CN112947520B - Attitude control method and device for improving stability of low-speed aircraft under stall - Google Patents

Attitude control method and device for improving stability of low-speed aircraft under stall Download PDF

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Publication number
CN112947520B
CN112947520B CN202110180688.6A CN202110180688A CN112947520B CN 112947520 B CN112947520 B CN 112947520B CN 202110180688 A CN202110180688 A CN 202110180688A CN 112947520 B CN112947520 B CN 112947520B
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aircraft
pitch angle
stall
low
theta
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CN112947520A (en
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姚焱熠
郑勇斌
吕杰
吴天泽
王晓东
张庆兵
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Beijing Institute of Electronic System Engineering
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Beijing Institute of Electronic System Engineering
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
    • G05D1/0833—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using limited authority control

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  • Engineering & Computer Science (AREA)
  • Computer Security & Cryptography (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses an attitude control method and device for improving stability under stall of a low-speed aircraft, wherein the method comprises the following steps: s10, constructing an aircraft stall attitude control loop; s20, calculating a pitch angle command correction quantity delta theta of the aircraft; s30, according to flightObtaining a pitch angle instruction theta by the pitch angle criterion of the aircraft flight and the pitch angle instruction correction quantity i And the pitch angle command theta is given i And transmitting the control signal to an aircraft stall attitude control loop in real time to control the stability of the low-speed aircraft. The embodiment of the invention can control the stability of the low-speed aircraft, improve the attitude stability of the low-speed aircraft under stall, and enable the low-speed aircraft to have stronger attitude wind resistance stability.

