CN112711815A - Aircraft modeling and model characteristic analysis system - Google Patents
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Abstract
The invention belongs to the field of aircraft design and analysis, particularly relates to an aircraft modeling and model characteristic analysis system, and aims to solve the problem that the existing aircraft modeling and model characteristic analysis system cannot efficiently and accurately perform aircraft modeling and model characteristic analysis. The system comprises: the system management module is configured to carry out initialization setting on the system; the aerodynamic/aerodynamic moment module is configured to calculate an aerodynamic force acting on/about the aircraft center of mass; the six-degree-of-freedom motion equation module is configured to construct a full-dimensional motion state equation set of the aircraft; the reference motion state solving module is configured to solve the full-dimensional motion state of the aircraft under the reference motion condition; the motion equation linearization module is configured to generate an aircraft all-state linearization model in a state space form; the characteristic analysis and display module is configured to perform aircraft model characteristic analysis. The invention realizes the high-efficiency and accurate modeling of the aircraft and the characteristic analysis of the model.
Description
Technical Field
The invention belongs to the field of aircraft design and analysis, and particularly relates to an aircraft modeling and model characteristic analysis system.
Background
In recent years, with the rapid development of flight technology, various aircrafts are widely applied to military and civil fields. Modeling and model characterization is an extremely important task in the development of aircraft, especially in the initial design phase of the aircraft. In the preliminary design stage of the aircraft, designers need to perform modeling and model characteristic analysis based on a preliminary design scheme, and modify the aircraft structure, the aerodynamic parameters and the like selected by the preliminary design scheme on the basis of the characteristic analysis, and the process is repeated until the design scheme meeting the requirements is obtained. On the other hand, with the complexity and diversification of the task and environment of aircraft operation, the complexity of aircraft design work is also increasing continuously. Therefore, how to perform rapid and accurate aircraft modeling and model characteristic analysis is an urgent need of aircraft engineering designers.
In the aircraft design engineering practice, in order to measure different flight quality parameters, designers often adopt different methods for evaluation, but the evaluation methods usually have certain subjective colors, lack uniform measurement standards, and are difficult to comprehensively coordinate different flight quality parameters. Therefore, in order to conveniently evaluate the aircraft characteristics and realize rapid and efficient aircraft modeling and model characteristic analysis, a comprehensive system integrating aircraft modeling and model characteristic analysis is required to be constructed.
Disclosure of Invention
In order to solve the above problems in the prior art, that is, to solve the problem that the existing aircraft modeling and model characteristic analysis system cannot efficiently and accurately perform aircraft modeling and model characteristic analysis, a first aspect of the present invention provides an aircraft modeling and model characteristic analysis system, including: the system comprises an aerodynamic module, an aerodynamic moment module, a six-degree-of-freedom motion equation module, a reference motion state solving module, a motion equation linearization module, a longitudinal/lateral motion module, a characteristic analysis and display module and a system management module;
the system management module is configured to perform initialization setting on the system; further configured to store aircraft state information and model characteristics; the initialization setting comprises aircraft structure parameter setting, reference motion condition setting and transfer function input/output quantity setting;
the aerodynamic module is configured to calculate aerodynamic forces acting on the center of mass of the aircraft;
the aerodynamic moment module is configured to calculate an aerodynamic moment acting around a center of mass of the aircraft;
the six-degree-of-freedom motion equation module is configured to combine the aerodynamic force and the aerodynamic moment to construct an aircraft full-dimensional motion state equation set; the full-dimensional motion state equation set comprises a moment equation set, an angular displacement equation set, a force equation set, a linear displacement equation set, an actuating mechanism model and an atmospheric model;
the reference motion state solving module is configured to solve the full-dimensional motion state of the aircraft under the reference motion condition;
the motion equation linearization module is configured to linearize the aircraft motion equation at the reference motion state to generate an aircraft all-state linearization model in a state space form;
the longitudinal/lateral motion module is configured to extract a longitudinal/lateral motion equation set based on the aircraft all-state linearized model and generate an aircraft longitudinal/lateral motion state linearized model in a state space form;
