CN115489722A - Stepless switching control method and device for control surface of aircraft, aircraft and medium - Google Patents
Stepless switching control method and device for control surface of aircraft, aircraft and medium Download PDFInfo
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- CN115489722A CN115489722A CN202211384664.3A CN202211384664A CN115489722A CN 115489722 A CN115489722 A CN 115489722A CN 202211384664 A CN202211384664 A CN 202211384664A CN 115489722 A CN115489722 A CN 115489722A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
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Abstract
The invention discloses a stepless switching control method, a stepless switching control device, an aircraft and a medium for an aircraft control surface, wherein the method comprises the steps of establishing a moment authority control expression according to the acquired control effect and the relation between the control effect and moment, and executing control authority adjustment on a mechanical control surface and a jet flow control surface when receiving a control surface switching instruction; and determining a target deflection angle of the mechanical control surface and a target pressure ratio of the jet flow control surface by using a moment authority control expression according to a first control authority corresponding to the mechanical control surface and a second control authority corresponding to the jet flow control surface so as to realize stepless switching control of the mechanical control surface and the jet flow control surface. The invention gradually controls the states of the mechanical control surface and the jet flow control surface by a stepless control method for adjusting the control authority, realizes stepless switching of the mechanical control surface and the jet flow control surface under the condition of ensuring the safety of the flight attitude of the aircraft, and completes the flight verification of the jet flow control surface.
Description
Technical Field
The invention relates to the technical field of flight control, in particular to a method and a device for controlling stepless switching of an aircraft control surface, an aircraft and a medium.
Background
The jet circulation control technology is a brand-new flight control concept, and is used for controlling the flow of a coanda surface boundary layer through jet flow and inducing the tail edge streamline of a wing to deflect to generate a virtual control surface so as to realize flight control without the control surface. The jet flow virtual control surface does not change the volume appearance of the airplane, thereby ensuring the carefully designed stealth appearance of the airplane and improving the omnidirectional stealth capability of the airplane. Simultaneously, movable mechanical control surfaces and actuating devices such as flaps and ailerons are eliminated, the complexity of a mechanical system is reduced, the structural weight is reduced, the space utilization rate is improved, more fuel oil and task loads are favorably loaded, and the aviation time and the combat radius are increased.
The jet circulation control technology is used as a flight attitude control means, and the motion attitude of the model is ensured to be adjusted according to flight control requirements all the time in the flight process. And the flight attitude control is used as an inner ring of a flight control law, is a foundation stone for ensuring the flight safety of the aircraft, and runs through the whole process of a flight task. Therefore, the flight verification of the jet circulation control technology is always a difficult problem, and the technical risk and the safety risk are extremely high. Therefore, how to reduce the technical risk, the safety risk and the system risk when the jet control surface actuates through the stepless switching control strategy of the jet control surface and the mechanical control surface, and the flight safety of the aircraft can still be ensured when the jet control surface or the control system thereof breaks down, is a technical problem which needs to be solved urgently.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a stepless switching control method, a stepless switching control device, an aircraft and a medium for an aircraft control surface, and aims to solve the technical problem that the flight verification scheme of the current jet circulation control technology is incomplete.
In order to achieve the purpose, the invention provides a stepless switching control method for an aircraft control surface, wherein the aircraft is provided with a jet flow control surface and a mechanical control surface, and the method comprises the following steps:
acquiring a first control effect of the mechanical control surface and a second control effect of the jet flow control surface, and carrying out normalization processing on the first control effect and the second control effect;
establishing a moment authority control expression according to the relation between a first moment corresponding to the first rudder effect and a second moment corresponding to the second rudder effect of the total moment;
when an operating control surface switching instruction is received, executing control authority adjustment on the mechanical operating control surface and the jet operating control surface; the mechanical control surface corresponds to a first control authority, and the jet flow control surface corresponds to a second control authority;
determining a target deflection angle of the mechanical control surface and a target pressure ratio of the jet flow control surface by using a moment authority control expression according to the first control authority and the second control authority;
and respectively adjusting a mechanical control surface and a jet flow control surface according to the target deflection angle and the target pressure ratio so as to enable the aircraft to switch the control surfaces.
Optionally, a relationship between the total moment and a first moment corresponding to the first rudder effect and a second moment corresponding to the second rudder effect specifically includes:
Cm(de1)=Cmde*de1
Cm(dp1)=Cmdp*dp1
the control method comprises the following steps that Cm (de 1) is a first moment, cm (dp 1) is a second moment, cmde is a first control effect, cmdp is a second control effect, de1 is a deflection angle corresponding to a mechanical control surface in the first moment, and dp1 is a pressure ratio corresponding to a jet flow control surface in the second moment.
Optionally, the torque authority control expression is:
Cm(de1)*λ(e)+ Cm(dp1)*λ(p)= Cm(de1)= Cm(dp1)
λ(e)+λ(p)=1
wherein, cm (de 1) is a first moment, cm (dp 1) is a second moment, lambda (e) is a first control authority, and lambda (p) is a second control authority.
Optionally, the step of performing control authority adjustment on the mechanical control surface and the jet flow control surface specifically includes:
when the control surface switching instruction is that the mechanical control surface is switched to the jet flow control surface, the control authority is adjusted to reduce the first control authority of the mechanical control surface and increase the second control authority of the jet flow control surface;
when the control surface switching instruction is that the jet flow control surface is switched to be the mechanical control surface, the control authority is adjusted to be the first control authority of the mechanical control surface, and the second control authority of the jet flow control surface is reduced.
