CN111413871A - Method and device for adjusting abnormal attitude of airplane and server - Google Patents
Method and device for adjusting abnormal attitude of airplane and server Download PDFInfo
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- CN111413871A CN111413871A CN202010239210.1A CN202010239210A CN111413871A CN 111413871 A CN111413871 A CN 111413871A CN 202010239210 A CN202010239210 A CN 202010239210A CN 111413871 A CN111413871 A CN 111413871A
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Abstract
The embodiment of the invention provides a method for adjusting an abnormal attitude of an airplane, which combines the installation layout design of an attitude adjusting spray pipe and the control of the abnormal attitude with each other to develop the design of an emergency control system of an auxiliary system of the abnormal attitude of the airplane and form an optimization design scheme integrating the parameter design of the attitude adjusting spray pipe and the acquisition of abnormal disturbance information into a whole for control and information processing in the front end design. And providing a multi-objective optimization model of the airplane abnormal attitude emergency auxiliary system for simultaneously obtaining the optimal sensitivity, maneuverability, operation stability and low energy consumption, finally obtaining an installation scheme of the attitude adjusting spray pipe, and controlling the abnormal attitude of the airplane through the rolling torque generated by the attitude adjusting spray pipe to restore the airplane to the normal flight attitude. The moment control device for adjusting the abnormal attitude of the airplane is further provided to control and recover the abnormal attitude of the airplane. A server is also provided to realize the control method and the control device for adjusting the abnormal attitude of the airplane.
Description
Technical Field
The invention relates to the field of aircraft control, in particular to a method and a device for adjusting an abnormal attitude of an aircraft and a server.
Background
During the take-off and landing of the airplane, the most basic requirement is to keep the flight attitude stable. However, when the aircraft is subjected to low-altitude wind shear or other disturbance factors, the flight attitude often fluctuates or even varies abnormally, so that it is difficult for the pilot to simultaneously aim at the runway and smoothly control the flight attitude, resulting in reduced passenger comfort and even flight accidents. Therefore, the auxiliary system cooperative emergency control method for rapidly recovering the flight attitude has important significance in researching the emergency state of the airplane with abnormal takeoff and landing attitude.
The method comprises the steps of installing a rolling nozzle device aiming at flight control near wings, providing a new way for emergency control of abnormal postures of an airplane, aiming at the problem of posture adjustment of the airplane, obtaining additional control torque through nozzle deflection by a thrust vector control technology, and realizing the posture control of the airplane, controlling the track and/or the posture (pitching, yawing and rolling) of the airplane when the airplane flies inside and outside an atmospheric layer by using the reaction force generated by hot gas jet ejected by the rolling nozzle device, implementing the F35B fighter to have two auxiliary posture nozzles at the lower parts of two wings, balancing the stable state of the two wings and carrying out abnormal posture adjustment, and using a reusable carrier (R L V) to adjust the posture by using the thrust vector control technology, starting the posture control nozzle and a pneumatic control surface to complete a posture control task, realizing various control torques, and providing hardware guarantee for system redundancy.
At present, the application field of the method is mainly applied to fighters, rockets, missiles, vertical take-off and landing aircrafts and the like, attitude control spray pipes are used as emergency devices at home and abroad, when the aircraft attitude is abnormal and the control efficiency of the pneumatic control surface is not enough to meet the control requirement, additional control moment is provided to assist the pneumatic control surface to complete the relevant research of an auxiliary emergency system of the attitude control task, the research results in aspects of layout design of the auxiliary emergency system, emergency control schemes under abnormal attitude and the like are few, and the development and application of aircraft attitude adjustment are hindered.
Disclosure of Invention
The embodiment of the invention aims to provide a method for adjusting the abnormal attitude of an airplane, which takes an emergency auxiliary system as a control moment except for control surface control and restores the airplane from the abnormal attitude to a normal attitude. The specific technical scheme is as follows:
a method of adjusting an abnormal attitude of an aircraft, comprising: the method comprises the following steps:
s100, state information of the airplane in an abnormal attitude during flying is obtained. The abnormal attitude refers to the state that the flight attitude of the airplane is not stable in the process of taking off or landing. The state information refers to at least one of roll, yaw, and yaw that occur while the aircraft is in flight.
And S110, analyzing and acquiring at least one influence factor causing each state information.
