CN111580552B - Automatic flight control method for circular flight path of airplane - Google Patents
Automatic flight control method for circular flight path of airplane Download PDFInfo
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- CN111580552B CN111580552B CN202010386373.2A CN202010386373A CN111580552B CN 111580552 B CN111580552 B CN 111580552B CN 202010386373 A CN202010386373 A CN 202010386373A CN 111580552 B CN111580552 B CN 111580552B
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- 238000000034 method Methods 0.000 title claims abstract description 42
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 26
- 238000004458 analytical method Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 2
- 101000912561 Bos taurus Fibrinogen gamma-B chain Proteins 0.000 claims 1
- 230000010354 integration Effects 0.000 claims 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012933 kinetic analysis Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000013598 vector Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
The invention belongs to the technical field of aviation, and provides a control method for accurately controlling a horizontal flight path of an airplane so that the airplane automatically flies according to a preset circular flight path. In particular to an automatic flight control method for an aircraft circular track. The method overcomes the problem that the existing control method is influenced by control precision, wind, sideslip and the like of a system to ensure that an airplane generates stable track deviation on the basis of the existing method, and provides the control method for accurately controlling the horizontal track of the airplane to ensure that the airplane automatically flies according to the preset circular track.
Description
Technical Field
The invention belongs to the technical field of aviation, and particularly relates to an automatic flight control method for an aircraft circular flight path.
Background
In the flight process, according to the use requirement, sometimes the aircraft needs to be controlled to automatically fly according to the standard circular horizontal track (hereinafter, simply referred to as circular track automatic flight) by taking a certain fixed geographic position as a circle center for a long time, namely, the aircraft needs to be controlled to make the horizontal track of the aircraft be the standard circle. The common automatic control method for the horizontal flight path of the airplane is to calculate the flight path deviation and the flight path deviation rate according to the information such as the real-time position coordinates of the airplane, the real-time speed vectors of the airplane and the like provided by an airplane navigation system and by combining a preset horizontal flight path coordinate analysis equation, then calculate the turning degree-gradient of the airplane, and control the airplane to turn according to the calculated gradient by using the automatic flight control system as an executing mechanism so as to automatically follow the preset horizontal flight path. In the automatic flight of a circular track, the aircraft needs to always keep a certain gradient and turn, meanwhile, due to the influence of control precision, wind, sideslip and the like of a system, the common control method is easy to enable the aircraft to generate stable track deviation, and the real horizontal track of the aircraft is a concentric circle on the inner side (or the outer side) of the preset circular track, so that the aircraft cannot be accurately controlled to automatically fly according to the preset circular track.
According to an automatic control theory, in order to eliminate a system steady-state error, an integral link can be introduced into the system, however, in the automatic flight process of the aircraft maintaining a circular track, the aircraft is always in a turning maneuver state, the automatic flight control system is required to quickly follow a control instruction, and the horizontal track of the aircraft can be maintained in an error annular zone taking the preset circular track as a central line and the control precision as a width. The introduction of the integral loop reduces the following response speed of the automatic flight control system to the maneuvering command, so that a method of directly integrating the track deviation cannot be adopted to eliminate the stable track deviation generated by the aircraft.
Disclosure of Invention
The invention overcomes the defects of the conventional common control method, eliminates the stable track deviation generated by the conventional control method, and provides the control method for accurately controlling the horizontal track of the aircraft so that the aircraft automatically flies according to the preset circular track.
Technical proposal
In order to solve the technical problems, the invention is realized by the following technical scheme:
automatic flight control method for circular flight path of airplane
1. According to the expected circular track radius, a theoretical turning gradient required by the aircraft is calculated by using an aircraft turning simplified dynamics analysis model and is used as a reference gradient for controlling the aircraft to turn by an automatic flight control system.
2. And revising the reference gradient according to the preset use environment of the aircraft and combining the aerodynamic characteristic analysis and engineering experience of the aircraft so as to weaken the influence of wind on a control result.
