CN113359793A - Compensation method and device for improving airspeed control quality of low-speed aircraft - Google Patents
Compensation method and device for improving airspeed control quality of low-speed aircraft Download PDFInfo
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Abstract
The invention discloses a compensation method and a compensation device for improving airspeed control quality of a low-speed aircraft, which are used for solving the problem of airspeed control of the low-speed aircraft under large-attitude coupling. The method comprises the steps of constructing an aircraft airspeed control compensation branch, carrying out data acquisition and processing on an inertial measurement unit and data processing on a navigation module, determining an airspeed compensation command generator, introducing an airspeed compensation command into an airspeed control damping loop, and completing the compensation method for improving the airspeed control quality. The compensation method for improving the airspeed control quality solves the problem of airspeed control of the low-speed aircraft under large attitude coupling.
Description
Technical Field
The invention relates to the field of low-speed aircrafts for improving airspeed control quality, in particular to a compensation method and a compensation device for improving airspeed control quality of a low-speed aircraft.
Background
The aircraft flying by utilizing the aerodynamic lift usually needs to ensure stable flight by controlling airspeed, for the low-speed aircraft of the type, because the flying speed is lower, the aerodynamic lift needs to be generated by utilizing attitude angle change in the process of carrying out trajectory control, an airspeed control loop is strongly coupled with the attitude of the aircraft, the airspeed control quality can be obviously reduced under the condition of large attitude adjustment, particularly, when wind interference exists, the stall phenomenon easily occurs when the airspeed control quality of the low-speed aircraft is reduced, the attitude of the aircraft is easily unstable under the stall state, in order to keep the attitude stable, the airspeed needs to be adjusted, and the requirement is provided for the airspeed control quality under the large attitude coupling.
Disclosure of Invention
The invention provides a compensation method and a compensation device for improving airspeed control quality of a low-speed aircraft, which are used for solving the problem of airspeed control of the low-speed aircraft under large attitude coupling.
In a first aspect, a compensation method for improving airspeed control quality of a low-speed aircraft is provided, which includes:
constructing an aircraft airspeed control compensation branch, wherein the compensation branch comprises an inertia measuring device, a navigation module and an aircraft airspeed compensation instruction generator;
acquiring a pitch angle, a course angle, a rolling angle and an x-axis acceleration of the aircraft at the current moment and a conversion matrix from a navigation reference coordinate system to an aircraft body coordinate system according to the output data of the inertia measurement device;
acquiring a component of the gravitational acceleration borne by the current position of the aircraft under a navigation reference coordinate system according to the navigation module, and converting the component under the navigation reference coordinate system into an aircraft body coordinate system by using the conversion matrix;
the aircraft airspeed compensation instruction generator extracts a compensation value according to the gravitational acceleration of the earth under the aircraft body coordinate system, introduces the compensation value into the airspeed control damping loop, and obtains a feedback signal of the airspeed control damping loop.
In an embodiment, the input of compensation branch road links to each other with aircraft and inertial measurement unit input, and the output of compensation branch road links to each other with airspeed control damping circuit, and inertial measurement unit's output links to each other with navigation module's input, and navigation module's output links to each other with aircraft airspeed compensation command generator's input, and airspeed compensation command generator's output links to each other with the output of compensation branch road.