And S120, acquiring target influence factors, wherein the target influence factors are any one of the influence factors.
And S130, taking the target influence factor as a unique variable, and creating a mathematical model corresponding to the target influence factor by using the target influence factor and the state information.
S140, obtaining a mathematical model corresponding to each influence factor.
S150, acquiring at least one current influence factor when the aircraft flies in the abnormal attitude.
And S160, inputting each current influence factor into the corresponding mathematical model to obtain a control scheme for enabling the airplane to fly normally.
And S170, acquiring a control scheme corresponding to each current influence factor.
And S180, adjusting the abnormal attitude of the airplane according to each control scheme.
Compared with the prior art, the invention has the beneficial effects that: the external environment and the airplane state information acquired by analyzing the different abnormal attitude causes of the airplane are analyzed. And establishing an attitude adjusting control optimization model based on an abnormal attitude generation mechanism and emergency auxiliary control requirements, so as to obtain higher control sensitivity and better control stability of system maneuverability. And solving a global optimal solution of the model by using a multi-target multi-constraint element heuristic method, so as to improve the sensitivity, optimize the control performance and reduce the energy consumption of the auxiliary system for the emergency auxiliary system of the abnormal attitude of the airplane.
The method is further optimized as follows: in step S100, state information in the flight process of the airplane is obtained through an attitude tracking control scheme.
By adopting the technical scheme, continuous state information in the control process can be collected, and the problem of instantaneous difference caused by different attitude information contained by different influence factors is solved.
Further optimized, the attitude tracking control scheme comprises:
s300, acquiring abnormal parameters of the state information, wherein the abnormal parameters are at least one of rolling angular velocity, yaw angular velocity, sideslip angle and rolling angle generated when abnormal attitude occurs in the flight process of the airplane.
And S310, inputting the abnormal parameters into simulation equipment for simulation to obtain an attitude tracking control scheme. The simulation equipment is used for solving a simulation model of the problem caused by the abnormal attitude of the airplane by using the mathematical model.
By adopting the technical scheme, the tracking control and the micro-motion control of the attitude are realized through the tracking control scheme, the attitude control performance of the airplane in the emergency state is enhanced, the energy of an emergency system is saved, the coordination control of the pneumatic control surface and the emergency system is realized, and a basis and a technical support are provided for the stable control test of the attitude of the airplane under the action of emergency power and the like.
Further preferably, the analyzing at least one influencing factor of each status information of the aircraft in step S110 includes:
s400, collecting each influence factor by a sensor, and substituting each influence factor into a mathematical model to be used as judgment data when the airplane has abnormal postures.
And S410, analyzing the difference between the abnormal attitude caused by each influence factor and the normal attitude of the airplane by using a mathematical model.
By adopting the technical scheme, different influences on the abnormal attitude of the airplane according to different state information can be obtained, and the state of the abnormal attitude of the airplane can be analyzed and judged.
The control scheme is generated by a control model for adjusting the abnormal attitude of the airplane to the normal attitude during flying.
By adopting the technical scheme, the control scheme generated by the control model is realized.
And further optimizing the control model to be a model for adjusting the control scheme that the abnormal attitude of the airplane is recovered to the normal attitude.
By adopting the technical scheme, the emergency auxiliary system for the abnormal attitude of the airplane with optimal sensitivity, maneuverability, operation stability and low energy consumption can be obtained.
The control scheme is that a control torque is obtained by installing a spray pipe on the airplane, the abnormal attitude of the airplane is adjusted to be recovered to the normal attitude, and the spray pipe is a device for adjusting the airplane to be recovered to the normal attitude from the abnormal attitude by generating the control torque.
By adopting the technical scheme, the aim of controlling the airplane to recover from the abnormal posture to the normal posture is fulfilled by controlling the force rejection.
The method is further optimized as follows: installing the spray pipe to obtain the control torque, comprising the following steps:
s800, designing the installation position of the spray pipe by using a mathematical model and an aerodynamic theory, wherein the aerodynamics is used for researching the change rule of the influence factors of the airplane during flying.
And S810, acquiring the installation position information of the posture-adjusting spray pipe according to the installation position of the posture-adjusting spray pipe.
