CN115390590B - Large maneuvering control method and related equipment for axisymmetric aircraft - Google Patents
Large maneuvering control method and related equipment for axisymmetric aircraft Download PDFInfo
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- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The invention provides a large maneuvering control method of an axisymmetric aircraft and related equipment, wherein the method comprises the following steps: determining the flight attack angle, the sideslip angle and the Mach number required by the axisymmetric aircraft in the whole flight process according to the technical indexes of the axisymmetric aircraft; calculating the control surface requirement of the axisymmetric aircraft in the flying process at all working condition points; acquiring a control plane full bias value, and judging the control plane requirement and the control plane full bias value at all working condition points; when the control surface requirement is smaller than the control surface full deviation value under all working condition points, adopting a sideslip turning control strategy in the whole flight trajectory; when the control surface requirement under one of all the working condition points is greater than or equal to the full deviation value of the control surface, dividing the flight trajectory into a large maneuvering section and a normal flight section, wherein a banked turning control strategy is adopted in the large maneuvering section, and a sideslip turning control strategy is adopted in the normal flight section; the maneuverability of the axisymmetric aircraft is fully exerted, and the stable and accurate control capability of the flying trajectory of the axisymmetric aircraft is ensured.
Description
Technical Field
The invention relates to the technical field of control of axisymmetric aircrafts, in particular to a large maneuvering control method of an axisymmetric aircraft and related equipment.
Background
The axial symmetry aircraft generally adopts a sideslip turning (STT) strategy, and when the axial symmetry aircraft has a longer flight distance and is maneuvered laterally, the flight attack angle and the sideslip angle are generally larger. When the flight attack angle and the sideslip angle are simultaneously larger, the efficiency of the longitudinal control surface and the lateral control surface is sharply reduced, so that the flight attack angle and the sideslip angle are balanced by a larger pitching control surface and a yawing control surface, the deflection value of the control surface is limited, and the control surface is difficult to achieve the required value under the actual condition.
At present, in order to match the control surface requirement with the flight attack angle and the sideslip angle, a method for limiting the flight attack angle and the flight sideslip angle is generally adopted, but the method cannot fully exert the maneuvering capability of an axisymmetric aircraft.
Disclosure of Invention
The invention provides a large maneuvering control method and related equipment for an axisymmetric aircraft, and aims to give full play to the maneuvering capability of the axisymmetric aircraft and ensure the stable and accurate control capability of the flying trajectory of the axisymmetric aircraft.
In order to achieve the aim, the invention provides a large maneuvering control method of an axisymmetric aircraft, which comprises the following steps:
step 1, determining a flight attack angle, a sideslip angle and a Mach number required by the axisymmetric aircraft in the whole flight process according to technical indexes of the axisymmetric aircraft;
step 2, calculating control surface requirements of the axisymmetric aircraft in flight at all working condition points according to flight attack angle requirements, sideslip angle requirements and Mach number requirements;
step 3, acquiring a control plane full bias value, and judging the control plane requirement and the control plane full bias value at all working condition points; when the control surface requirement is smaller than the control surface full deviation value under all working condition points, the whole flight trajectory of the axisymmetric aircraft adopts a sideslip turning control strategy; when the control surface requirement is larger than or equal to the control surface full deviation value at one working condition point of all working condition points, the axisymmetric aircraft divides a flight trajectory into a large maneuvering section and a normal flight section according to the control surface requirement and the control surface full deviation value, a tilt turning control strategy is adopted at the large maneuvering section, and a sideslip turning control strategy is adopted at the normal flight section.
Further, step 1 comprises:
establishing an axisymmetric aircraft motion model in a longitudinal plane;
simulating the motion model of the axisymmetric aircraft to obtain the lift force requirement required by the technical index of the axisymmetric aircraft;
by the formula
And
calculating the flight attack angle requirement and the sideslip angle requirement of the axisymmetric aircraft in the whole process;
wherein, the first and the second end of the pipe are connected with each other,
the lift force requirement required by the technical index of the axisymmetric aircraft,
for the dynamic pressure acting on the axisymmetric aircraft,
is the characteristic area of the axisymmetric aircraft,
is coefficient of lift
Angle of attack for flight
The derivative of (a) of (b),
is coefficient of lift
Opposite side sliding angle
The derivative of (c).