In one embodiment, the obtaining, according to the output data of the inertial measurement unit, a pitch angle, a heading angle, a roll angle, and an x-axis acceleration of the aircraft at the current time, and a transformation matrix from a navigation reference coordinate system to an aircraft body coordinate system specifically includes:
extracting a pitch angle theta, a course angle psi, a roll angle gamma and an x-axis acceleration ax of the aircraft at the current moment according to output data of an inertial measurement device of the aircraft, and calculating a conversion matrix from a navigation reference coordinate system to an aircraft body coordinate system as follows:
in one embodiment, the obtaining, according to the navigation module, a component of the acceleration of earth gravity, which is received by the current position of the aircraft, in a navigation reference coordinate system, and converting the component into an aircraft body coordinate system by using the conversion matrix specifically includes:
the navigation module provides a component gF ═ gF of the acceleration of the earth gravity borne by the current position of the aircraft under a navigation reference coordinate systemx gFy gFz]TAnd converting the coordinate system of the aircraft body into the coordinate system of the aircraft body:
in one embodiment, the aircraft airspeed compensation command generator is based on acceleration of spherical gravity in an aircraft body coordinate systemExtracting the compensation value delta U-g 1xAnd introducing the feedback signal into a damping loop in an airspeed control structure to form a feedback signal U of the damping loopzKz (ax + Δ U), where kz is a control parameter of the damping loop.
In a second aspect, a compensation device for improving airspeed control quality of a low-speed aircraft is provided, which comprises:
the aircraft airspeed control compensation device comprises a construction unit, a control unit and a control unit, wherein the construction unit is used for constructing an aircraft airspeed control compensation branch, and the compensation branch comprises an inertia measurement device, a navigation module and an aircraft airspeed compensation instruction generator;
the acquisition unit is used for acquiring a pitch angle, a course angle and a rolling angle of the aircraft at the current moment, an x-axis acceleration of the aircraft and a conversion matrix from a navigation reference coordinate system to an aircraft body coordinate system according to the output data of the inertia measurement device;
the conversion unit is used for acquiring the component of the gravity acceleration borne by the current position of the aircraft under a navigation reference coordinate system according to the navigation module and converting the component into an aircraft body coordinate system by using the conversion matrix;
and the compensation unit is used for driving the aircraft airspeed compensation command generator to extract a compensation value according to the gravitational acceleration of the earth under the aircraft body coordinate system, and introducing the compensation value into the airspeed control damping loop to obtain a feedback signal of the airspeed control damping loop.
In an embodiment, the acquisition unit is specifically configured to extract a pitch angle θ, a heading angle ψ, a roll angle γ, and an x-axis acceleration ax of the aircraft at the current time according to output data of the aircraft inertia measurement device, and calculate a conversion matrix from the navigation reference coordinate system to the aircraft body coordinate system as follows:
in one embodiment, the conversion unit is specifically configured to divide the gravitational acceleration received by the current position of the aircraft provided by the navigation module into components in a navigation reference coordinate systemQuantity gF ═ gFx gFy gFz]TAnd converting the coordinate system of the aircraft body into the coordinate system of the aircraft body:
in one embodiment, the compensation unit is specifically configured to drive the aircraft airspeed compensation command generator to extract the compensation value Δ U ═ g1 according to the acceleration of gravity of the sphere in the aircraft body coordinate systemxAnd introducing the feedback signal into a damping loop in an airspeed control structure to form a feedback signal U of the damping loopzKz (ax + Δ U), where kz is a control parameter of the damping loop.
In a third aspect, there is provided a computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform any of the steps of the method of the first aspect.
The compensation method, the compensation device and the storage medium for improving the airspeed control quality of the low-speed aircraft provided by the embodiment can improve the airspeed control quality of the low-speed aircraft under the large-attitude coupling, further improve the wind-resistant flight stability of the low-speed aircraft, and solve the problem of airspeed control of the low-speed aircraft under the large-attitude coupling.
Drawings
FIG. 1 is a block diagram of a compensation method for improving airspeed control quality of a low-speed aircraft according to an embodiment of the invention;
fig. 2 is a schematic structural diagram of a compensating device for improving the quality of airspeed control of a low-speed aircraft according to an embodiment of the invention.
1. Aircraft 2 inertial measurement unit 3 navigation module
4. Airspeed compensation command generator 5 of aircraft airspeed control damping loop
Detailed Description
In order to solve the problem of airspeed control of a low-speed aircraft under large attitude coupling, the embodiment of the invention provides a compensation method and a compensation device for improving the airspeed control quality of the low-speed aircraft.