And S820, obtaining installation parameters of the attitude adjusting spray pipe according to the installation position information of the attitude adjusting spray pipe, wherein the installation parameters comprise an installation angle, an attitude angle rate, an attitude angle and an attitude control moment. The installation angle is an angle of the attitude adjusting spray pipe for enabling the airplane to recover from the abnormal attitude to the normal attitude, the attitude angular rate is an angular rate generated when the attitude adjusting spray pipe enables the airplane to recover from the abnormal attitude to the normal attitude, the attitude angle is an angle generated when the attitude adjusting spray pipe enables the airplane to recover from the abnormal attitude to the normal attitude, and the attitude control moment is a moment generated when the attitude adjusting spray pipe controls the airplane to recover from the abnormal attitude to the normal attitude.
By adopting the technical scheme, the attitude adjusting spray pipe is arranged at the optimized position of the wing through the obtained installation scheme, so that the purpose of optimally adjusting the abnormal attitude of the airplane is achieved.
In another aspect of the present invention, there is also provided a computer-readable storage medium, which stores instructions that, when executed on a computer, cause the computer to execute any one of the above-mentioned moment control apparatuses for adjusting an abnormal attitude of an aircraft.
In yet another aspect of the present invention, the present invention further provides a computer program product containing instructions, which when run on a computer, causes the computer to execute any of the above servers.
The new energy auxiliary emergency power control method, device and server provided by the embodiment of the invention, of course, any product or method implementing the invention does not necessarily need to achieve all the advantages.
Drawings
FIG. 1 is a flow chart of the present embodiment;
FIG. 2 is a flowchart of a posture tracking control scheme according to the present embodiment;
FIG. 3 is a flowchart illustrating an analysis of influence factors of aircraft state information according to an embodiment;
FIG. 4 is a flow chart of the control torque obtained by installing the nozzle in the present embodiment;
FIG. 5 is a posture assist control chart of the present embodiment;
fig. 6 is a schematic view of the internal structure of the product of this embodiment.
Detailed Description
The technical solution in the embodiment of the present invention will be described below with reference to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, and fig. 6 in the embodiment of the present invention.
As shown in fig. 1, a method for adjusting an abnormal attitude of an aircraft is characterized in that: the method comprises the following steps:
s100, state information of the airplane in an abnormal attitude during flying is obtained. The abnormal attitude refers to the state that the flight attitude of the airplane is not stable in the process of taking off or landing. The state information refers to at least one of roll, yaw, and yaw that occur while the aircraft is in flight.
Specifically, state information in the flight process of the airplane is obtained through an attitude tracking control scheme, the control scheme is a scheme generated by a control model for adjusting the abnormal attitude of the airplane to the normal attitude during the flight of the airplane, and the control scheme generated by the control model is realized. Please refer to fig. 2, wherein the gesture tracking control scheme includes:
s300, acquiring abnormal parameters of the state information, wherein the abnormal parameters are at least one of rolling angular velocity, yaw angular velocity, sideslip angle and rolling angle generated when abnormal attitude occurs in the flight process of the airplane.
And S310, inputting the abnormal parameters into simulation equipment for simulation to obtain an attitude tracking control scheme. The simulation equipment is used for solving a simulation model of the problem caused by the abnormal attitude of the airplane by using the mathematical model.
S110, analyzing and obtaining at least one influencing factor causing each kind of state information, please refer to fig. 3, which specifically includes:
s400, collecting each influence factor by a sensor, and substituting each influence factor into a mathematical model to be used as judgment data when the airplane has abnormal postures.
And S410, analyzing the difference between the abnormal attitude caused by each influence factor and the normal attitude of the airplane by using a mathematical model. Different influences on the abnormal attitude of the airplane according to different state information can be obtained, and the state of the abnormal attitude of the airplane is analyzed and judged.
And S120, acquiring target influence factors, wherein the target influence factors are any one of the influence factors.
And S130, taking the target influence factor as a unique variable, and creating a mathematical model corresponding to the target influence factor by using the target influence factor and the state information.
S140, obtaining a mathematical model corresponding to each influence factor.
S150, acquiring at least one current influence factor when the aircraft flies in the abnormal attitude.
And S160, inputting each current influence factor into the corresponding mathematical model to obtain a control scheme for enabling the airplane to fly normally.