the characteristic analysis and display module is configured to perform aircraft model characteristic analysis based on a pneumatic stability derivative, a full-state linearized model zero-pole, an aircraft longitudinal/lateral motion state linearized model zero-pole, and a corresponding transfer function and stability margin between any one of the control input quantity and the flight state output quantity, and output a model analysis result;
the derivative of aerodynamic stability comprises an aerodynamic coefficient of one dimension along the three axes of the aircraft body coordinate system、、And aerodynamic moment coefficient of dimension one in three axial directions around the coordinate system of the aircraft body、、。
In some preferred embodiments, the aerodynamic module "calculates aerodynamic forces acting on the center of mass of the aircraft" by: based on the real-time state of the aircraft and aerodynamic force data, solving the aerodynamic force of the aircraft at the current moment through an interpolation algorithm; the method comprises the following specific steps:
wherein the content of the first and second substances,、、respectively are aerodynamic coefficients with the dimension of one along the three axial directions of the aircraft body coordinate system,、、representing the aerodynamic force component in the aircraft body coordinate system,in order to generate a dynamic pressure,for the purpose of reference area, the area of the reference,、andrespectively an aileron, an elevator and a rudder deflection of the aircraft,andrespectively a flight attack angle and a sideslip angle,caused by deflection of elevatorsThe coefficient of variation of the axial aerodynamic force,generated when pitch rate is not zeroThe coefficient of variation of the axial dynamic aerodynamic force,caused by deflection of ailerons and rudderThe coefficient of variation of the axial aerodynamic force,generated when the yaw rate is not zeroThe coefficient of variation of the axial dynamic aerodynamic force,generated when the roll rate is not zeroThe coefficient of variation of the axial dynamic aerodynamic force,caused by deflection of elevatorsThe coefficient of variation of the axial aerodynamic force,generated when pitch rate is not zeroAnd (4) axial dynamic aerodynamic force variation coefficient.
In some preferred embodiments, the aerodynamic moment module "calculates the aerodynamic moment about the center of mass of the aircraft" by: solving the aerodynamic moment of the aircraft at the current moment by an interpolation algorithm based on the real-time state of the aircraft and the aerodynamic moment data; the method comprises the following specific steps:
wherein the content of the first and second substances,、andrepresenting the aerodynamic moment components in three axes around the aircraft body coordinate system,for the purpose of reference to the length of the strip,、、respectively are aerodynamic moment coefficients with the dimension of one around the three axial directions of the coordinate system of the aircraft body,caused by deflection of ailerons and rudderThe coefficient of variation of the axial aerodynamic moment,generated when the yaw rate is not zeroThe axial dynamic pneumatic moment variation coefficient,generated when the roll rate is not zeroThe axial dynamic pneumatic moment variation coefficient,caused by deflection of elevatorsThe coefficient of variation of the axial aerodynamic moment,generated when pitch rate is not zeroThe axial dynamic pneumatic moment variation coefficient,caused by deflection of ailerons and rudderThe coefficient of variation of the axial aerodynamic moment,generated when the yaw rate is not zeroThe axial dynamic pneumatic moment variation coefficient,generated when the roll rate is not zeroAnd (4) axial dynamic aerodynamic moment variation coefficient.
In some preferred embodiments, the actuator model is:
wherein the content of the first and second substances,in order to input a command for the actuator,in order to be the actual output of the actuator,andrespectively the frequency and the damping, respectively,a magnitude limiting function representing the actuator,、the maximum and minimum limiting amplitudes, respectively,representing the amount of the second derivative actually output by the actuator.
In some preferred embodiments, in the reference motion state solving, "solving the full-dimensional motion state of the aircraft under the reference motion condition", the method includes:
carrying out square weighted sum on the derivative values of the full-dimensional motion state of the aircraft to construct a cost function;
and solving the full-dimensional motion state of the aircraft with the minimum cost function based on a preset reference motion condition.
In some preferred embodiments, the reference motion condition is:
wherein the content of the first and second substances,andrespectively the set flight speed value and the flight altitude value,、representing the sideslip angle, roll angle of the aircraft,、、representing the roll rate, pitch rate and yaw rate of the aircraft in a body coordinate system,the speed of flight is indicated as a function of,representing the altitude of the aircraft in the ground coordinate system,the derivative of the flight speed is represented as,representing the angle of attack derivative and the sideslip angle derivative of the aircraft,the roll rate derivative, pitch rate derivative, and yaw rate derivative of the aircraft are represented.
In some preferred embodiments, the cost function model is:
wherein the content of the first and second substances,in order to be the weight coefficient,the derivative of the flying height is indicated.