3. And superposing a fixed angle on the reference gradient to eliminate the influence of the control precision of the system.
4. According to a common automatic control method for the horizontal flight path of the airplane, a mathematical simplified model of the horizontal motion response of the airplane with an automatic flight control system is established, a correction gradient resolving relation based on the common automatic control method for the horizontal flight path of the airplane is designed, and the correction gradient of the horizontal flight path of the airplane is calculated by utilizing the flight path deviation and the flight path deviation rate.
And finally, adding the reference gradient calculated according to the steps, the fixed angles of the superposition and the corrected gradient to be used as a target gradient of an automatic flight control system, and controlling the aircraft to automatically fly along with the target gradient so as to realize automatic control of the horizontal track of the aircraft to be a standard circular track.
When calculating the horizontal track correction gradient of the airplane in the step 4, dividing the whole circular track flight process of the airplane into a plurality of stages,
different correction gradient calculation methods are designed at different stages.
In the initial stage of the circular flight path flight process, the aircraft flight path deviation is used for dividing the stages, when the flight path deviation is larger than a set fixed value, the correction gradient is calculated according to the common aircraft horizontal flight path automatic control method,
when the track deviation is not greater than the set fixed value, the theoretical correction gradient is calculated according to a common aircraft horizontal track automatic control method, and then the theoretical correction gradient is artificially amplified according to a designed function relationship to serve as an actual correction gradient;
after the circular track flight process enters the error ring belt, the included angle (track deflection angle) between the horizontal speed direction of the airplane and the tangential direction of the real-time position of the airplane at the radial projection point of the circular track is taken as a judgment basis,
when the track deflection angle is smaller than a preset fixed value, the aircraft horizontal track deviation is integrated, the obtained integrated value is calculated according to a designed function relation and is overlapped in the theoretical correction gradient calculated according to a common aircraft horizontal track automatic control method.
Technical effects
Under the condition of not additionally increasing parameters, the prior art is modified by utilizing the existing parameters, the problem that the existing control method is influenced by control precision, wind, sideslip and the like of a system to enable an airplane to generate stable track deviation is solved, and the control method for accurately controlling the horizontal track of the airplane to enable the airplane to automatically fly according to the preset circular track is provided.
Drawings
FIG. 1 is a flow chart of the implementation of the method
FIG. 2 is a simplified kinetic analysis of aircraft turning
FIG. 3 is a schematic illustration of a conventional aircraft horizontal flight path automatic control method
Detailed Description
The invention relates to an automatic flight control method for an aircraft circular track, which is described in detail by referring to the accompanying drawings:
1. the theoretical turning gradient required by the aircraft can be calculated by using the simplified dynamics analysis model of the aircraft turning shown in fig. 1 and used as a reference gradient for controlling the aircraft turning by the automatic flight control system. Wherein V is the ground speed of the aircraft, g is the gravitational acceleration, and R is the planned circular track radius.
2. And according to the preset use environment of the aircraft, assuming that the maximum wind speed which the aircraft can encounter is Vw, correcting the reference gradient to be.
3. According to the measurement and control precision of each related system of the aircraft, combining engineering experience, specifically and comprehensively determining a fixed angle value, and superposing the fixed angle value on a reference gradient for eliminating the influence caused by the control precision of the system.
4. According to a common automatic control method for the horizontal flight path of the airplane, the horizontal flight path correction gradient of the airplane is calculated by utilizing the flight path deviation D and the flight path deviation rate. After this step, the target grade of the automatic flight control system.
5. And judging the current track deviation D, if D is larger than a preset value D0, amplifying the target gradient calculated in the step 4 by k times to serve as the current final target gradient, and after the step, controlling the target gradient of the automatic flight control system.
6. If D is not larger than the preset value D0, judging the track deflection angle phi, and if phi is larger than the preset value phi 0, finally, obtaining the target gradient.