Specifically, the control scheme is a scheme generated by a control model for adjusting an abnormal attitude of the aircraft to a normal attitude during flight, wherein the control model is a model for adjusting the control scheme for recovering the abnormal attitude of the aircraft to the normal attitude, so that the emergency auxiliary system for the abnormal attitude of the aircraft with optimal sensitivity, maneuverability, operation stability and low energy consumption can be obtained.
The control scheme is that a spray pipe is arranged on the airplane to obtain a control torque, the abnormal attitude of the airplane is adjusted to be recovered to the normal attitude, and the spray pipe is a device for adjusting the airplane to be recovered to the normal attitude from the abnormal attitude by generating the control torque. The purpose of controlling the airplane to recover from the abnormal posture to the normal posture is achieved through the control force rejection.
Specifically, installing the nozzle to obtain the control torque, please refer to fig. 4, includes the following steps:
s800, designing the installation position of the spray pipe by using a mathematical model and an aerodynamic theory, wherein the aerodynamics is used for researching the change rule of the influence factors of the airplane during flying.
And S810, acquiring the installation position information of the posture-adjusting spray pipe according to the installation position of the posture-adjusting spray pipe.
And S820, obtaining installation parameters of the attitude adjusting spray pipe according to the installation position information of the attitude adjusting spray pipe, wherein the installation parameters comprise an installation angle, an attitude angle rate, an attitude angle and an attitude control moment. The installation angle is an angle of the attitude adjusting spray pipe for enabling the airplane to recover from the abnormal attitude to the normal attitude, the attitude angular rate is an angular rate generated when the attitude adjusting spray pipe enables the airplane to recover from the abnormal attitude to the normal attitude, the attitude angle is an angle generated when the attitude adjusting spray pipe enables the airplane to recover from the abnormal attitude to the normal attitude, and the attitude control moment is a moment generated when the attitude adjusting spray pipe controls the airplane to recover from the abnormal attitude to the normal attitude.
And S170, acquiring a control scheme corresponding to each current influence factor.
And S180, adjusting the abnormal attitude of the airplane according to each control scheme.
The attitude adjusting spray pipe is arranged at the optimized position of the wing through the obtained installation scheme, so that the purpose of optimally adjusting the abnormal attitude of the airplane is achieved.
Considering three atmospheric disturbance information of gust, wind shear and turbulence, preliminarily judging by referring to an expert experience library, taking atmospheric interference (including influence intensity, duration and the like) as input quantity of a control process, designing an auxiliary attitude controller, and constructing an attitude auxiliary control framework under the atmospheric interference, as shown in fig. 5:
taking gust signals as an example, the atmospheric disturbance d is composed of vertical velocity and acceleration
And constructing an attitude auxiliary control model by considering an aerodynamic model and an attitude auxiliary action mechanism of a controlled system based on the interference information. The swinging jet pipe with simple structure, small volume and light weight is selected as a control execution structure, and the control quantity u in the rolling and pitching directions is generated on the wingmThe compensation of generating additional moment to the atmosphere is realized, and the concrete realization process is as follows: the jet pipe provides continuous lateral jet flow, so that constant moment is generated on the wing, and multiple intermittent jet flows are performed in a pulse width modulation mode. A generalized controlled object of a system can be defined as
y＝Cx+Dnun+Dmum+Fd (2)
a,βRespectively, an attack angle and a sideslip angle, p and q are respectively a rolling angle rate and a pitch angle rate, l and m are respectively a rolling moment and a pitching moment under the machine body system, and then an attitude angle omega, an attitude angle rate omega and an attitude control moment mu are respectively expressed as:
taking roll channel as an example, the pneumatic control torque command mcMapped as nozzle deflection command αcSince the attitude control law is unknown, the relevant parameters, such as the number of jets n, the jet distance L ═ l1,…,ln]And the like are control amounts in the attitude assist controller. Taking the influence of atmospheric disturbance on the rolling direction of the airplane as an example, the research problem is converted into analysis of the delta of the airplaneaControl under disturbance. Consider an additional control item ucFor estimation error correction
Constraint conditions are as follows: angular velocity of oscillation omegaa<ωamaxAngle of oscillationa<amax。
The attitude adjusting spray pipe is arranged at the optimized position of the wing through the obtained installation scheme, so that the purpose of optimally adjusting the abnormal attitude of the airplane is achieved.