Further, step 2 comprises:
the control surface requirements of the axisymmetric aircraft in flight under all working conditions include: pitching control surface required by pitching channel under flight attack angle requirement, sideslip angle requirement and Mach number requirement
The yaw rudder required by the yaw passageFlour
；
A pitch control surface required by the pitch channel
The calculation formula is as follows:
a yaw control surface required by the yaw channel
The calculation formula is as follows:
wherein, the first and the second end of the pipe are connected with each other,
for any flight angle of attack
Side slip angle
Mach number of
The coefficient of the pitching moment of the time,
for any flight angle of attack
Side slip angle
Mach number of
The coefficient of the yaw moment in time,
for any flight angle of attack
Side slip angle
Mach number of
Time pitch moment coefficient versus pitch control surface
The partial derivative of (a) of (b),
for any flight angle of attack
Side slip angle
Mach number of
Yaw moment coefficient to yaw control surface
Partial derivatives of (a).
Further, the control plane full bias value comprises a control plane full bias value of a pitching channel and a control plane full bias value of a yawing channel;
the full deviation value of the control surface of the pitching channel is the maximum value of the pitching control surface
；
The full offset value of the control surface of the yawing channel is the maximum value of the yawing control surface
。
Further, before step 3, the method further comprises:
calculating the command acceleration of the axisymmetric aircraft under the missile system with the x axis constant
The formula is as follows:
wherein, the first and the second end of the pipe are connected with each other,
the three components of acceleration are commanded for the line of sight of an axisymmetric aircraft,
in order to be the acceleration of the gravity,
is a transformation matrix from a ground system to a projectile system,
is a transformation matrix from the line of sight system to the ground system.
Further, step 3 further comprises:
when the control surface is required at all operating points
And is provided with
And then, adopting a sideslip turning control strategy in the whole flight trajectory of the axisymmetric aircraft as follows:
the control surface requirement at one of all operating points
Or
When the flight trajectory with the control surface demand larger than the control surface full deviation value is regarded as a large maneuvering section, the flight trajectory with the control surface demand smaller than the control surface full deviation value is regarded as a normal flight section, and the axisymmetric aircraft adopts a control strategy of cooperation of banking turning and sideslip turning;
the axisymmetric aircraft adopts a bank control strategy in a large maneuvering section, and the bank control strategy is as follows:
the axisymmetric aircraft adopts a sideslip turning control strategy in a normal flight section, and the sideslip turning control strategy is as follows:
wherein, the first and the second end of the pipe are connected with each other,
the real-time roll angle of the projectile measured by the on-board sensor,
is a command of the rolling angle of the projectile body,
is an elastomer
An axial acceleration command is sent to the vehicle,
bullet body
An axial acceleration command.
Further, when the axisymmetric aircraft adopts a combined control strategy of bank turning and sideslip turning, the bank turning control strategy is switched into the sideslip turning control strategy in a command smoothing mode, wherein the command smoothing mode is as follows:
wherein the content of the first and second substances,
for the moment when the axisymmetric aircraft starts to switch the control strategy,
the time of flight for the axisymmetric aircraft in real time,
for the transition time interval of the axisymmetric aircraft switching control strategy,
，
，
to switch the control strategy to the control instruction immediately before,
，
，
and controlling the command for the first frame after the control strategy is switched.
The invention also provides a large motor control device of the axisymmetric aircraft, which comprises:
the flight attack angle and sideslip angle determining module is used for determining the flight attack angle, the sideslip angle and the Mach number required by the axial symmetry aircraft in the whole flight process according to the technical indexes of the axial symmetry aircraft;
the control surface demand calculation module is used for calculating the control surface demand of the axisymmetric aircraft in the flying process at all working condition points according to the flight attack angle demand, the sideslip angle demand and the Mach number demand;
the control strategy selection module is used for acquiring the control plane full bias value and judging the control plane requirement and the control plane full bias value at all working condition points; when the control surface requirement is smaller than the control surface full deviation value under all working condition points, the whole flight trajectory of the axisymmetric aircraft adopts a sideslip turning control strategy; when the control surface requirement is larger than or equal to the full deviation value of the control surface at one working condition point of all the working condition points, the axisymmetric aircraft divides a flight trajectory into a large maneuvering section and a normal flight section according to the control surface requirement and the full deviation value of the control surface, a banked turning control strategy is adopted at the large maneuvering section, and a side-slipping turning control strategy is adopted at the normal flight section.
