CN112666929A - Automatic balancing system for airplane state switching - Google Patents
Automatic balancing system for airplane state switching Download PDFInfo
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- CN112666929A CN112666929A CN202011612869.3A CN202011612869A CN112666929A CN 112666929 A CN112666929 A CN 112666929A CN 202011612869 A CN202011612869 A CN 202011612869A CN 112666929 A CN112666929 A CN 112666929A
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Abstract
The invention belongs to the technical field of airplane flight control system tests, and discloses an automatic balancing system for airplane state switching, which can be used for randomly switching test states, automatically re-balancing and resolving height and speed on the premise of supporting continuous real-time operation of a semi-physical system, and driving a physical actuator to a desired position, so that the state of an airplane at the initial moment of the test implementation by a driver is stable, the process of halt for recompilation and operation during state switching is avoided, the evaluation efficiency of a simulated flight test can be greatly improved, the verification period is shortened, and the verification cost is saved.
Description
Technical Field
The invention belongs to the technical field of airplane flight control system tests, and particularly relates to an automatic balancing system for airplane state switching.
Background
The ground comprehensive (semi-physical) test of the airplane flight control system is an important test in the whole development period, the test contents comprise interface compatibility inspection, control logic inspection, redundancy management, BIT performance inspection, software and hardware matching inspection and the like, and in addition, a plurality of pilot aircraft sets (a plurality of drivers in each set) need to be invited to carry out flight quality evaluation under the more real comprehensive environment, namely, a human set and a test.
In order to ensure the sufficiency of the compliance verification, the state point selection of the human-computer combination test usually needs to cover a plurality of factors, such as a flight envelope, a weight/gravity center, an airplane configuration and the like, so that a plurality of test state points need to be evaluated respectively, and frequent test state switching is involved. Because the information of the control surface, the accelerator position and the like corresponding to different test state points is different, after the evaluation of each test point is finished, the real-time simulation of the whole system is stopped, the flight control computer is reset, the flight state is manually switched by a designer, and then the compiling operation is downloaded; even so, the reasons such as unreasonable or wrong initial value setting still exist, cause the system to operate the initial moment and fly the control computer control plane instruction position and mismatch, lead to the aircraft can't stably fly, deviate from the test state (height, speed etc.) at initial moment, can only be adjusted by driver's manual control, and the evaluation efficiency is extremely low, leads to test cycle extension and cost increase.
In the current engineering practice, an efficient means is not yet available for realizing the automatic airplane balancing function after switching of the set or any flight state (unit interest and temporary supplement) under the continuous real-time operation condition of the semi-physical environment.
Disclosure of Invention
The invention aims to meet the requirement of a pilot on-the-loop simulated flight test (man-machine combination) under the ground semi-physical comprehensive environment of a flight control system, provides an automatic balancing system for aircraft state switching, ensures that an aircraft automatically and stably flies after any flight state is switched on the premise of ensuring the continuous operation of the whole system, facilitates the pilot to carry out an evaluation test, improves the test efficiency and accelerates the test progress.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme.
An aircraft state switching auto-trim system, the system comprising:
the system comprises a simulation cabin system 1, a flight control tester 2, a servo actuation system 3, a test system 4, a flight simulation system 5, a visual system 6 and a virtual instrument system 7;
the flight control tester 2 is connected with the simulated cockpit system 1 through a wire in a cross-linking mode and receives cockpit control command signals implemented by a driver; the flight control tester 2 is crosslinked with the servo actuating system 3 through an electric wire, and sends a control plane deflection control instruction to the servo actuating system; the test system 4 is connected with the servo actuating system 3 through a cable to acquire displacement information of each actuator; the flight simulation system 5 receives the displacement information of the actuator of the test system 4, converts the displacement information into a control surface angle, and carries out simulation calculation to obtain the flight parameter information of the airplane; the flight simulation system 5 sends the flight parameter information of the airplane to the vision system 6, the virtual instrument system 7 and the flight control tester 2 through Ethernet/optical fiber;
the flight simulation system 5 comprises an upper computer 5-1 and a lower computer 5-2; the upper computer 5-1 comprises: the system comprises a comprehensive control management unit, an input management unit, an output management unit, a height balancing unit, a speed balancing unit, a motion equation initialization unit and an airplane six-degree-of-freedom model;
the output end of the integrated control management unit is connected with the input ends of the input management unit, the output management unit, the altitude balancing unit, the speed balancing unit and the motion equation initialization unit respectively, the output end of the test system is connected with the input end of the input management unit, the output end of the input management unit is connected with the input end of the airplane six-degree-of-freedom model, the output end of the airplane six-degree-of-freedom model is connected with the input end of the output management unit, the output end of the altitude balancing unit is connected with the input end of the output management unit, the output end of the speed balancing unit is connected with the input end of the airplane six-degree-of-freedom model, and the output end of the output management unit is connected with.