Description

Attitude control method and device for improving stability of low-speed aircraft under stall
Technical Field
The invention relates to the field of attitude control of low-speed aircrafts, in particular to an attitude control method and device for improving stability under stall of a low-speed aircraft, a computer-readable storage medium and computer equipment.
Background
Because the flying speed of a certain item of aircraft is lower and is basically equivalent to the wind speed, the attitude of the aircraft is unstable when the airspeed of the aircraft is lower, namely in a stalling state.
Disclosure of Invention
It is an object of the present invention to provide an attitude control method, apparatus, computer readable storage medium and computer device for improved stability at low speed aircraft stalls.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides an attitude control method for improving stability at low-speed aircraft stall, comprising:
s10, constructing an aircraft stall attitude control loop;
s20, calculating a pitch angle command correction quantity delta theta of the aircraft;
s30, obtaining a pitch angle instruction theta according to the pitch angle criterion of the flying of the aircraft and the pitch angle instruction correction quantity i And the pitch angle command theta is given i Real-time transmission to aircraft stall attitude control loop。
In one particular embodiment, the aircraft stall attitude control loop comprises:
aircraft stall command generator, stall attitude controller, pitch angle command generator, pitch angle control loop, aircraft and airspeed measuring device, wherein
The output end of the aircraft stall instruction generator is connected with the input end of the stall attitude controller;
the output end of the stall attitude controller is connected with the input end of the pitch angle instruction generator;
the output end of the pitch angle instruction generator is connected with the input end of the pitch angle control loop;
the output end of the pitch angle control loop is connected with the input end of the aircraft;
the output end of the aircraft is connected with the input end of the airspeed measuring device;
the output end of the airspeed measuring device is connected with the input end of the stall attitude controller.
In a specific embodiment, the S20 includes:
s200, measuring the airspeed measuring device in real time to obtain an output signal V of the airspeed measuring device k ；
S202, outputting a signal V by a generator according to an aircraft stall command low And airspeed measuring device output signal V k Obtaining an aircraft airspeed deviation signal delta V = V k -V low ；
S204, calculating a pitch angle command correction quantity delta theta as follows: Δ θ = K v ×(V k -V low ) If Δ θ>0, let Δ θ =0, where K v Is a control parameter of the stall attitude controller.
In a particular embodiment, the pitch angle command θ i Comprises the following steps: theta i ＝θ * + Δ θ, where θ * Is the theoretical flight pitch angle value.
In a second aspect, the present invention provides an attitude control device for improving stability at low-speed aircraft stalls, comprising:
the construction module is used for constructing an aircraft stall attitude control loop;
the calculation module is used for calculating a pitch angle command correction quantity delta theta of the aircraft;
a control module for obtaining a pitch angle instruction theta according to the pitch angle criterion of the aircraft flight and the pitch angle instruction correction i And the pitch angle command theta is calculated i And transmitting the signal to an aircraft stall attitude control loop in real time.
In one particular embodiment, the aircraft stall attitude control loop comprises:
aircraft stall command generator, stall attitude controller, pitch angle command generator, pitch angle control loop, aircraft and airspeed measuring device, wherein
The output end of the aircraft stall instruction generator is connected with the input end of the stall attitude controller;
the output end of the stall attitude controller is connected with the input end of the pitch angle instruction generator;
the output end of the pitch angle instruction generator is connected with the input end of the pitch angle control loop;
the output end of the pitch angle control loop is connected with the input end of the aircraft;
the output end of the aircraft is connected with the input end of the airspeed measuring device;
the output end of the airspeed measuring device is connected with the input end of the stall attitude controller.
In a specific embodiment, the calculation module includes:
real-time measurement is carried out on the airspeed measuring device to obtain an output signal V of the airspeed measuring device k ；
According to the aircraft stall command generator output signal V low And airspeed measuring device output signal V k Obtaining an airspeed deviation signal delta V = V of the aircraft k -V low ；
The calculated pitch angle command correction amount delta theta is as follows: Δ θ = K v ×(V k -V low ) If Δ θ>0, let Δ θ =0, where K v Is a control parameter of the stall attitude controller.
In a specific embodimentIn this example, the pitch angle command θ i Comprises the following steps: theta i ＝θ * + Δ θ, where θ * Is the theoretical flight pitch angle value.
In a third aspect, the present invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the method according to the first aspect of the present invention.
In a fourth aspect, the invention provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method according to the first aspect when executing the program.
The invention has the following beneficial effects:
the invention provides an attitude control method for improving stability of a low-speed aircraft under stall, which can control the stability of the low-speed aircraft, improve the attitude stability of the low-speed aircraft under stall and enable the low-speed aircraft to have stronger attitude wind resistance stability.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 shows a flow diagram of an attitude control method for improving stability at low speed aircraft stall according to an embodiment of the invention.
FIG. 2 shows a schematic diagram of an aircraft stall attitude control loop according to an embodiment of the invention.
FIG. 3 illustrates a schematic diagram of an attitude control device for improving stability at low speed aircraft stalls, according to an embodiment of the present invention.
FIG. 4 shows a schematic diagram of a computer device according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in FIG. 1, one embodiment of the present invention provides an attitude control method for improving stability at low speed aircraft stall, comprising:
s10, constructing an aircraft stall attitude control loop.
In one particular embodiment, as shown in FIG. 2, the aircraft stall attitude control loop comprises:
an aircraft stall command generator 1, a stall attitude controller 2, a pitch angle command generator 3, a pitch angle control loop 4, an aircraft 5 and an airspeed measuring device 6, wherein
The output end of the aircraft stall instruction generator 1 is connected with the input end of the stall attitude controller 2;