The invention also provides a computer-readable storage medium for storing a computer program for implementing the above-mentioned large maneuver control method for the axisymmetric aircraft by executing the computer program.
The invention also provides large maneuvering control equipment of the axisymmetric aircraft, which is used for realizing the large maneuvering control method of the axisymmetric aircraft and comprises the following steps: a memory and a processor;
the memory is used for storing a computer program;
the processor is for executing the computer program stored by the memory.
The scheme of the invention has the following beneficial effects:
the method comprises the steps of firstly determining the flight attack angle and the sideslip angle of the axisymmetric aircraft in the whole flight process, and determining the time for adopting an inclined turning control strategy and a sideslip turning control strategy according to the matching of the flight attack angle, the sideslip angle, the Mach number and the control surface requirement, so that the maneuvering capability of the axisymmetric aircraft under the condition of a limited control surface is fully exerted, and the stable and accurate control capability of the flight trajectory of the axisymmetric aircraft is ensured; the principle is simple, and the engineering applicability is strong.
Other advantages of the present invention will be described in detail in the detailed description that follows.
Drawings
FIG. 1 is a schematic flow chart of an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "connected" and "connected" are to be understood broadly, for example, as being either a locked connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention provides a large maneuvering control method and related equipment for an axisymmetric aircraft aiming at the existing problems, wherein the large maneuvering control method and the related equipment are based on the axisymmetric aircraft and have larger flight attack angles and sideslip angles in the large maneuvering section of the flight trajectory with higher maneuvering capability requirements; the characteristic that the flight attack angle and the sideslip angle are small in the normal flight section of the flight trajectory is adopted, the control strategy of mutual switching of the inclined turning BTT and the sideslip turning STT is adopted, the maneuvering capability of the axisymmetric aircraft is fully exerted, and meanwhile the stable and accurate control capability of the flight trajectory of the axisymmetric aircraft is guaranteed.
As shown in fig. 1, an embodiment of the present invention provides a method for controlling a large maneuvering characteristic of an axisymmetric aircraft, including:
step 1, determining a flight attack angle, a sideslip angle and a Mach number required by the axisymmetric aircraft in the whole flight process according to technical indexes of the axisymmetric aircraft;
step 2, calculating control surface requirements of the axisymmetric aircraft in flight at all working points according to flight attack angle requirements, sideslip angle requirements and Mach number requirements;
step 3, acquiring a control plane full bias value, and judging the control plane requirement and the control plane full bias value at all working condition points; when the control surface requirement is smaller than the control surface full deviation value under all working condition points, the whole flight trajectory of the axisymmetric aircraft adopts a sideslip turning control strategy; when the control surface requirement is larger than or equal to the control surface full deviation value at one of all the working condition points, the axisymmetric aircraft divides the flight trajectory into a large maneuvering section and a normal flight section according to the control surface requirement and the control surface full deviation value, an inclined turning control strategy with strong maneuvering capability is adopted at the large maneuvering section, and a sideslip turning control strategy with high control precision is adopted at the normal flight section.
Specifically, step 1 includes:
according to the technical indexes of the axial symmetry aircraft such as the flight distance, the lateral maneuver and the like, the motion model of the axial symmetry aircraft in the longitudinal plane is established as follows:
wherein the content of the first and second substances,
in order to be the mass of an axisymmetric aircraft,
is the moment of inertia of the axisymmetric aircraft,
、
、
respectively a drag force, a lift force and a rotating moment acting on the axisymmetric aircraft,
in order to obtain the flight speed of the axisymmetric aircraft,
in order to obtain the rotational angular velocity of the body axis of an axisymmetric aircraft,
，
is the coordinate position of the axisymmetric aircraft on the longitudinal plane of the launching system,
is the flight attack angle of the axisymmetric aircraft in the whole flight process,
in order to provide an axisymmetric pitch angle of the aircraft,
is the ballistic inclination of the axisymmetric aircraft;
the lift force requirement required by the technical index of the axisymmetric aircraft is obtained by simulating the motion model of the axisymmetric aircraft;
by the formula
And
calculating the flight attack angle and the sideslip angle of the axisymmetric aircraft in the whole process;
wherein the content of the first and second substances,
the lift requirement required by the technical index of the axisymmetric aircraft,
for dynamic pressures acting on an axisymmetric aircraft,
is the characteristic area of the axisymmetric aircraft,
is coefficient of lift
For angle of attack of flight
The derivative(s) of the signal(s),
is coefficient of lift
To the sideslip angle
A derivative.