The technical scheme of the invention has the characteristics and further improvements that:
(1) the comprehensive control management unit is used for completing information configuration of a new simulated flight test state and starting/closing of an automatic trim resolving function in the flight simulation system 5;
the input management unit is used for controlling all input signals entering the six-degree-of-freedom model of the airplane;
the output management unit is used for controlling all flight parameter information output from the airplane six-degree-of-freedom model;
the system comprises a motion equation initialization unit, a comprehensive control management unit and a control unit, wherein the motion equation initialization unit is used for receiving a starting instruction of an automatic trim calculation function and information of a new simulated flight test state sent by the comprehensive control management unit and adjusting calculation output of an airplane motion equation;
the height balancing unit is used for receiving a starting instruction of the automatic balancing resolving function and information of a new simulated flight test state sent by the comprehensive control management unit and carrying out height balancing according to height information in the information of the new simulated flight test state;
and the speed balancing unit is used for receiving the starting instruction of the automatic balancing resolving function and the information of the new simulated flight test state sent by the comprehensive control management unit and carrying out speed balancing according to the speed information in the information of the new simulated flight test state.
(2) The input management unit controls all input signals entering the six-degree-of-freedom model of the airplane, and the input management unit specifically comprises the following steps: during the operation of the automatic trim resolving function in the flight simulation system 5, the deflection angle of the control surface executing the functions of rolling, yawing and speed reduction in the output signal of the test system is set to zero, and then the signal after zero setting and other signals originally output by the test system are input into an airplane motion equation for resolving; and when the altitude and the speed of the airplane reach the altitude and the speed required by the new simulated flight test state, the original test system is recovered to output signals.
(3) The output management unit is used for controlling all flight parameter information output from the airplane six-degree-of-freedom model, and specifically comprises the following steps: during the operation period of the automatic trim resolving function in the flight simulation system 5, the airplane state information at the previous moment is started by recording the automatic trim resolving function, and the airplane state information at the previous moment is sent to a visual scene and an instrument for displaying; during the operation period of the automatic trim resolving function in the flight simulation system 5, sending the flight parameter information output by the airplane six-degree-of-freedom model to a flight control tester; when the altitude and the speed of the airplane reach the altitude and the speed required by the new simulated flight test state, the flight parameter information calculated by the airplane six-degree-of-freedom model is sent to a visual scene and an instrument for displaying;
(4) the height trim unit is used for performing height trim according to height information in the new simulated flight test state information, and specifically comprises the following steps: and taking the height in the new simulated flight test state information as a target height, receiving current height and vertical speed information resolved by the aircraft six-degree-of-freedom model, resolving and outputting a normal overload increment instruction, superposing the instruction value to the current overload output by the aircraft six-degree-of-freedom model, feeding back the current overload to a flight control tester, and driving a corresponding actuator to an expected trim position.
(5) The speed trim unit performs speed trim according to speed information in the new simulated flight test state information, and specifically comprises the following steps: and taking the height in the new simulated flight test state information as a target height, receiving the current speed information resolved by the aircraft six-degree-of-freedom model, resolving and outputting the current speed information as an aircraft engine throttle lever position instruction, connecting the instruction into an engine model input end in the aircraft six-degree-of-freedom model, adjusting the thrust of an engine, and driving the speed of the aircraft to approach the target speed.
(6) The new simulated flight test state information at least comprises: altitude, vacuum speed, total weight, inertia, aircraft attitude angle, spatial position.
(7) The motion equation initialization unit adjusts the calculation output of the airplane motion equation, and the airplane motion equation comprises the following components: moment equation, force equation, motion equation, navigation equation.