The terms "first," "second," and the like in the description and in the claims, and in the drawings, in the embodiments of the invention are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein.
Reference herein to "a plurality or a number" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings of the specification, it being understood that the preferred embodiments described herein are merely for illustrating and explaining the present invention, and are not intended to limit the present invention, and that the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.
Example 1
As shown in fig. 1, it is a structural block diagram of a compensation method for improving airspeed control quality of a low-speed aircraft according to an embodiment of the present invention, and the method includes the following steps:
s11, constructing an aircraft airspeed control compensation branch, wherein the compensation branch comprises an inertia measuring device 2, a navigation module 3 and an aircraft airspeed compensation instruction generator 4;
in this step, the input of compensation branch road links to each other with aircraft 1 and 2 inputs of inertial measurement unit, and the output of compensation branch road links to each other with airspeed control damping circuit 5, and inertial measurement unit 2's output links to each other with navigation module 3's input, and navigation module 3's output links to each other with aircraft airspeed compensation command generator 4's input, and airspeed compensation command generator 4's output links to each other with the output of compensation branch road.
S12, acquiring a pitch angle, a course angle, a rolling angle and an x-axis acceleration of the aircraft 1 at the current moment according to the output data of the inertia measurement device 2, and a conversion matrix from a navigation reference coordinate system to an aircraft body coordinate system;
in this step, according to the output data of the aircraft inertia measurement device 2, the pitch angle θ, the course angle ψ, the roll angle γ, and the x-axis acceleration ax of the aircraft at the current time are extracted, and the conversion matrix from the navigation reference coordinate system to the aircraft body coordinate system is calculated as follows:
s13, acquiring the component of the gravity acceleration on the current position of the aircraft 1 in a navigation reference coordinate system according to the navigation module 3, and converting the component into an aircraft body coordinate system by using the conversion matrix;
in this step, the navigation module 3 provides a component gF ═ gF of the acceleration of earth gravity received by the current position of the aircraft 1 in the navigation reference coordinate systemx gFy gFz]TAnd converting the coordinate system of the aircraft body into the coordinate system of the aircraft body:
and S14, the aircraft airspeed compensation command generator 4 extracts a compensation value according to the gravitational acceleration of the earth under the aircraft body coordinate system, introduces the compensation value into the airspeed control damping loop 5, and obtains a feedback signal of the airspeed control damping loop 5.
In this step, the aircraft airspeed compensation command generator extracts a compensation value Δ U ═ g1 according to the acceleration of gravity of the earth under the aircraft body coordinate systemxAnd introducing the feedback signal into a damping loop 5 in an airspeed control structure to form a feedback signal U of the damping loopzKz (ax + Δ U), where kz is a control parameter of the damping loop.
Example 2
In order to better understand the present invention, the following description is made with reference to specific examples, and in order to achieve the above object, the technical solution adopted by the present invention is:
the attitude control method for improving stability of the low-speed aircraft under stall comprises the following specific steps:
first step, constructing an airspeed control compensation branch of an aircraft
An aircraft airspeed control compensation branch comprising: the device comprises an aircraft 1, an inertia measuring device 2, a navigation module 3, an aircraft airspeed compensation instruction generator 4 and an airspeed control damping loop 5.
The input of aircraft airspeed control compensation branch links to each other with aircraft 1, and its output links to each other with airspeed control damping circuit 5, in the compensation branch, the input links to each other with inertia measuring device 2, and inertia measuring device 2's output links to each other with navigation module 3's input, and navigation module 3's output links to each other with aircraft airspeed compensation command generator 4's input, and airspeed compensation command generator 4's output links to each other with the output of compensation branch.