Specifically, step 2 includes:
the control surface requirements of the axisymmetric aircraft in flight under all working conditions include: pitching control surface required by pitching channel under flight attack angle requirement, sideslip angle requirement and Mach number requirement
The yaw control surface required by the yaw channel
；
A pitch control surface required by the pitch channel
The calculation formula is as follows:
a yaw control surface required by the yaw channel
The calculation formula is as follows:
wherein, the first and the second end of the pipe are connected with each other,
for any flight angle of attack
Side slip angle
Mach number of
The coefficient of the pitching moment of the time,
for any flight angle of attack
Side slip angle
Mach number of
The coefficient of the yaw moment in time,
for any flight angle of attack
Side slip angle
Mach number of
Time pitch moment coefficient versus pitch control surface
The partial derivative of (a) is,
for any flight angle of attack
Side slip angle
Mach number of
Time yaw moment coefficient to yaw control surface
Partial derivatives of (a).
Specifically, the control plane full offset value comprises a control plane full offset value of a pitching channel and a control plane full offset value of a yawing channel;
the full deviation value of the control surface of the pitching channel is the maximum value of the pitching control surface
；
The full offset value of the control surface of the yawing channel is the maximum value of the yawing control surface
。
Specifically, step 3 includes:
calculating the command acceleration of the axisymmetric aircraft under the missile system with the x axis constant
The formula is as follows:
wherein, the first and the second end of the pipe are connected with each other,
the three components of acceleration are commanded for the line of sight of an axisymmetric aircraft,
is the acceleration of the gravity, and the acceleration is the acceleration of the gravity,
for ground systems
To the projectile system
The expression of the transformation matrix is as follows:
wherein the content of the first and second substances,
the pitch angle of the axisymmetric aircraft is shown,
representing the yaw angle of an axisymmetric aircraft,
representing the elevation angle of the line of sight of the axisymmetric aircraft relative to the target,
representing the line-of-sight azimuth of the axisymmetric aircraft relative to the target.
The missile system is a coordinate system generally used for researching the moment condition and the rotation dynamics characteristics of an aircraft.
The ground system is fixedly connected with the earth, and when the flight distance is small, the influence of the curvature and rotation of the earth can be approximately ignored, so that the ground system is considered to be an inertial coordinate system.
The center of gravity of the aircraft is taken from the origin of the visual system, the x axis is coincident with the visual line from the aircraft to the target and points to the target, the z axis is in the plane of the plumb and points downwards perpendicular to the x axis, and the y axis is determined by the right-hand rule.
Specifically, step 3 further comprises:
when the control surface requirement is full under all working conditions
And is provided with
In the process, the sideslip turning control strategy is adopted in the whole flight trajectory of the axisymmetric aircraft as follows:
the control surface requirement is satisfied at one of all operating points
Or
In the time, the requirement of the control surface is larger than the full deviation value of the control surface
Or
The flight trajectory is regarded as a large maneuvering section, and the control surface requirement is smaller than the full deviation value of the control surface
Or
The flight trajectory of the aircraft is regarded as a normal flight section, and the axisymmetric aircraft adopts a control strategy of cooperation of bank turning and sideslip turning; adopting a bank turning control strategy with stronger maneuvering capability in the large maneuvering section, and adopting a sideslip turning control strategy with higher control precision after the large maneuvering section is finished; in the large maneuvering section, the axisymmetric aircraft adopts a bank turning control strategy as follows:
wherein the content of the first and second substances,
the real-time roll angle of the projectile body measured by the on-projectile sensor,
is a command of the rolling angle of the projectile body,
is an elastomer
An axial acceleration command is sent to the vehicle,
bullet body
An axial acceleration command.