According to the automatic balancing method and system after the continuous switching of the flight test states of the drivers around the loop, provided by the embodiment of the invention, on the premise of supporting continuous real-time operation of a semi-physical system, the test states are switched at will, automatic height and speed re-balancing calculation is carried out, and the physical actuator is driven to the expected position, so that the state of the aircraft is stable at the initial moment of the test implementation of the drivers, the process that the state switching needs to be stopped and then compiled to operate is avoided, the evaluation efficiency of the simulated flight test can be greatly improved, the verification period is shortened, and the verification cost is saved.
Drawings
Fig. 1 is a first schematic structural diagram of an aircraft state switching automatic balancing system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a second aircraft state switching automatic balancing system according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides an automatic balancing system for airplane state switching, as shown in fig. 1 and fig. 2, based on a flight control system ground comprehensive test environment (shown in fig. 1) composed of a simulated cockpit system 1, a flight control tester 2 (including a flight control computer 2-1, MBIT equipment 2-2, FTI equipment 2-3 and the like), a servo actuation system 3, a test system 4, a flight simulation system 5 (including an upper computer 5-1 and a lower computer 5-2), a vision system 6, a virtual instrument system 7, other equipment 8 and the like, the flight control tester 2 is in electric wire cross-linking with the simulated cockpit system 1 and receives cockpit control command signals implemented by a driver; the flight control tester 2 is crosslinked with the servo actuating system 3 through an electric wire, and sends a control plane deflection control instruction to the servo actuating system; the test system 4 is connected with the servo actuating system 3 through a cable to acquire displacement information of each actuator; the flight simulation system 5 receives the position information of the actuator of the test system 4, converts the position information into a control surface position, and drives an airplane motion equation to carry out simulation calculation; the flight simulation system 5 sends the flight parameter information of the airplane to the vision system 6, the virtual instrument system 7 and the flight control tester 2 through the Ethernet/optical fiber, so that the closed loop of the whole system is realized.
1. Integrated control management
The method is realized on a flight simulation system upper computer, and the information configuration of a new simulated flight test state and the starting/closing function of the automatic balancing system are completed through a human-computer interaction interface. And the output end of the integrated control management link is in initial crosslinking with input management, output management, height balancing, speed balancing and a motion equation, and transmits an opening and closing trigger instruction of an automatic balancing system and information of a new flight test state.
The new test state point can be a set state point specified according to a test mission book or outline, or an additional test point arbitrarily selected by the unit (interested), and the configured new flight state information should include: height H, vacuum velocity V, total weight m, inertia Ix/Iy/Iz, aircraft attitude angle (θ, φ, ψ), spatial position (X, Y, relative to a point, such as an airport runway tip), and the like. Meanwhile, the driver manually configures hardware control devices (a landing gear control handle, a high-lift control device, a speed reduction control device and the like) in the cockpit to a state required by the test according to flight requirements.
2. Input management
And controlling the switching of all input signals entering the airplane model, wherein the input signals comprise the deflection angle of each control surface of the airplane, the position of an undercarriage, the position of a high lift control device, the position of an engine throttle lever and the like. During the operation of the automatic balancing system, only necessary information for resolving an aircraft motion equation is provided, other 'interference' information is removed, the deflection angle of a transverse control surface, the deflection angle of a course control surface, the deflection angle of a deceleration control surface and the like are set to zero, and the automatic balancing resolving efficiency of the altitude and the speed is improved. And when the height and the speed of the airplane are stable, switching the signal path according to the trim resolving ending identifier, and restoring the connection relation of the original closed-loop link of the system.
3. Output management
And controlling the switching of all the output flight parameter information of the flight simulation system. During the operation of the automatic balancing system, the visual scene is frozen and the instrument display is displayed by recording the state information of the airplane at the moment before the automatic balancing system is started. And the output management link provides necessary flight parameters of the flight control computer and drives the flight control computer to instruct and output the positions of each control plane required by the trend of the new flight state. In order to improve the efficiency of trim calculation, transverse and lateral flight parameters (roll angular velocity, yaw angular velocity, inclination angle and lateral acceleration) are set to zero, and control surfaces such as driving ailerons and rudders quickly return to zero. And when the height and the speed of the airplane are stable, switching the signal path according to the trim resolving ending identifier, and restoring the connection relation of the original closed-loop link of the system.