Second step inertial measurement unit 2 data acquisition and processing
According to the output data of the aircraft inertia measuring device 2, extracting the pitch angle theta, the course angle psi, the rolling angle gamma and the x axial acceleration ax of the aircraft 1 at the current moment, and calculating a conversion matrix from a navigation reference coordinate system to an aircraft body coordinate system as follows:
third step navigation module 3 data processing
The navigation module 3 can provide a component gF ═ gF [ gF ] of the acceleration of earth gravity to which the aircraft 1 is subjected in the current position in the navigation reference coordinate systemx gFy gFz]TAnd converting the coordinate system of the aircraft body into a coordinate system of the aircraft body
Fourthly, introducing an airspeed compensation instruction into an airspeed control loop
The airspeed compensation command generator 4 extracts the compensation value delta U-g 1 according to the calculation result of the third stepxAnd introducing the feedback signal into a damping loop 5 in an airspeed control structure to form a feedback signal U of the damping loop 5zKz (ax + Δ U), where kz is a control parameter of the damping circuit 5.
Therefore, the compensation method for improving the airspeed control quality of the low-speed aircraft is realized.
Based on the same technical concept, the embodiment of the application also provides a compensation device for improving the airspeed control quality of the low-speed aircraft, and because the problem solving principle of the device is similar to a compensation method for improving the airspeed control quality of the low-speed aircraft, the implementation of the device can refer to the implementation of the method, and repeated parts are not repeated.
Fig. 2 is a schematic structural diagram of a compensating device for improving the quality of airspeed control of a low-speed aircraft according to an embodiment of the present invention, including:
the construction unit 21 is used for constructing an aircraft airspeed control compensation branch, and the compensation branch comprises an inertia measurement device, a navigation module and an aircraft airspeed compensation instruction generator;
the acquisition unit 22 is used for acquiring a pitch angle, a course angle and a rolling angle of the aircraft at the current moment, an x-axis acceleration of the aircraft, and a conversion matrix from a navigation reference coordinate system to an aircraft body coordinate system according to the output data of the inertia measurement device;
the conversion unit 23 is configured to obtain, according to the navigation module, a component of the gravitational acceleration applied to the current position of the aircraft in a navigation reference coordinate system, and convert the component into an aircraft body coordinate system by using the conversion matrix;
and the compensation unit 24 is used for driving the aircraft airspeed compensation command generator to extract a compensation value according to the gravitational acceleration of the earth under the aircraft body coordinate system, and introducing the compensation value into the airspeed control damping loop to obtain a feedback signal of the airspeed control damping loop.
Based on the same technical concept, the present invention provides a computer-readable storage medium storing computer-executable instructions for causing a computer to perform a target recognition method based on a single radar target line-of-sight angle.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (10)
1. A compensation method for improving airspeed control quality of a low-speed aircraft is characterized by comprising the following steps:
constructing an aircraft airspeed control compensation branch, wherein the compensation branch comprises an inertia measuring device, a navigation module and an aircraft airspeed compensation instruction generator;
acquiring a pitch angle, a course angle, a rolling angle and an x-axis acceleration of the aircraft at the current moment and a conversion matrix from a navigation reference coordinate system to an aircraft body coordinate system according to the output data of the inertia measurement device;
acquiring a component of the gravitational acceleration borne by the current position of the aircraft under a navigation reference coordinate system according to the navigation module, and converting the component under the navigation reference coordinate system into an aircraft body coordinate system by using the conversion matrix;
the aircraft airspeed compensation instruction generator extracts a compensation value according to the gravitational acceleration of the earth under the aircraft body coordinate system, introduces the compensation value into the airspeed control damping loop, and obtains a feedback signal of the airspeed control damping loop.
2. The method of claim 1, wherein the input of the compensation branch is connected to the aircraft and the input of the inertial measurement unit, the output of the compensation branch is connected to the airspeed control damping loop, the output of the inertial measurement unit is connected to the input of the navigation module, the output of the navigation module is connected to the input of an airspeed compensation command generator of the aircraft, and the output of the airspeed compensation command generator is connected to the output of the compensation branch.