At the moment, the flight attack angle is large, the sideslip angle is near zero, the efficiency of a control surface cannot be reduced, so that the requirement on the control surface is small, but the axisymmetric aircraft system for controlling the BTT through the bank turning is a multivariable system with kinematic coupling, inertial coupling, aerodynamic coupling and control action coupling, and the BTT through the bank turning also influences the measurement accuracy of some sensors; thus, when the requirements on the maneuvering characteristics of the axisymmetric aircraft are reduced, i.e.
Or
And (3) adopting a sideslip turning control strategy with higher control precision in a normal flight section of a flight trajectory as shown in a formula (7).
Specifically, when the axisymmetric aircraft adopts a combined control strategy of bank turning and sideslip turning, the bank turning control strategy is switched to the sideslip turning control strategy in a command smoothing mode, wherein the command smoothing mode is as follows:
wherein, the first and the second end of the pipe are connected with each other,
for the moment when the axisymmetric aircraft starts to switch the control strategy,
the time of flight for the axisymmetric aircraft in real time,
for the transition time interval of the axisymmetric aircraft switching control strategy,
，
，
to switch the control strategy to the control instruction immediately before,
，
，
and the target control command is the target control command after the control strategy is switched.
The embodiment of the invention also provides a large motor control device of the axisymmetric aircraft, which comprises:
the flight attack angle and sideslip angle determining module is used for determining the flight attack angle, the sideslip angle and the Mach number required by the axial symmetry aircraft in the whole flight process according to the technical indexes of the axial symmetry aircraft;
the control surface demand calculation module is used for calculating the control surface demand of the axisymmetric aircraft in the flying process at all working condition points according to the flight attack angle demand, the sideslip angle demand and the Mach number demand;
the control strategy selection module is used for acquiring the control plane full bias value and judging the control plane requirement and the control plane full bias value at all working condition points; when the control surface requirement is smaller than the control surface full deviation value under all working condition points, the whole flight trajectory of the axisymmetric aircraft adopts a sideslip turning control strategy; when the control surface requirement is larger than or equal to the full deviation value of the control surface at one working condition point of all the working condition points, the axisymmetric aircraft divides a flight trajectory into a large maneuvering section and a normal flight section according to the control surface requirement and the full deviation value of the control surface, a banked turning control strategy is adopted at the large maneuvering section, and a side-slipping turning control strategy is adopted at the normal flight section.
The embodiment of the invention also provides a computer-readable storage medium for storing a computer program, and the computer program is executed to implement the method for controlling the large maneuvering of the axisymmetric aircraft.
The embodiment of the invention also provides large maneuvering control equipment of the axisymmetric aircraft, which is used for realizing the large maneuvering control method of the axisymmetric aircraft and comprises the following steps: a memory and a processor;
the memory is used for storing a computer program;
the processor is for executing the computer program stored by the memory.
The embodiment of the invention firstly determines the flight attack angle and the sideslip angle of the axisymmetric aircraft in the whole flight process, determines the time for adopting a bank turning control strategy and a sideslip turning control strategy according to the matching of the flight attack angle, the sideslip angle and a control surface, fully exerts the maneuvering capability of the axisymmetric aircraft, and simultaneously ensures the stable and accurate control capability of the flight trajectory of the axisymmetric aircraft; the principle is simple, and the engineering applicability is strong.
While the foregoing is directed to the preferred embodiment of the present invention, it will be appreciated by those skilled in the art that various changes and modifications may be made therein without departing from the principles of the invention as set forth in the appended claims.