4. Equation of motion initialization
Receiving a balancing function trigger instruction of an integrated control management link and initial information (including three-axis angular velocity, height, spatial position, velocity and attitude angle) of a new flight test state, quickly adjusting resolving output of an airplane motion equation (a moment equation, a force equation, a motion equation and a navigation equation), and improving automatic balancing efficiency.
5. Height trim
And receiving a balancing function triggering instruction of the comprehensive control management link to carry out high balancing. And taking the height corresponding to the new flight state as a target height, receiving the current height and vertical speed information resolved by the aircraft motion equation, entering a height trim resolving link (height tracking), resolving and outputting a normal overload increment instruction, superposing the instruction value on the current overload resolved by the aircraft motion equation, feeding back the instruction value to a flight control computer for resolving and using a control instruction, and further driving a corresponding actuator to an expected trim position.
6. Speed trim
And receiving a balancing function triggering instruction of the comprehensive control management link to carry out speed balancing. And taking the speed corresponding to the new flight state as a target speed, receiving current speed (meter speed or vacuum speed) information resolved by the aircraft motion equation, entering a speed balancing resolving link (speed tracking), resolving and outputting an aircraft engine throttle lever position instruction, connecting the instruction into an engine model input end in an aircraft model, and adjusting engine thrust so that the speed resolved by the aircraft motion equation tends to the target speed.
7. After the introduction of the height and speed trim calculation, a trim calculation ending mark is automatically sent, the inherent connection relation of the original system is restored, and then a simulated flight test aiming at a new flight state is implemented.
According to the automatic balancing method and system after the continuous switching of the flight test states of the drivers around the loop, provided by the embodiment of the invention, on the premise of supporting continuous real-time operation of a semi-physical system, the test states are switched at will, automatic height and speed re-balancing calculation is carried out, and the physical actuator is driven to the expected position, so that the state of the aircraft is stable at the initial moment of the test implementation of the drivers, the process that the state switching needs to be stopped and then compiled to operate is avoided, the evaluation efficiency of the simulated flight test can be greatly improved, the verification period is shortened, and the verification cost is saved.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (8)
1. An aircraft state switching auto-trim system, the system comprising:
the system comprises a simulation cabin system (1), a flight control tester (2), a servo actuation system (3), a test system (4), a flight simulation system (5), a visual system (6) and a virtual instrument system (7);
the flight control tester (2) is connected with the simulated cockpit system (1) through an electric wire in a cross mode, and receives cockpit operating command signals implemented by a driver; the flight control tester (2) is crosslinked with the servo actuating system (3) through an electric wire, and a control plane deflection control instruction is sent to the flight control tester; the test system (4) is connected with the servo actuating system (3) through a cable to acquire displacement information of each actuator; the flight simulation system (5) receives the displacement information of the actuator of the test system (4), converts the displacement information into a control surface angle, and carries out simulation calculation to obtain the flight parameter information of the airplane; the flight simulation system (5) sends the flight parameter information of the airplane to the vision system (6), the virtual instrument system (7) and the flight control tester (2);
the flight simulation system (5) comprises an upper computer (5-1) and a lower computer (5-2); the upper computer (5-1) comprises: the system comprises a comprehensive control management unit, an input management unit, an output management unit, a height balancing unit, a speed balancing unit, a motion equation initialization unit and an airplane six-degree-of-freedom model;
the output end of the integrated control management unit is connected with the input ends of the input management unit, the output management unit, the altitude balancing unit, the speed balancing unit and the motion equation initialization unit respectively, the output end of the test system is connected with the input end of the input management unit, the output end of the input management unit is connected with the input end of the airplane six-degree-of-freedom model, the output end of the airplane six-degree-of-freedom model is connected with the input end of the output management unit, the output end of the altitude balancing unit is connected with the input end of the output management unit, the output end of the speed balancing unit is connected with the input end of the airplane six-degree-of-freedom model, and the output end of the output management unit is connected with.