In some preferred embodiments, the full-state linearized model of the aircraft is:
wherein the content of the first and second substances,is the full state quantity of the aircraft,the derivative of the full state quantity of the aircraft is represented,as input quantities, output quantities of the modelIn the state quantityOn the basis of the three axial directions of the aircraftAcceleration, flight mach number and dynamic pressure value of the aircraft,,、、andrespectively representing the state matrix, control matrix, observation matrix and feedforward matrix of the model.
In some preferred embodiments, the aircraft longitudinal motion state linearization model is:
wherein the content of the first and second substances,is the longitudinal motion state quantity of the aircraft,the derivative of the longitudinal motion state quantity of the aircraft and the longitudinal motion output quantity of the model,、、Andand the state matrix, the control matrix, the observation matrix and the feedforward matrix respectively represent the longitudinal motion state linearization model.
In some preferred embodiments, the aircraft lateral motion state linearized model is:
wherein the content of the first and second substances,is the lateral motion state quantity of the aircraft,the derivative of the state quantity of lateral motion of the aircraft, the lateral motion output quantity of the model,、、Andand the state matrix, the control matrix, the observation matrix and the feedforward matrix respectively represent the lateral motion state linearization model.
The invention has the beneficial effects that:
the invention realizes the high-efficiency and accurate modeling of the aircraft and the characteristic analysis of the model.
The method can quickly form an aerodynamic force/moment model and an aircraft six-degree-of-freedom motion equation according to different aircraft structures, aerodynamics and other design schemes, solve a linearized equation and longitudinal/lateral equation decomposition under the set reference motion condition, output various data and curves of aerodynamic stability derivative curves, a zero pole point diagram, a bode diagram, stability margin and other characteristic model characteristics, comprehensively analyze and evaluate the aircraft model characteristics in a comprehensive form, and improve the accuracy of evaluation and analysis. And moreover, repeated iterative improvement is convenient for designers aiming at key parameters, and the method is particularly suitable for rapid updating iteration of a design scheme in an initial design stage of the aircraft.
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Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings.
FIG. 1 is a block diagram of an aircraft modeling and model characterization system according to an embodiment of the present invention;
FIG. 2 is a simplified flow diagram of a method for modeling and analyzing model characteristics of an aircraft in accordance with an embodiment of the present invention;
FIG. 3 is a detailed flow diagram of a method for modeling and analyzing model characteristics of an aircraft in accordance with an embodiment of the invention;
fig. 4 is a schematic structural diagram of a computer system suitable for implementing an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The aircraft modeling and model characteristic analysis system of the present invention, as shown in fig. 1, includes: the system comprises an aerodynamic module, an aerodynamic moment module, a six-degree-of-freedom motion equation module, a reference motion state solving module, a motion equation linearization module, a longitudinal/lateral motion module, a characteristic analysis and display module and a system management module;
the system management module is configured to perform initialization setting on the system; further configured to store aircraft state information and model characteristics; the initialization setting comprises aircraft structure parameter setting, reference motion condition setting and transfer function input/output quantity setting;
the aerodynamic module is configured to calculate aerodynamic forces acting on the center of mass of the aircraft;
the aerodynamic moment module is configured to calculate an aerodynamic moment acting around a center of mass of the aircraft;
the six-degree-of-freedom motion equation module is configured to combine the aerodynamic force and the aerodynamic moment to construct an aircraft full-dimensional motion state equation set; the full-dimensional motion state equation set comprises a moment equation set, an angular displacement equation set, a force equation set, a linear displacement equation set, an actuating mechanism model and an atmospheric model;
the reference motion state solving module is configured to solve the full-dimensional motion state of the aircraft under the reference motion condition;
the motion equation linearization module is configured to linearize the aircraft motion equation at the reference motion state to generate an aircraft all-state linearization model in a state space form;
the longitudinal/lateral motion module is configured to extract a longitudinal/lateral motion equation set based on the aircraft all-state linearized model and generate an aircraft longitudinal/lateral motion state linearized model in a state space form;
the characteristic analysis and display module is configured to perform aircraft model characteristic analysis based on a pneumatic stability derivative, a full-state linearized model zero-pole, an aircraft longitudinal/lateral motion state linearized model zero-pole, and a corresponding transfer function and stability margin between any one of the control input quantity and the flight state output quantity, and output a model analysis result;
the derivative of aerodynamic stability comprises an aerodynamic coefficient of one dimension along the three axes of the aircraft body coordinate system、、And aerodynamic moment coefficient of dimension one in three axial directions around the coordinate system of the aircraft body、、。
In order to more clearly illustrate the aircraft modeling and model characterization system of the present invention, the following description will be made in detail with reference to the accompanying drawings.