Claims (7)
1. A big maneuvering control method of an axisymmetric aircraft is characterized by comprising the following steps:
step 1, determining a flight attack angle, a sideslip angle and a Mach number required by the axisymmetric aircraft in the whole flight process according to technical indexes of the axisymmetric aircraft;
step 2, calculating control surface requirements of the axisymmetric aircraft in flight at all working condition points according to the flight attack angle requirements, the sideslip angle requirements and the Mach number requirements;
step 3, acquiring a control plane full bias value, and judging the control plane requirement and the control plane full bias value at all working points; when the control surface requirement is smaller than the control surface full deviation value under all working condition points, the whole flight trajectory of the axisymmetric aircraft adopts a sideslip turning control strategy; when the control surface requirement is greater than or equal to the control surface full deviation value at one of all the working condition points, the axisymmetric aircraft divides the flight trajectory into a large maneuvering section and a normal flight section according to the control surface requirement and the control surface full deviation value, a banked turning control strategy is adopted in the large maneuvering section, and a sideslip turning control strategy is adopted in the normal flight section;
the control plane full deviation value comprises a control plane full deviation value of a pitching channel and a control plane full deviation value of a yawing channel;
the control surface full deviation value of the pitching channel isMaximum value of pitch control surface
；
The full deviation value of the control surface of the yawing channel is the maximum value of the yawing control surface
；
When the control surface is required at all operating points
And is provided with
And then, adopting a sideslip turning control strategy in the whole flight trajectory of the axisymmetric aircraft as follows:
when the control surface requirement is at one of all operating points
Or
When the control surface is required to be larger than the full deviation value of the control surface, the flight trajectory of which the control surface is required to be smaller than the full deviation value of the control surface is regarded as a large maneuvering section, the flight trajectory of which the control surface is required to be smaller than the full deviation value of the control surface is regarded as a normal flight section, and the axisymmetric aircraft adopts a tilt turning and sideslip turning matched control strategy;
the axisymmetric aircraft adopts a bank control strategy at a large maneuvering section, and the bank control strategy is as follows:
the axisymmetric aircraft adopts a sideslip turning control strategy in a normal flight section, and the sideslip turning control strategy is as follows:
wherein, the first and the second end of the pipe are connected with each other,
the real-time roll angle of the projectile measured by the on-board sensor,
is a command of the rolling angle of the projectile body,
is an elastomer
An axial acceleration command is sent to the vehicle,
bullet body
An axial acceleration command is sent to the vehicle,
、
the acceleration is the command acceleration of the axisymmetric aircraft under the projectile system with the x axis constant;
when the axisymmetric aircraft adopts the cooperation control strategy of bank turning and sideslip turning, the mode of smoothness through the instruction will the bank turning control strategy switches into the sideslip turning control strategy, the smooth mode of instruction is as follows:
wherein the content of the first and second substances,
for the moment when the axisymmetric aircraft starts to switch the control strategy,
the time of real-time flight of the axisymmetric aircraft,
for the transition time interval of the axisymmetric aircraft switching control strategy,
，
，
to switch the control command of the previous moment for the control strategy,
，
，
and controlling the command for the first frame after the control strategy is switched.
2. The axisymmetric aircraft high maneuver control method according to claim 1, wherein the step 1 includes:
establishing an axisymmetric aircraft motion model in a longitudinal plane;
simulating the motion model of the axisymmetric aircraft to obtain the lift force requirement required by the technical index of the axisymmetric aircraft;
by the formula
And
calculating the flight attack angle requirement and the sideslip angle requirement of the axisymmetric aircraft in the whole process;
wherein the content of the first and second substances,
the lift requirement required by the technical index of the axisymmetric aircraft,
for dynamic pressures acting on an axisymmetric aircraft,
is the characteristic area of the axisymmetric aircraft,
is coefficient of lift
Angle of attack for flight
The derivative of (a) of (b),
is coefficient of lift
Opposite sliding angle
The derivative of (c).
3. The axisymmetric aircraft high maneuver control method according to claim 1, wherein the step 2 comprises:
the control surface requirements of the axisymmetric aircraft in flight under all working condition points comprise: the pitch control surface required by the pitch channel under the flight attack angle requirement, the sideslip angle requirement and the Mach number requirement
The yaw control surface required by the yaw channel
；
A pitch control surface required by the pitch channel
The calculation formula is as follows:
a yaw control surface required by the yaw channel
The calculation formula is as follows:
wherein, the first and the second end of the pipe are connected with each other,
for any flight angle of attack
Side slip angle
Mach number of
The coefficient of the pitching moment of the time,
for any flight angle of attack
Side slip angle
Mach number of
The coefficient of the yaw moment in time,
for any flight angle of attack
Side slip angle
Mach number of
Time pitch moment coefficient versus pitch control surface
The partial derivative of (a) of (b),
for any flight angle of attack
Side slip angle
Mach number of
Yaw moment coefficient to yaw control surface
Partial derivatives of (a).