the output end of the stall attitude controller 2 is connected with the input end of the pitch angle instruction generator 3;
the output end of the pitch angle instruction generator 3 is connected with the input end of the pitch angle control loop 4;
the output end of the pitch angle control loop 4 is connected with the input end of the aircraft 5;
the output end of the aircraft 5 is connected with the input end of an airspeed measuring device 6;
the output end of the airspeed measuring device 6 is connected with the input end of the stall attitude controller 2.
And S20, calculating a pitching angle command correction quantity delta theta of the aircraft.
In a specific embodiment, the S20 includes:
s200, measuring the airspeed measuring device in real time to obtain an output signal V of the airspeed measuring device k ；
S202, outputting a signal V by a generator according to an aircraft stall command low And airspeed measuring device output signal V k Obtaining an aircraft airspeed deviation signal delta V = V k -V low Wherein the stall command generator outputs a signal V low Is a threshold value that is set based on the desired flight condition of the aircraft.
S204, calculating to obtain a pitch angle instructionCorrection amount Δ θ is: Δ θ = K v ×(V k -V low ) If Δ θ>0, let Δ θ =0; if delta theta is less than or equal to 0, the pitching angle command correction quantity delta theta is a delta theta value which is actually obtained, wherein K v Is a control parameter of the stall attitude controller.
S30, obtaining a pitch angle instruction theta according to the pitch angle criterion of the flying of the aircraft and the pitch angle instruction correction quantity i And the pitch angle command theta is given i And transmitting the control signal to an aircraft stall attitude control loop in real time to control the stability of the low-speed aircraft.
In a particular embodiment, the pitch angle command θ i Comprises the following steps: theta i ＝θ * + Δ θ, where θ * Is the theoretical flight pitch angle value.
As shown in FIG. 3, one embodiment of the present invention provides an attitude control device for improving stability at low-speed aircraft stalls, comprising:
the construction module is used for constructing an aircraft stall attitude control loop;
the calculation module is used for calculating a pitch angle command correction quantity delta theta of the aircraft;
a control module for obtaining a pitch angle instruction theta according to the pitch angle criterion of the aircraft flight and the pitch angle instruction correction i And the pitch angle command theta is calculated i And transmitting the signal to an aircraft stall attitude control loop in real time.
In one particular embodiment, the aircraft stall attitude control loop comprises:
aircraft stall command generator, stall attitude controller, pitch angle command generator, pitch angle control loop, aircraft and airspeed measuring device, wherein
The output end of the aircraft stall instruction generator is connected with the input end of the stall attitude controller;
the output end of the stall attitude controller is connected with the input end of the pitch angle instruction generator;
the output end of the pitch angle instruction generator is connected with the input end of the pitch angle control loop;
the output end of the pitch angle control loop is connected with the input end of the aircraft;
the output end of the aircraft is connected with the input end of the airspeed measuring device;
the output end of the airspeed measuring device is connected with the input end of the stall attitude controller.
In a specific embodiment, the calculation module includes:
real-time measurement is carried out on the airspeed measuring device to obtain an output signal V of the airspeed measuring device k ；
According to the aircraft stall command generator output signal V low And airspeed measuring device output signal V k Obtaining an aircraft airspeed deviation signal delta V = V k -V low ；
The pitch angle command correction amount delta theta is calculated as follows: Δ θ = K v ×(V k -V low ) If Δ θ>0, let Δ θ =0, where K v Is a control parameter of the stall attitude controller.
In a particular embodiment, the pitch angle command θ i Comprises the following steps: theta i ＝θ * + Δ θ, where θ * Is the theoretical flight pitch angle value.
Another embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements:
s10, constructing an aircraft stall attitude control loop;
s20, calculating a pitch angle command correction quantity delta theta of the aircraft;
s30, obtaining a pitch angle instruction theta according to a pitch angle criterion of aircraft flight and the pitch angle instruction correction quantity i And the pitch angle command theta is calculated i And transmitting the signal to an aircraft stall attitude control loop in real time.
In practice, the computer-readable storage medium may take any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. 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 (a non-exhaustive list) of the computer readable storage medium would include the following: 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 embodiment, 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.
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 any of a variety of 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, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention 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).
As shown in fig. 4, another embodiment of the present invention provides a schematic structural diagram of a computer device. The computer device 12 shown in FIG. 4 is only an example and should not impose any limitations on the functionality or scope of use of embodiments of the present invention.
As shown in FIG. 4, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Computer device 12 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, and commonly referred to as a "hard drive"). Although not shown in FIG. 4, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of embodiments of the invention as described.
Computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with computer device 12, and/or with any devices (e.g., network card, modem, etc.) that enable computer device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, computer device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via network adapter 20. As shown in FIG. 4, the network adapter 20 communicates with the other modules of the computer device 12 via the bus 18. It should be appreciated that although not shown in FIG. 4, other hardware and/or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, to name a few.
The processor unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, for example, implementing an attitude control method for improving stability at a stall of a low-speed aircraft according to an embodiment of the present invention.
It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations or modifications may be made on the basis of the above description, and all embodiments may not be exhaustive, and all obvious variations or modifications may be included within the scope of the present invention.