3. The method according to claim 2, wherein obtaining the pitch angle, the heading angle, the roll angle, and the x-axis acceleration of the aircraft at the current time and the transformation matrix from the navigation reference coordinate system to the aircraft body coordinate system according to the output data of the inertial measurement unit specifically comprises:
extracting a pitch angle theta, a course angle psi, a roll angle gamma and an x-axis acceleration ax of the aircraft at the current moment according to output data of an inertial measurement device of the aircraft, and calculating a conversion matrix from a navigation reference coordinate system to an aircraft body coordinate system as follows:
4. the method of claim 3,
obtaining the component of the gravitational acceleration of the earth on the current position of the aircraft under a navigation reference coordinate system according to the navigation module, and converting the component into an aircraft body coordinate system by using the conversion matrix, which specifically comprises:
the navigation module provides a component gF ═ gF of the acceleration of the earth gravity borne by the current position of the aircraft under a navigation reference coordinate systemx gFy gFz]TAnd converting the coordinate system of the aircraft body into the coordinate system of the aircraft body:
5. the method according to claim 4, wherein the aircraft airspeed compensation command generator extracts a compensation value according to the gravitational acceleration of the earth in the aircraft body coordinate system, introduces the compensation value into the airspeed control damping loop, and obtains a feedback signal of the airspeed control damping loop, and specifically comprises:
the aircraft airspeedThe compensation command generator extracts a compensation value delta U-g 1 according to the acceleration of the earth gravity in the body coordinate system of the aircraftxAnd introducing the feedback signal into an airspeed control damping loop to form a feedback signal U of the damping loopzKz (ax + Δ U), where kz is a control parameter of the damping loop.
6. A compensation device for improving airspeed control quality of a low-speed aircraft is characterized by comprising:
the aircraft airspeed control compensation device comprises a construction unit, a control unit and a control unit, wherein the construction unit is used for constructing an aircraft airspeed control compensation branch, and the compensation branch comprises an inertia measurement device, a navigation module and an aircraft airspeed compensation instruction generator;
the acquisition unit is used for acquiring a pitch angle, a course angle and a rolling angle of the aircraft at the current moment, an x-axis acceleration of the aircraft and a conversion matrix from a navigation reference coordinate system to an aircraft body coordinate system according to the output data of the inertia measurement device;
the conversion unit is used for acquiring the component of the gravity acceleration borne by the current position of the aircraft under a navigation reference coordinate system according to the navigation module and converting the component into an aircraft body coordinate system by using the conversion matrix;
and the compensation unit is used for driving the aircraft airspeed compensation command generator to extract a compensation value according to the gravitational acceleration of the earth under the aircraft body coordinate system, and introducing the compensation value into the airspeed control damping loop to obtain a feedback signal of the airspeed control damping loop.
7. The apparatus of claim 6,
the acquisition unit is specifically used for extracting a pitch angle theta, a course angle psi and a roll angle gamma of the aircraft at the current moment and an x axial acceleration ax of the aircraft according to the output data of the aircraft inertia measurement device, and calculating a conversion matrix from a navigation reference coordinate system to an aircraft body coordinate system as follows:
8. the apparatus of claim 7,
the conversion unit is specifically configured to convert a component gF ═ gF [ gF ] of the acceleration of earth gravity received by the current position of the aircraft provided by the navigation module in the navigation reference coordinate systemx gFy gFz]TAnd converting the coordinate system of the aircraft body into the coordinate system of the aircraft body:
9. the apparatus of claim 8,
the compensation unit is specifically used for driving the aircraft airspeed compensation command generator to extract a compensation value delta U-g 1 according to the acceleration of gravity of the ground ball under the aircraft body coordinate systemxAnd introducing the feedback signal into a damping loop in an airspeed control structure to form a feedback signal U of the damping loopzKz (ax + Δ U), where kz is a control parameter of the damping loop.
10. A computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform the method of any of claims 1 to 5.
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