target pitch angle, introducing PID feedback control, and adding the control amount of yaw rate to adjust the control parameters, so that the yaw angle of the aircraft can reach a steady state within a specified time.
According to the known configuration characteristic parameters and aerodynamic parameters of the aircraft and the information data such as the current state and the position of the aircraft collected from the flight management systems such as an inertial navigation system, an atmospheric data system and a flight control system, the stress and the moment of the aircraft can be determined, the control law of the flight control system and a staged flight motion model are combined, the predicted track of the automatic avoidance escape route can be obtained by solving the numerical value of a multi-state differential equation, the predicted automatic avoidance escape route is converted into a two-dimensional plane to be matched with a two-dimensional terrain envelope generated by a terrain scanning function module in real time as shown in the attached figure 1, and meanwhile, an anti-collision evaluation link is added, so that the predictability of the anti-collision system is achieved, an alarm prompt is provided for a pilot at a dangerous moment, and the flight safety is improved.
It should be noted that the above description is based on specific embodiments of the invention, and although the invention has been described in detail with reference to preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made to the technical solution of the invention without departing from the spirit and scope of the technical solution of the invention.
Claims (4)
1. A predictive control method for an automatic escape route of an aircraft is characterized by comprising the following steps,
step A: collecting current state and position information data of the aircraft from a flight management system;
and (B) step (B): preprocessing the information data acquired in the step A, and converting the information data into a data format suitable for the step C;
step C: b, according to a nonlinear flight motion model established in stages and a flight controller designed according to different maneuvering instructions in different stages, carrying out algorithm calculation in each stage in sequence by combining the state data information provided in the step B, wherein the state calculation result of the current step is used as the state input quantity of the next step until the calculation of a single prediction period is finished;
step D: and (3) repeating the steps (A) to (C) after the single-period algorithm of the step (C) is solved, wherein the result output by each step (C) is a prediction control result of an automatic evasion escape path in the current state of the aircraft;
the nonlinear flight motion model established in the step C in a staged way is divided into four stages: full state, roll-leveling, quick pull-up and equiangular climb phases, the different motion phases corresponding to different flight motion models, and in addition, different motorized control designs are performed for the roll-leveling and quick pull-up phases, wherein the control objective of the roll-leveling phase is to maintain the roll angle at the target angle phi c The method comprises the steps of carrying out a first treatment on the surface of the The control objective of the quick pull-up phase is to maintain the pitch angle change of the aircraft at the target angle θ c ，
The four-stage flight motion model in the step C is obtained by performing equation simplification of different stages based on a six-degree-of-freedom twelve-state full-state model, wherein the first-stage full-state flight motion model is as follows:
the force equation set for the full state is as follows:
wherein u, v, w are the decomposition amounts of the aircraft speed on the X, Y and Z axes of the machine body coordinate system, F x ,F y ,F z For resultant forces corresponding to the axial directions, p, q, r correspond to roll, pitch, and yaw rates, respectively;
the full state set of moment equations is as follows:
wherein p, q, r correspond to roll, pitch and yaw angular rates, M x For rolling moment, M y For pitching moment, M z For yaw moment, c1, c2, c3, c4, c5, c6, c7, c8, c9 are moment of inertia and product of inertia I x ,I y ,I z ,I xz Intermediate variables of (2);
the full state set of equations of motion is as follows:
wherein phi, theta, phi correspond to roll, pitch and yaw angles, respectively, and p, q, r correspond to roll, pitch and yaw angle rates, respectively;
the navigation equation set for the full state is as follows:
wherein ,the position change rates of the axes in the ground coordinate system are respectively obtained.
2. The method for predictive control of an automatic escape route avoidance of an aircraft according to claim 1, wherein the flight status and position information data in step a includes longitude, latitude, track inclination and ground speed data provided by a satellite positioning system or an inertial navigation device; barometric pressure altitude, vacuum velocity, and temperature data provided by the atmospheric data computer; and attitude angle and attitude angular rate data provided by the heading attitude computing device; the current thrust data of the aircraft provided by the engine throttle lever.
3. The predictive control method for an automatic escape route avoidance of an aircraft according to claim 1, wherein the data preprocessing in the step B is that data information provided by an onboard system is not necessarily consistent with information required by an aircraft model, and is required to be converted according to a correlation between the data information and the information; the longitude, latitude and altitude information provided by the inertial navigation system is based on an aircraft position representation method under an earth spherical coordinate system, and the calculation of the position information in the established aircraft model is based on a ground coordinate system, so that the information is required to be converted into the earth rectangular coordinate system, and the conversion processing formula is as follows:
x, Y and Z are three-axis coordinates of the aircraft under an earth rectangular coordinate system; l (L) E_gr Is a transformation matrix for transforming a ground coordinate system into an earth rectangular coordinate system; l is aircraft longitude; lambda is the aircraft latitude; x is x g 、y g 、z g Is the three-axis coordinate of the aircraft in the ground coordinate system.
4. The method of claim 1, wherein the repetition period of steps a to C in step C is an adjustable parameter, and is related to the complexity of the algorithm and the dominant frequency characteristic of the calculation carrier.
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