4. The axisymmetric aircraft high maneuver control method according to claim 1, further comprising, before said step 3:
calculating the command acceleration of the axisymmetric aircraft under the missile system with the x axis constant
The formula is as follows:
wherein, the first and the second end of the pipe are connected with each other,
the three components of acceleration are commanded for the line of sight of an axisymmetric aircraft,
in order to be the acceleration of the gravity,
is a ground-to-missile-system transformation matrix,
is a transformation matrix from the line of sight system to the ground system.
5. The large motor control device of the axisymmetric aircraft is characterized by comprising:
the flight attack angle and sideslip angle determining module is used for determining the flight attack angle, the sideslip angle and the Mach number required by the axial symmetry aircraft in the whole flight process according to the technical indexes of the axial symmetry aircraft;
the control surface demand calculation module is used for calculating the control surface demand of the axisymmetric aircraft in the flying process at all working condition points according to the flight attack angle demand, the sideslip angle demand and the Mach number demand;
the control strategy selection module is used for acquiring a control plane full bias value and judging the control plane requirement and the control plane full bias value under all working condition points; when the control surface requirement is smaller than the control surface full deviation value under all working condition points, the whole flight trajectory of the axisymmetric aircraft adopts a sideslip turning control strategy; when the control surface requirement is greater than or equal to the control surface full deviation value at one of all the working condition points, the axisymmetric aircraft divides the flight trajectory into a large maneuvering section and a normal flight section according to the control surface requirement and the control surface full deviation value, a banked turning control strategy is adopted in the large maneuvering section, and a sideslip turning control strategy is adopted in the normal flight section;
the control surface full deviation value comprises a control surface full deviation value of a pitching channel and a control surface full deviation value of a yawing channel;
the control plane full deviation value of the pitching channel is the maximum value of the pitching control plane;
；
the full deviation value of the control surface of the yawing channel is the maximum value of the yawing control surface
；
When the control surface is in all operating pointsDemand for
And is provided with
And the whole flight trajectory of the axisymmetric aircraft adopts a sideslip turning control strategy as follows:
when the control surface requirement is at one of all operating points
Or
When the flight trajectory with the control surface demand larger than the control surface full deviation value is regarded as a large maneuvering section, the flight trajectory with the control surface demand smaller than the control surface full deviation value is regarded as a normal flight section, and the axisymmetric aircraft adopts a tilt turning and sideslip turning matched control strategy;
the axisymmetric aircraft adopts a bank control strategy in a large maneuvering section, and the bank control strategy is as follows:
the axisymmetric aircraft adopts a sideslip turning control strategy at a normal flight section, and the sideslip turning control strategy is as follows:
wherein the content of the first and second substances,
the real-time roll angle of the projectile measured by the on-board sensor,
is a command of the rolling angle of the projectile body,
is an elastomer
An axial acceleration command is sent to the vehicle,
bullet body
An axial acceleration command is sent to the vehicle,
、
the acceleration is the command acceleration of the axisymmetric aircraft under the projectile system with the x axis constant;
when the axisymmetric aircraft adopts the cooperation control strategy of bank turning and sideslip turning, the mode smooth through the instruction will the bank turning control strategy switches over to the sideslip turning control strategy, the smooth mode of instruction is as follows:
wherein the content of the first and second substances,
for the moment when the axisymmetric aircraft starts to switch the control strategy,
the time of flight for the axisymmetric aircraft in real time,
for the transition time interval of the axisymmetric aircraft switching control strategy,
，
，
to switch the control strategy to the control instruction immediately before,
，
，
and controlling the command for the first frame after the control strategy is switched.
6. A computer-readable storage medium for storing a computer program, wherein the computer program is executed to implement the axisymmetric aircraft high maneuver control method of any of the above claims 1-4.
7. An axisymmetric aircraft high maneuver control device, for implementing the axisymmetric aircraft high maneuver control method of any one of the above claims 1-4, comprising: a memory and a processor;
the memory is used for storing a computer program;
the processor is configured to execute the computer program stored by the memory.
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