The system management module is configured to perform initialization setting on the system; further configured to store aircraft state information and model characteristics; the initialization setting comprises aircraft structure parameter setting, reference motion condition setting and transfer function input/output quantity setting;
in this embodiment, when the system is initialized, the system management module performs initialization setting. The initialization settings comprise aircraft structure parameter settings, reference motion condition settings and transfer function input/output quantity settings. And storing the aircraft state information and the model characteristics after the aircraft model characteristic analysis is completed.
The aerodynamic module is configured to calculate aerodynamic forces acting on the center of mass of the aircraft;
in the embodiment, the aerodynamic module comprises an aerodynamic model, an aerodynamic data packet and an interpolation algorithm;
the aerodynamic force model is used for constructing aerodynamic force components along the three axial directions of an aircraft body coordinate system;
the aerodynamic data packet is used for storing aerodynamic data in a table form;
and the interpolation algorithm is used for solving the aerodynamic force at the current moment according to the real-time state of the aircraft and the aerodynamic force data.
Three axial aerodynamic force components、Andthe calculation process of (2) is shown in the formulas (1), (3), (4), (5) and (6):
wherein the content of the first and second substances,、、respectively are aerodynamic coefficients with the dimension of one along the three axial directions of the aircraft body coordinate system,in order to generate a dynamic pressure,for the purpose of reference area, the area of the reference,、andrespectively an aileron, an elevator and a rudder deflection of the aircraft,andrespectively a flight attack angle and a sideslip angle,、、、、、andand (4) carrying out interpolation solution according to an interpolation algorithm based on variables in brackets respectively.Caused by deflection of elevatorsThe coefficient of variation of the axial aerodynamic force,generated when pitch rate is not zeroThe coefficient of variation of the axial dynamic aerodynamic force,caused by deflection of ailerons and rudderThe coefficient of variation of the axial aerodynamic force,generated when the yaw rate is not zeroThe coefficient of variation of the axial dynamic aerodynamic force,generated when the roll rate is not zeroThe coefficient of variation of the axial dynamic aerodynamic force,caused by deflection of elevatorsThe coefficient of variation of the axial aerodynamic force,generated when pitch rate is not zeroAxial dynamic aerodynamic force variation coefficient;
the 'carrying out interpolation solution according to interpolation algorithm' means that aerodynamic force data packets are respectively solved according to the bilinear interpolation principle by utilizing aerodynamic force data packets、、、、、Andthe fitting function of (1).
The aerodynamic moment module is configured to calculate an aerodynamic moment acting around a center of mass of the aircraft;
in this embodiment, the aerodynamic moment module includes three parts, namely an aerodynamic moment model, an aerodynamic moment data packet and an interpolation algorithm;
the aerodynamic moment model is used for constructing aerodynamic moment components around the three axial directions of an aircraft body coordinate system;
the aerodynamic torque data packet is used for storing aerodynamic torque data in a table form;
and the interpolation algorithm is used for solving the aerodynamic moment at the current moment according to the real-time state of the aircraft and the aerodynamic moment data.
Three-axial aerodynamic moment component around aircraft body coordinate system、Andthe calculation process of (2) is shown in the formulas (7), (8), (9), (10), (11) and (12):
wherein the content of the first and second substances,、andrepresenting the aerodynamic moment components in three axes around the aircraft body coordinate system,for the purpose of reference to the length of the strip,、、respectively are aerodynamic moment coefficients with the dimension of one around the three axial directions of the coordinate system of the aircraft body,、、、、、、andand (4) carrying out interpolation solution according to an interpolation algorithm based on variables in brackets respectively.Caused by deflection of ailerons and rudderThe coefficient of variation of the axial aerodynamic moment,generated when the yaw rate is not zeroThe axial dynamic pneumatic moment variation coefficient,generated when the roll rate is not zeroThe axial dynamic pneumatic moment variation coefficient,caused by deflection of elevatorsThe coefficient of variation of the axial aerodynamic moment,generated when pitch rate is not zeroThe axial dynamic pneumatic moment variation coefficient,caused by deflection of ailerons and rudderThe coefficient of variation of the axial aerodynamic moment,generated when the yaw rate is not zeroThe axial dynamic pneumatic moment variation coefficient,generated when the roll rate is not zeroAxial dynamic aerodynamic moment variation coefficient;
the 'carrying out interpolation solution according to interpolation algorithm' means that the pneumatic torque data packets are respectively solved according to the bilinear interpolation principle by utilizing the pneumatic torque data packets、、、、、、Andthe fitting function of (1).