2. An aircraft state switching auto-trim system according to claim 1,
the comprehensive control management unit is used for completing information configuration of a new simulated flight test state and starting/closing of an automatic trim resolving function in the flight simulation system 5;
the input management unit is used for controlling all input signals entering the six-degree-of-freedom model of the airplane;
the output management unit is used for controlling all flight parameter information output from the airplane six-degree-of-freedom model;
the system comprises a motion equation initialization unit, a comprehensive control management unit and a control unit, wherein the motion equation initialization unit is used for receiving a starting instruction of an automatic trim calculation function and information of a new simulated flight test state sent by the comprehensive control management unit and adjusting calculation output of an airplane motion equation;
the height balancing unit is used for receiving a starting instruction of the automatic balancing resolving function and information of a new simulated flight test state sent by the comprehensive control management unit and carrying out height balancing according to height information in the information of the new simulated flight test state;
and the speed balancing unit is used for receiving the starting instruction of the automatic balancing resolving function and the information of the new simulated flight test state sent by the comprehensive control management unit and carrying out speed balancing according to the speed information in the information of the new simulated flight test state.
3. An aircraft state switching auto-trim system according to claim 2,
the input management unit controls all input signals entering the six-degree-of-freedom model of the airplane, and the input management unit specifically comprises the following steps: during the operation of the automatic trim resolving function in the flight simulation system 5, the deflection angle of the control surface executing the functions of rolling, yawing and speed reduction in the output signal of the test system is set to zero, and then the signal after zero setting and other signals originally output by the test system are input into an airplane motion equation for resolving; and when the altitude and the speed of the airplane reach the altitude and the speed required by the new simulated flight test state, the original test system is recovered to output signals.
4. An aircraft state switching auto-trim system according to claim 2,
the output management unit is used for controlling all flight parameter information output from the airplane six-degree-of-freedom model, and specifically comprises the following steps: during the operation period of the automatic trim resolving function in the flight simulation system 5, the airplane state information at the previous moment is started by recording the automatic trim resolving function, and the airplane state information at the previous moment is sent to a visual scene and an instrument for displaying; during the operation period of the automatic trim resolving function in the flight simulation system 5, sending the flight parameter information output by the airplane six-degree-of-freedom model to a flight control tester; and when the altitude and the speed of the airplane reach the altitude and the speed required by the new simulated flight test state, transmitting the flight parameter information calculated by the airplane six-degree-of-freedom model to a visual scene and an instrument for displaying.
5. An aircraft state switching auto-trim system according to claim 2,
the height trim unit is used for performing height trim according to height information in the new simulated flight test state information, and specifically comprises the following steps: and taking the height in the new simulated flight test state information as a target height, receiving current height and vertical speed information resolved by the aircraft six-degree-of-freedom model, resolving and outputting a normal overload increment instruction, superposing the instruction value to the current overload output by the aircraft six-degree-of-freedom model, feeding back the current overload to a flight control tester, and driving a corresponding actuator to an expected trim position.
6. An aircraft state switching auto-trim system according to claim 2,
the speed trim unit performs speed trim according to speed information in the new simulated flight test state information, and specifically comprises the following steps: and taking the height in the new simulated flight test state information as a target height, receiving the current speed information resolved by the aircraft six-degree-of-freedom model, resolving and outputting the current speed information as an aircraft engine throttle lever position instruction, connecting the instruction into an engine model input end in the aircraft six-degree-of-freedom model, adjusting the thrust of an engine, and driving the speed of the aircraft to approach the target speed.
7. An aircraft state switching auto-trim system according to claim 2,
the new simulated flight test state information at least comprises: altitude, vacuum speed, total weight, inertia, aircraft attitude angle, spatial position.
8. An aircraft state switching auto-trim system according to claim 2,
the motion equation initialization unit adjusts the calculation output of the airplane motion equation, and the airplane motion equation comprises the following components: moment equation, force equation, motion equation, navigation equation.
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2020
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| US5446666A (en) * | 1994-05-17 | 1995-08-29 | The Boeing Company | Ground state-fly state transition control for unique-trim aircraft flight control system |
| CN107783429A (en) * | 2016-08-31 | 2018-03-09 | 北京蓝天航空科技股份有限公司 | A kind of automatic Flight control simulation system of general-purpose aviation simulator |
| CN110450940A (en) * | 2019-06-24 | 2019-11-15 | 陕西飞机工业（集团）有限公司 | A kind of elevator trimming control circuit of aircraft |
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