The invention designs the installation layout of the spray pipe by utilizing an airplane state model and an aerodynamic theory, and obtains the parameters of the installation layout, the installation angle and the like of the attitude-adjusting spray pipe.
The attitude control system of an aircraft primarily looks at equations relating attitude angle and attitude angular rate. Wherein angle of attack, sideslip angle and angle of inclination, respectively. Roll, pitch, and yaw rates, respectively. The attitude adjusting spray pipe plays a role in adjusting the attitude by generating a rolling direction control moment, and is designed to provide a spray pipe modulation instruction and a control plane deflection instruction through a proper attitude adjusting mechanism according to an expected guidance instruction, so that an attitude angle can quickly and accurately track the expected guidance instruction.
The attitude adjusting spray pipe is arranged at the wing tip, and the optimal sensitivity can be obtained. However, in order to reduce the buffeting of the actuator, the device is considered as an independent degree of freedom, and an aeroelastic model of the wing belt attitude adjusting spray pipe system is established. Considering the influence of the connection rigidity on the flutter boundary of the system, analyzing performance indexes such as unstable aircraft operation stability, stability margin, control rule and the like, balancing the operation stability and control performance of the aircraft, reasonably designing the length of the force arm, and optimizing the quality and the installation position of the attitude adjusting spray pipe. The invention aims to design the relevant parameters of the attitude adjusting spray pipe and the installation layout of the auxiliary emergency device by utilizing an airplane state model and an aerodynamic theory, and provides relevant basis for the parameter design of the emergency auxiliary system for multi-objective optimization under the emergency auxiliary requirement of the airplane.
The external environment and the airplane state information acquired by analyzing the different abnormal attitude causes of the airplane are analyzed. And establishing an attitude adjusting control optimization model based on an abnormal attitude generation mechanism and emergency auxiliary control requirements, so as to obtain higher control sensitivity and better control stability of system maneuverability. And solving a global optimal solution of the model by using a multi-target multi-constraint element heuristic method, so as to improve the sensitivity, optimize the control performance and reduce the energy consumption of the auxiliary system for the emergency auxiliary system of the abnormal attitude of the airplane.
And acquiring continuous state information in the flight process through the attitude tracking control scheme. Continuous state information in the control process can be collected, and the problem of instantaneous difference caused by different attitude information contained by different influence factors is solved.
As shown in fig. 2, the attitude tracking control scheme includes the steps of:
the attitude tracking control scheme includes:
s300, acquiring abnormal parameters of the state information, wherein the abnormal parameters are at least one of rolling angular velocity, yaw angular velocity, sideslip angle and rolling angle generated when abnormal attitude occurs in the flight process of the airplane.
And S310, inputting the abnormal parameters into simulation equipment for simulation to obtain an attitude tracking control scheme. The simulation equipment is used for solving a simulation model of the problem caused by the abnormal attitude of the airplane by using the mathematical model.
The system realizes tracking control and micro-motion control of the attitude, enhances the attitude control performance of the airplane in an emergency state, saves the energy of an emergency system, realizes coordination control of a pneumatic control surface and the emergency system, and provides basis and technical support for stable control tests of the attitude of the airplane under the action of emergency power and the like.
The control model refers to a multi-objective optimization model, and the multi-objective optimization model refers to a model aiming at optimizing maneuvering performance, optimizing control efficiency and reducing energy consumption. Therefore, the emergency auxiliary system for the abnormal attitude of the airplane with optimal sensitivity, maneuverability, operation stability and low energy consumption can be obtained.
The control force rejection refers to the moment generated by the attitude adjusting spray pipe and used for controlling the airplane to recover from the abnormal attitude to the normal attitude. The purpose of controlling the airplane to recover from the abnormal posture to the normal posture is achieved through the control force rejection.
The installation layout design of the attitude adjusting spray pipe and the abnormal attitude control are combined with each other, the emergency control system design of the aircraft abnormal attitude auxiliary system is developed, and an optimization design scheme integrating control and information processing is formed by considering the parameter design of the attitude adjusting spray pipe and the acquisition of abnormal disturbance information at the front end. And providing a multi-objective optimization model of the airplane abnormal attitude emergency auxiliary system for simultaneously obtaining the optimal sensitivity, maneuverability, operation stability and low energy consumption, finally obtaining an installation scheme of the attitude adjusting spray pipe, and controlling the abnormal attitude of the airplane through the rolling torque generated by the attitude adjusting spray pipe to restore the airplane to the normal flight attitude.