Claims (4)

1. An attitude control method for improving stability at stall of a low-speed aircraft, comprising:
s10, constructing an aircraft stall attitude control loop;
s20, calculating a pitch angle command correction quantity delta theta of the aircraft;
s30, obtaining a pitch angle instruction theta according to the pitch angle criterion of the flying of the aircraft and the pitch angle instruction correction quantity i And the pitch angle command theta is given i Real-time transmitting to an aircraft stall attitude control loop;
the aircraft stall attitude control loop comprises:
aircraft stall command generator, stall attitude controller, pitch angle command generator, pitch angle control loop, aircraft and airspeed measuring device, wherein
The output end of the aircraft stall command generator is connected with the input end of the stall attitude controller;
the output end of the stall attitude controller is connected with the input end of the pitch angle instruction generator;
the output end of the pitch angle instruction generator is connected with the input end of the pitch angle control loop;
the output end of the pitch angle control loop is connected with the input end of the aircraft;
the output end of the aircraft is connected with the input end of the airspeed measuring device;
the output end of the airspeed measuring device is connected with the input end of the stall attitude controller;
the S20 comprises:
s200, measuring the airspeed measuring device in real time to obtain an output signal V of the airspeed measuring device k ；
S202, outputting a signal V by a generator according to an aircraft stall command low And airspeed measuring device output signal V k Obtaining an aircraft airspeed deviation signal delta V = V k -V low Stall command generator output signal V low A threshold value, which is set according to the ideal flight state of the aircraft;
s204, calculating a pitch angle command correction quantity delta theta as follows: Δ θ = K v ×(V k -V low ) If Δ θ > 0, let Δ θ =0, where K v Is a control parameter of the stall attitude controller;
the pitch angle command θ i Comprises the following steps: theta.theta. i ＝θ * + Δ θ, where θ * Is the theoretical flight pitch angle value.
2. An attitude control device for improving stability at low-speed aircraft stall, comprising:
the construction module is used for constructing an aircraft stall attitude control loop;
the calculation module is used for calculating a pitch angle command correction quantity delta theta of the aircraft;
a control module for obtaining a pitch angle instruction theta according to the pitch angle criterion of the flying of the aircraft and the pitch angle instruction correction i And the pitch angle command theta is calculated i Real-time transmitting to the aircraft stall attitude control loop;
the aircraft stall attitude control loop comprises:
aircraft stall command generator, stall attitude controller, pitch angle command generator, pitch angle control loop, aircraft and airspeed measuring device, wherein
The output end of the aircraft stall instruction generator is connected with the input end of the stall attitude controller;
the output end of the stall attitude controller is connected with the input end of the pitch angle instruction generator;
the output end of the pitch angle instruction generator is connected with the input end of the pitch angle control loop;
the output end of the pitch angle control loop is connected with the input end of the aircraft;
the output end of the aircraft is connected with the input end of the airspeed measuring device;
the output end of the airspeed measuring device is connected with the input end of the stall attitude controller;
the calculation module comprises:
real-time measurement is carried out on the airspeed measuring device to obtain an output signal V of the airspeed measuring device k ；
According to the aircraft stall command generator output signal V low And airspeed measuring device output signal V k Obtaining an airspeed deviation signal delta V = V of the aircraft k -V low Stall command generator output signal V low A threshold value, which is set according to the ideal flight state of the aircraft;
the pitch angle command correction amount delta theta is calculated as follows: Δ θ = K v ×(V k -V low ) If Δ θ > 0, let Δ θ =0, where K v Is a control parameter of the stall attitude controller;
the pitch angle command θ i Comprises the following steps: theta.theta. i ＝θ * + Δ θ, where θ * Is the theoretical flight pitch angle value.
3. A computer-readable storage medium having stored thereon a computer program, characterized in that,
the program when executed by a processor implements the method of claim 1.
4. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor,
the processor, when executing the program, implements the method of claim 1.
CN202110180688.6A 2021-02-08 2021-02-08 Attitude control method and device for improving stability of low-speed aircraft under stall Active CN112947520B (en)

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