The six-degree-of-freedom motion equation module is configured to combine the aerodynamic force and the aerodynamic moment to construct an aircraft full-dimensional motion state equation set; the full-dimensional motion state equation set comprises a moment equation set, an angular displacement equation set, a force equation set, a linear displacement equation set, an actuating mechanism model and an atmospheric model;
in the embodiment, the full-dimensional motion state equation set comprises a moment equation set, an angular displacement equation set, a force equation set, a linear displacement equation set, an actuator model and an atmospheric model.
The moment equation set is constructed as shown in equations (13), (14) and (15):
wherein the content of the first and second substances,representing the roll rate derivative, the pitch rate derivative and the yaw rate derivative of the aircraft in a body coordinate system,、、representing the roll rate, pitch rate and yaw rate of the aircraft in a body coordinate system,the inertia moments of the aircraft around the three axial directions of the aircraft body,for the aircraft in a coordinate system relative to the aircraft bodyThe product of the inertia of the face,,,,,,,,,,。
the system of angular displacement equations is constructed as shown in equations (16) (17) (18):
wherein (A), (B), (C), (D), (C), () Representing the roll, pitch and yaw derivatives of the aircraft,、、representing the roll, pitch and yaw of the aircraft.
The force equation set is constructed as shown in equations (19) (20) (21):
(21)
wherein the content of the first and second substances,representing the aircraft flight speed derivative, angle of attack derivative and sideslip angle derivative,andrespectively the track pitch angle and the track roll angle of the aircraft,the speed of flight is indicated as a function of,the indication of the flight resistance is that,representing aircraft engine thrust.
The linear displacement equation set is constructed as in equations (22) (23) (24):
wherein the content of the first and second substances,representing the derivative of the longitudinal displacement, the lateral position of the aircraft in the ground coordinate systemThe moving-derivative and the height-derivative,、、representing the longitudinal displacement, lateral displacement and altitude of the aircraft in a ground coordinate system,is the track azimuth of the aircraft.
The constructed actuator model is shown as formula (25):
wherein the content of the first and second substances,in order to input a command for the actuator,in order to be the actual output of the actuator,andrespectively the frequency and the damping, respectively,a magnitude limiting function representing the actuator,representing the amount of the second derivative actually output by the actuator. The amplitude limiting function of the actuator is shown in equation (26):
wherein the content of the first and second substances,、maximum and minimum limiting amplitudes, respectively.
The constructed atmosphere model is shown as formula (27):
wherein the content of the first and second substances,corresponding to a height ofThe density of (a) of (b),in order to normalize the parameters for the height,is expressed as a height ofThe density of (c).
The reference motion state solving module is configured to solve the full-dimensional motion state of the aircraft under the reference motion condition;
in the embodiment, the derivative values of the full-dimensional motion state of the aircraft are subjected to square weighted sum to construct a cost function; and solving the full-dimensional motion state of the aircraft with the minimum cost function based on a preset reference motion condition. Namely, the reference motion state solving module comprises an optimizing algorithm module and a cost function module.
The reference motion condition is shown in equations (28), (29) and (30):
wherein the content of the first and second substances,andrespectively, the set flight speed value and the flight height value.
The cost function module is shown in equation (31):
The motion equation linearization module is configured to linearize the aircraft motion equation at the reference motion state to generate an aircraft all-state linearization model in a state space form;
in this embodiment, the full-state linearized model of the aircraft is shown in equation (32) (33):
wherein the content of the first and second substances,is the full state quantity of the aircraft,the derivative of the full state quantity of the aircraft is represented,as input quantities, output quantities of the modelIn the state quantityOn the basis of the three axial directions of the aircraftAcceleration, flight mach number and dynamic pressure value of the aircraft,,、、andrespectively representing modelsA state matrix, a control matrix, an observation matrix, and a feed forward matrix.
The longitudinal/lateral motion module is configured to extract a longitudinal/lateral motion equation set based on the aircraft all-state linearized model and generate an aircraft longitudinal/lateral motion state linearized model in a state space form;
in the present embodiment, the aircraft longitudinal motion state linearized model is shown in equation (34) (35):
wherein the content of the first and second substances,is the longitudinal motion state quantity of the aircraft,is the derivative of the longitudinal state of motion quantity of the aircraft,for the longitudinal motion input, the longitudinal motion output of the model,、、Andand the state matrix, the control matrix, the observation matrix and the feedforward matrix respectively represent the longitudinal motion state linearization model.