7. If phi is not greater than the preset value phi 0, the track deviation D is integrated, and the corrected gradient is calculated. After this step, the target grade of the automatic flight control system.
8. The target gradient calculated through the steps is used as a control target of an automatic flight control system, namely, the horizontal flight path of the aircraft is accurately controlled, so that the aircraft automatically flies according to a preset circular flight path.
Claims (5)
1. An automatic flight control method for an aircraft circular track is characterized by comprising the following steps:
1) According to the expected circular track radius, calculating a theoretical turning gradient required by the aircraft by using an aircraft turning simplified dynamics analysis model, and taking the theoretical turning gradient as a reference gradient for controlling the aircraft to turn by an automatic flight control system;
2) Revising the reference gradient according to the preset use environment of the aircraft and combining the aerodynamic characteristic analysis and engineering experience of the aircraft so as to weaken the influence of wind on a control result;
3) Superposing a fixed angle on the reference gradient to eliminate the influence of the control precision of the system;
4) According to a common automatic control method for the horizontal flight path of the airplane, establishing a mathematical simplified model of the horizontal motion response of the airplane with an automatic flight control system, designing a correction gradient resolving relation based on the common automatic control method for the horizontal flight path of the airplane, and calculating the correction gradient of the horizontal flight path of the airplane by utilizing the flight path deviation and the flight path deviation rate;
reference gradient to be calculated according to the above stepsAdding the superimposed fixed angles and the corrected gradients to serve as target gradients of an automatic flight control system, and controlling the aircraft to automatically fly along with the target gradients to realize automatic control of the horizontal track of the aircraft as a standard circular track; judging the current track deviation D, if D is larger than a preset value D0, amplifying the corrected gradient calculated in the step 4) by k times to serve as a current final target gradient; if D is not greater than the preset value D0, judging the track deflection angle phi, and if phi is greater than the preset value phi 0, finally, the target gradient gamma=gamma '' 0 +γ 1 +γ 2 If phi is not greater than the preset value phi 0, the track deviation D is integrated, the corrected gradient is calculated, and after the step, the target gradient of the automatic flight control system is used as the control target of the automatic flight control system, namely the horizontal track of the aircraft is accurately controlled, so that the aircraft automatically flies according to the preset circular track.
2. The method for automatic flight control of an aircraft circular track according to claim 1, wherein the whole circular track flight process of the aircraft is divided into a plurality of stages when calculating the horizontal track correction gradient of the aircraft in 4).
3. The method of claim 2, wherein different corrected slope calculation methods are designed at different stages.
4. The method for controlling the automatic flight of the circular track of the airplane according to claim 2, wherein after the circular track enters the error zone in the flight process of the circular track, the included angle between the horizontal speed direction of the airplane and the tangential direction of the real-time position of the airplane at the radial projection point of the circular track is taken as a judgment basis.
5. The automatic flight control method for circular tracks of an aircraft according to claim 2, wherein when the track deviation angle is smaller than a preset fixed value, the integration of the horizontal track deviation of the aircraft is started, the obtained integrated value is calculated according to a designed functional relation and is superimposed in the theoretical correction gradient calculated according to the conventional automatic flight control method for horizontal tracks of the aircraft.
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| CN202010386373.2A CN111580552B (en) | 2020-05-09 | 2020-05-09 | Automatic flight control method for circular flight path of airplane |
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| CN113848972B (en) * | 2021-09-16 | 2024-03-19 | 中国航空工业集团公司西安飞机设计研究所 | Automatic control method for horizontal navigation of large aircraft |
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Address after: 723213 Liulin Town, Chenggu County, Hanzhong City, Shaanxi Province Patentee after: Shaanxi Aircraft Industry Co.,Ltd. Address before: 723213 box 34, Hanzhong City, Shaanxi Province Patentee before: Shaanxi Aircraft INDUSTRY(GROUP) Co.,Ltd. |