In another aspect of the present invention, there is also provided a computer-readable storage medium, which stores instructions that, when executed on a computer, cause the computer to execute any one of the above-mentioned moment control apparatuses for adjusting an abnormal attitude of an aircraft.
In yet another aspect of the present invention, the present invention further provides a computer program product containing instructions, as shown in fig. 6, which when run on a computer, causes the computer to execute any of the above servers.
The new energy auxiliary emergency power control method, device and server provided by the embodiment of the invention, of course, any product or method implementing the invention does not necessarily need to achieve all the advantages.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
In another embodiment of the present invention, there is also provided a computer-readable storage medium having stored therein instructions, which when run on a computer, cause the computer to execute the moment control apparatus for adjusting an abnormal attitude of an aircraft according to any one of the above embodiments.
In a further embodiment provided by the present invention, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to execute the new energy assisted emergency power control apparatus as described in any of the above embodiments.
The computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, e.g., from one website site, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DS L)) or wireless (e.g., infrared, wireless, microwave, etc.) manner to another website site, computer, server, or data center.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. A method of adjusting an abnormal attitude of an aircraft, comprising: the method comprises the following steps:
s100, acquiring state information of the airplane in an abnormal attitude during flying; the abnormal attitude refers to the state that the flight attitude of the airplane is unstable in the process of taking off or landing; the state information refers to at least one of rolling, yawing and sideslip generated when the airplane flies;
s110, analyzing and acquiring the at least one influence factor causing each type of the state information;
s120, acquiring target influence factors, wherein the target influence factors are any one of the influence factors;
s130, taking the target influence factor as a unique variable, and creating a mathematical model corresponding to the target influence factor by using the target influence factor and the state information;
s140, acquiring a mathematical model corresponding to each influence factor;
s150, acquiring at least one current influence factor when the aircraft flies in an abnormal attitude;
s160, inputting each current influence factor into a corresponding mathematical model to obtain a control scheme for enabling the airplane to fly normally;
s170, acquiring a control scheme corresponding to each current influence factor;
and S180, adjusting the abnormal attitude of the airplane according to each control scheme.
2. A method of adjusting the abnormal attitude of an aircraft according to claim 1, wherein: in step S100, the state information of the aircraft in the flight process is acquired through an attitude tracking control scheme.
3. A method of adjusting the abnormal attitude of an aircraft according to claim 2, wherein: the attitude tracking control scheme includes:
s300, acquiring abnormal parameters of the state information, wherein the abnormal parameters are at least one of rolling angular velocity, yaw angular velocity, sideslip angle and rolling angle generated when abnormal attitude occurs in the flight process of the airplane;
s310, inputting the abnormal parameters into simulation equipment for simulation to obtain the attitude tracking control scheme; the simulation equipment is used for solving a simulation model of the problem caused by the abnormal attitude of the airplane by using the mathematical model.
4. A method of adjusting the abnormal attitude of an aircraft according to claim 1, wherein: the analyzing at least one influencing factor of each of the status information of the aircraft in step S110 includes:
s400, collecting each influence factor by a sensor, and bringing each influence factor into the mathematical model to serve as judgment data when the aircraft has abnormal postures;
and S410, analyzing the difference between the abnormal attitude caused by each influence factor and the normal attitude of the airplane by using the mathematical model.
5. A method of adjusting the abnormal attitude of an aircraft according to claim 1, wherein: the control scheme is generated by a control model for adjusting the abnormal attitude of the airplane to the normal attitude during flying.
6. The method of adjusting an abnormal attitude of an aircraft according to claim 5, wherein: the control model is a model for adjusting a control scheme that the airplane has an abnormal attitude and recovers to a normal attitude.
7. A method of adjusting the abnormal attitude of an aircraft according to claim 1, wherein: the control scheme is that a spray pipe is arranged on the airplane to obtain a control torque, the abnormal attitude of the airplane is adjusted to be recovered to the normal attitude, and the spray pipe is a device for adjusting the airplane to be recovered to the normal attitude from the abnormal attitude by generating the control torque.