The aircraft lateral motion state linearization model is shown in the formula (36) (37):
wherein the content of the first and second substances,is the lateral motion state quantity of the aircraft,is the derivative of the lateral state of motion quantity of the aircraft,for the input of lateral motion, the output of lateral motion of the model,、、Andand the state matrix, the control matrix, the observation matrix and the feedforward matrix respectively represent the lateral motion state linearization model.
The characteristic analysis and display module is configured to perform aircraft model characteristic analysis based on a pneumatic stability derivative, a full-state linearized model zero-pole, an aircraft longitudinal/lateral motion state linearized model zero-pole, and a corresponding transfer function and stability margin between any one of the manipulation input quantity and the flight state output quantity, and output a model analysis result.
In this embodiment, the aircraft model characteristic analysis is performed based on the aerodynamic stability derivative, the full-state linearized model zero-pole, the aircraft longitudinal/lateral motion state linearized model zero-pole, and the corresponding transfer function and stability margin between any one of the manipulated input quantities and the flight state output quantity, and data and curves of various aerodynamic stability derivative curves, a zero-pole point diagram, a bode diagram, stability margin and other characteristic model characteristics are output, so that the solution and analysis of the aircraft motion model are realized. The derivative of aerodynamic stability comprises an aerodynamic coefficient of one dimension along the three axes of the aircraft body coordinate system、、And aerodynamic moment coefficient of dimension one in three axial directions around the coordinate system of the aircraft body、、。
The analysis result comprises pneumatic stability derivative analysis, aircraft all-state linearized model pole-zero analysis, aircraft longitudinal motion state linearized model pole-zero analysis, aircraft lateral motion state linearized model pole-zero analysis, and corresponding transfer function and stability margin analysis between any one of the control input quantity and the flight state output quantity.
It should be noted that, the aircraft modeling and model characteristic analysis system provided in the foregoing embodiment is only exemplified by the division of the functional modules, and in practical applications, the above functions may be allocated to different functional modules according to needs, that is, the modules or steps in the embodiment of the present invention are further decomposed or combined, for example, the modules in the foregoing embodiment may be combined into one module, or may be further split into multiple sub-modules, so as to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the modules or steps, and are not to be construed as unduly limiting the present invention.
An aircraft modeling and model characteristic analysis method according to a second embodiment of the present invention, as shown in fig. 2 and 3, includes the following steps:
step S100, initializing and setting a system; the initialization setting comprises aircraft structure parameter setting, reference motion condition setting and transfer function input/output quantity setting;
step S200, constructing an aerodynamic force and aerodynamic moment model, and calculating aerodynamic force acting on the mass center of the aircraft and aerodynamic moment acting on the mass center of the aircraft;
step S300, combining the aerodynamic force and the aerodynamic moment to construct a six-degree-of-freedom equation set of the aircraft;
step S400, solving a full-dimensional motion state of the aircraft under a reference motion condition;
step S500, linearizing an aircraft motion equation at a reference motion state to generate an aircraft all-state linearization model in a state space form;
s600, extracting a longitudinal/lateral motion equation set based on the aircraft all-state linearized model, and generating an aircraft longitudinal/lateral motion state linearized model in a state space form;
step S700, performing aircraft model characteristic analysis based on a pneumatic stability derivative, a full-state linearized model zero-pole, an aircraft longitudinal/lateral motion state linearized model zero-pole, a corresponding transfer function and a stability margin between any one of the control input quantity and the flight state output quantity, and outputting a model analysis result;
step S800, whether aircraft modeling and model characteristic analysis are finished or not is evaluated: if the task is completed, executing step S900, otherwise, executing step S100;
and S900, storing the aircraft state information and the model characteristic analysis result to the system.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process and related description of the method described above may refer to the corresponding process in the foregoing system embodiment, and are not described herein again.
A storage device according to a third embodiment of the invention stores a plurality of programs adapted to be loaded by a processor and to implement the aircraft modeling and model characterization method described above.
A processing apparatus according to a fourth embodiment of the present invention includes a processor, a storage device; a processor adapted to execute various programs; a storage device adapted to store a plurality of programs; the program is adapted to be loaded and executed by a processor to implement the aircraft modeling and model characterization methods described above.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes and related descriptions of the storage device and the processing device described above may refer to the corresponding processes in the foregoing method examples, and are not described herein again.
Referring now to FIG. 4, there is illustrated a block diagram of a computer system suitable for use as a server in implementing embodiments of the method, system, and apparatus of the present application. The server shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 4, the computer system includes a Central Processing Unit (CPU)401 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 402 or a program loaded from a storage section 408 into a Random Access Memory (RAM) 403. In the RAM 403, various programs and data necessary for system operation are also stored. The CPU 401, ROM 402, and RAM 403 are connected to each other via a bus 404. An Input/Output (I/O) interface 405 is also connected to the bus 404.
The following components are connected to the I/O interface 405: an input portion 306 including a keyboard, a mouse, and the like; an output section 407 including a Display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage section 408 including a hard disk and the like; and a communication section 409 including a Network interface card such as a LAN (Local Area Network) card, a modem, or the like. The communication section 409 performs communication processing via a network such as the internet. A driver 410 is also connected to the I/O interface 405 as needed. A removable medium 411 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 410 as necessary, so that a computer program read out therefrom is mounted into the storage section 408 as necessary.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 409, and/or installed from the removable medium 411. The computer program performs the above-described functions defined in the method of the present application when executed by a Central Processing Unit (CPU) 401. It should be noted that the computer readable medium mentioned above in the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing or implying a particular order or sequence.
The terms "comprises," "comprising," or any other similar term 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.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (10)
1. An aircraft modeling and model characterization system, the system comprising: the system comprises an aerodynamic module, an aerodynamic moment module, a six-degree-of-freedom motion equation module, a reference motion state solving module, a motion equation linearization module, a longitudinal/lateral motion module, a characteristic analysis and display module and a system management module;
the system management module is configured to perform initialization setting on the system; further configured to store aircraft state information and model characteristics; the initialization setting comprises aircraft structure parameter setting, reference motion condition setting and transfer function input/output quantity setting;
the aerodynamic module is configured to calculate aerodynamic forces acting on the center of mass of the aircraft;
the aerodynamic moment module is configured to calculate an aerodynamic moment acting around a center of mass of the aircraft;
the six-degree-of-freedom motion equation module is configured to combine the aerodynamic force and the aerodynamic moment to construct an aircraft full-dimensional motion state equation set; the full-dimensional motion state equation set comprises a moment equation set, an angular displacement equation set, a force equation set, a linear displacement equation set, an actuating mechanism model and an atmospheric model;
the reference motion state solving module is configured to solve the full-dimensional motion state of the aircraft under the reference motion condition;
the motion equation linearization module is configured to linearize the aircraft motion equation at the reference motion state to generate an aircraft all-state linearization model in a state space form;
the longitudinal/lateral motion module is configured to extract a longitudinal/lateral motion equation set based on the aircraft all-state linearized model and generate an aircraft longitudinal/lateral motion state linearized model in a state space form;
the characteristic analysis and display module is configured to perform aircraft model characteristic analysis based on a pneumatic stability derivative, a full-state linearized model zero-pole, an aircraft longitudinal/lateral motion state linearized model zero-pole, and a corresponding transfer function and stability margin between any one of the control input quantity and the flight state output quantity, and output a model analysis result;
2. The system for modeling and modeling aircraft according to claim 1, wherein said aerodynamic module calculates aerodynamic forces acting on the center of mass of the aircraft by: based on the real-time state of the aircraft and aerodynamic force data, solving the aerodynamic force of the aircraft at the current moment through an interpolation algorithm; the method comprises the following specific steps:
wherein the content of the first and second substances,、、respectively are aerodynamic coefficients with the dimension of one along the three axial directions of the aircraft body coordinate system,、、representing the aerodynamic force component in the aircraft body coordinate system,in order to generate a dynamic pressure,for the purpose of reference area, the area of the reference,、andrespectively an aileron, an elevator and a rudder deflection of the aircraft,andrespectively a flight attack angle and a sideslip angle,caused by deflection of elevatorsThe coefficient of variation of the axial aerodynamic force,generated when pitch rate is not zeroThe coefficient of variation of the axial dynamic aerodynamic force,caused by deflection of ailerons and rudderThe coefficient of variation of the axial aerodynamic force,generated when the yaw rate is not zeroThe coefficient of variation of the axial dynamic aerodynamic force,generated when the roll rate is not zeroThe coefficient of variation of the axial dynamic aerodynamic force,caused by deflection of elevatorsThe coefficient of variation of the axial aerodynamic force,generated when pitch rate is not zeroAnd (4) axial dynamic aerodynamic force variation coefficient.