8. The method of adjusting an abnormal attitude of an aircraft of claim 7, wherein: installing the spray pipe to obtain the control torque, comprising the following steps:
s800, designing a spray pipe installation position by using the mathematical model and an aerodynamic theory, wherein the aerodynamics are used for researching the change rule of the influence factors when the airplane flies;
s810, acquiring the installation position information of the posture adjusting spray pipe according to the installation position of the posture adjusting spray pipe;
s820, obtaining installation parameters of the attitude adjusting spray pipe according to the installation position information of the attitude adjusting spray pipe, wherein the installation parameters comprise an installation angle, an attitude angle rate, an attitude angle and an attitude control moment; the installation angle is an angle of the attitude adjusting spray pipe for enabling the airplane to recover from an abnormal attitude to a normal attitude, the attitude angular rate is an angular rate generated when the attitude adjusting spray pipe enables the airplane to recover from the abnormal attitude to the normal attitude, the attitude angle is an angle generated when the attitude adjusting spray pipe enables the airplane to recover from the abnormal attitude to the normal attitude, and the attitude control moment is a moment generated when the attitude adjusting spray pipe controls the airplane to recover from the abnormal attitude to the normal attitude.
9. A moment control device for adjusting abnormal postures of an airplane is characterized in that:
the acquiring module is used for acquiring the state information of the abnormal attitude of the airplane during takeoff or landing;
the analysis module is used for analyzing the mechanism of the abnormal attitude of the airplane according to the state information;
the simulation module is used for simulating the state information and establishing a mathematical model;
the control module is used for obtaining a control scheme for controlling the airplane to recover to a normal attitude according to the mathematical model;
and the output module is used for obtaining a specific installation scheme for recovering the normal flight of the airplane according to the control scheme.
10. A server is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing the communication between the processor and the memory through the communication bus;
a memory for storing a computer program;
a processor for implementing the method steps of any of claims 1 to 8 when executing a program stored in the memory.
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| CN202010239210.1A CN111413871A (en) | 2020-03-30 | 2020-03-30 | Method and device for adjusting abnormal attitude of airplane and server |
| CN202110192439.9A CN112764348B (en) | 2020-03-30 | 2021-02-19 | Control method and device for abnormal attitude of airplane and server |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112346469A (en) * | 2020-10-15 | 2021-02-09 | 西北工业大学 | Auxiliary emergency power control method and device and server |
| WO2022068022A1 (en) * | 2020-09-30 | 2022-04-07 | 浙江大学 | Tailsitter-type vertical take-off and landing unmanned aerial vehicle and control method therefor |
| CN116643482A (en) * | 2023-07-27 | 2023-08-25 | 航天科工火箭技术有限公司 | Carrier rocket side jet flow gesture redundant control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103235504B (en) * | 2013-03-25 | 2015-05-27 | 上海交通大学 | Flight control method for large civil aircrafts on basis of direct adaptive control reconfiguration |
| CN104049638B (en) * | 2014-06-19 | 2017-01-04 | 金陵科技学院 | The attitude of flight vehicle distributing fault-tolerant control system of Actuator dynamic |
| CN105182989B (en) * | 2015-09-25 | 2018-01-19 | 北京航空航天大学 | A kind of aspect control method under the influence of wind field |
| CN105700537B (en) * | 2016-01-22 | 2018-05-15 | 山东中宇航空科技发展有限公司 | A kind of control method based on UAV Attitude control filter unit |
| CN110794857B (en) * | 2019-10-30 | 2021-03-30 | 南京航空航天大学 | Robust discrete fractional order control method of fixed wing unmanned aerial vehicle considering external wind interference |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022068022A1 (en) * | 2020-09-30 | 2022-04-07 | 浙江大学 | Tailsitter-type vertical take-off and landing unmanned aerial vehicle and control method therefor |
| CN112346469A (en) * | 2020-10-15 | 2021-02-09 | 西北工业大学 | Auxiliary emergency power control method and device and server |
| CN116643482A (en) * | 2023-07-27 | 2023-08-25 | 航天科工火箭技术有限公司 | Carrier rocket side jet flow gesture redundant control method |
| CN116643482B (en) * | 2023-07-27 | 2023-10-20 | 航天科工火箭技术有限公司 | Carrier rocket side jet flow gesture redundant control method |
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| CN112764348B (en) | 2022-05-24 |
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