3. The system for modeling and modeling aircraft as claimed in claim 2, wherein said aerodynamic moment module calculates the aerodynamic moment about the aircraft center of mass by: solving the aerodynamic moment of the aircraft at the current moment by an interpolation algorithm based on the real-time state of the aircraft and the aerodynamic moment data; the method comprises the following specific steps:
wherein the content of the first and second substances,、andrepresenting the aerodynamic moment components in three axes around the aircraft body coordinate system,for the purpose of reference to the length of the strip,、、respectively are aerodynamic moment coefficients with the dimension of one around the three axial directions of the coordinate system of the aircraft body,caused by deflection of ailerons and rudderThe coefficient of variation of the axial aerodynamic moment,generated when the yaw rate is not zeroThe axial dynamic pneumatic moment variation coefficient,generated when the roll rate is not zeroThe axial dynamic pneumatic moment variation coefficient,caused by deflection of elevatorsThe coefficient of variation of the axial aerodynamic moment,generated when pitch rate is not zeroThe axial dynamic pneumatic moment variation coefficient,caused by deflection of ailerons and rudderThe coefficient of variation of the axial aerodynamic moment,generated when the yaw rate is not zeroThe axial dynamic pneumatic moment variation coefficient,generated when the roll rate is not zeroAnd (4) axial dynamic aerodynamic moment variation coefficient.
4. The aircraft modeling and model characterization analysis system of claim 3, wherein said actuator model is:
wherein the content of the first and second substances,in order to input a command for the actuator,in order to be the actual output of the actuator,andrespectively the frequency and the damping, respectively,a magnitude limiting function representing the actuator,、the maximum and minimum limiting amplitudes, respectively,representing the amount of the second derivative actually output by the actuator.
5. The system for modeling and analyzing model characteristics of an aircraft according to claim 1, wherein said solution of reference motion states "solution of full-dimensional motion states of an aircraft under reference motion conditions" comprises:
carrying out square weighted sum on the derivative values of the full-dimensional motion state of the aircraft to construct a cost function;
and solving the full-dimensional motion state of the aircraft with the minimum cost function based on a preset reference motion condition.
6. The aircraft modeling and model characterization system of claim 5, wherein said reference motion conditions are:
wherein the content of the first and second substances,andrespectively the set flight speed value and the flight altitude value,、representing the sideslip angle, roll angle of the aircraft,、、representing the roll rate, pitch rate and yaw rate of the aircraft in a body coordinate system,the speed of flight is indicated as a function of,representing the aircraft in a ground coordinate systemThe height of (a) of (b),the derivative of the flight speed is represented as,representing the angle of attack derivative and the sideslip angle derivative of the aircraft,the roll rate derivative, pitch rate derivative, and yaw rate derivative of the aircraft are represented.
8. The aircraft modeling and model characteristic analysis system of claim 6 wherein said aircraft full state linearized model is:
wherein the content of the first and second substances,is the full state quantity of the aircraft,the derivative of the full state quantity of the aircraft is represented,as input quantities, output quantities of the modelIn the state quantityOn the basis of the three axial directions of the aircraftAcceleration, flight mach number and dynamic pressure value of the aircraft,,、、andrespectively representing the state matrix, control matrix, observation matrix and feedforward matrix of the model.
9. The aircraft modeling and model characteristic analysis system of claim 8 wherein said aircraft longitudinal motion state linearization model is:
wherein the content of the first and second substances,is the longitudinal motion state quantity of the aircraft,is the derivative of the longitudinal state of motion quantity of the aircraft,for the longitudinal motion input, the longitudinal motion output of the model,、、Andand the state matrix, the control matrix, the observation matrix and the feedforward matrix respectively represent the longitudinal motion state linearization model.
10. The aircraft modeling and model characteristic analysis system of claim 8 wherein said aircraft lateral motion state linearization model is:
wherein the content of the first and second substances,is the lateral motion state quantity of the aircraft,is the derivative of the lateral state of motion quantity of the aircraft,for the input of lateral motion, the output of lateral motion of the model,、、Andand the state matrix, the control matrix, the observation matrix and the feedforward matrix respectively represent the lateral motion state linearization model.
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