Optionally, when the control surface switching instruction is that the jet control surface is switched to a mechanical control surface, the control authority is adjusted to: and directly adjusting the first control authority of the mechanical control surface to be 1, and directly adjusting the second control authority of the jet flow control surface to be 0.
Optionally, the jet control surface is a jet aileron, and the mechanical control surface is a mechanical aileron; or the jet flow control surface is a jet flow lifting control surface, and the mechanical control surface is a mechanical lifting control surface.
Optionally, the jet control surface is a jet elevating aileron control surface, and the mechanical control surface is a mechanical elevating control surface and a mechanical aileron.
In addition, in order to achieve the above object, the present invention further provides an aircraft control surface stepless switching control device, including:
the acquiring module is used for acquiring a first control effect of the mechanical control surface and a second control effect of the jet flow control surface and carrying out normalization processing on the first control effect and the second control effect;
the establishing module is used for establishing a moment authority control expression according to the relation between the first moment corresponding to the first rudder effect and the second moment corresponding to the second rudder effect of the total moment;
the adjusting module is used for executing control authority adjustment on the mechanical control surface and the jet flow control surface when receiving a control surface switching instruction; the mechanical control surface corresponds to a first control authority, and the jet flow control surface corresponds to a second control authority;
the determining module is used for determining a target deflection angle of the mechanical control surface and a target pressure ratio of the jet flow control surface by utilizing a moment authority control expression according to the first control authority and the second control authority;
and the control module is used for respectively adjusting the mechanical control surface and the jet flow control surface according to the target deflection angle and the target pressure ratio so as to enable the aircraft to switch the control surface.
Furthermore, in order to achieve the above object, the present invention also provides an aircraft including:
a jet flow control surface and a mechanical control surface;
control surface stepless switching control equipment comprises: the control method comprises a memory, a processor and an aircraft control surface stepless switching control method program which is stored on the memory and can run on the processor, wherein the aircraft control surface stepless switching control method program realizes the steps of the aircraft control surface stepless switching control method when being executed by the processor.
In addition, in order to achieve the above object, the present invention further provides a storage medium, where the storage medium stores a program of an aircraft control surface stepless switching control method, and the program of the aircraft control surface stepless switching control method, when executed by a processor, implements the steps of the aircraft control surface stepless switching control method.
The method comprises the steps of establishing a torque authority control expression according to the acquired control effect and the relation between the control effect and torque, and executing control authority adjustment on a mechanical control surface and a jet flow control surface when receiving a control surface switching instruction; and determining a target deflection angle of the mechanical control surface and a target pressure ratio of the jet control surface by using a moment authority control expression according to a first control authority corresponding to the mechanical control surface and a second control authority corresponding to the jet control surface so as to realize stepless switching control of the mechanical control surface and the jet control surface. The invention gradually controls the states of the mechanical control surface and the jet flow control surface by a stepless control method for adjusting the control authority, realizes stepless switching of the mechanical control surface and the jet flow control surface under the condition of ensuring the safety of the flight attitude of the aircraft, and completes the flight verification of the jet flow control surface.
Drawings
FIG. 1 is a schematic structural view of the aircraft of the present invention;
FIG. 2 is a schematic structural diagram of an electrodeless switching control device for an aircraft control surface according to the invention;
FIG. 3 is a schematic flow chart of the stepless switching control method for the control surface of the aircraft;
FIG. 4 is a control characteristic curve for switching the mechanical elevator to the fluidic elevator according to the present invention;
FIG. 5 is a graph showing the control characteristics of the mechanical elevators and mechanical ailerons of the present invention switched to fluidic elevators and ailerons;
FIG. 6 is a structural block diagram of the stepless switching control device for the control surfaces of the aircraft in the embodiment of the invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The jet circulation control technology is used as a flight attitude control means, and the model is ensured to adjust the motion attitude according to the flight control requirement all the time in the flight process. The flight attitude control is used as an inner ring of a flight control law, is a foundation stone for ensuring the flight safety of the aircraft, and runs through the whole process of a flight task. Therefore, the flight verification of the jet circulation control technology is always a difficult problem, and the technical risk and the safety risk are extremely high. Therefore, how to reduce the technical risk, the safety risk and the system risk when the jet control surface actuates through the stepless switching control strategy of the jet control surface and the mechanical control surface, and the flight safety of the aircraft can still be ensured when the jet control surface or the control system thereof breaks down, is a technical problem which needs to be solved urgently.
In order to solve the problem, various embodiments of the stepless switching control method for the aircraft control surface are provided. The stepless switching control method for the aircraft control surface provided by the invention gradually controls the states of the mechanical control surface and the jet flow control surface by a stepless control method for adjusting the control authority, realizes the switching of the mechanical control surface and the jet flow control surface under the condition of ensuring the safety of the flight attitude of the aircraft, and completes the flight verification of the jet flow control surface.
Referring to fig. 1, fig. 1 is a schematic structural view of an aircraft designed according to an embodiment of the invention.
In the present embodiment, the aircraft includes jet steering control surfaces 10, mechanical steering control surfaces 20, and a steering control surface stepless switching control device 30.
The control surface stepless switching control device 30 is configured to obtain a first control effect of the mechanical control surface 20 and a second control effect of the jet control surface 10, normalize the first control effect and the second control effect, establish a moment authority control expression according to a relationship between a first moment corresponding to the first control effect and a second moment corresponding to the second control effect of a total moment, and execute control authority adjustment on the mechanical control surface 20 and the jet control surface 10 when a control surface switching instruction is received; the mechanical control surface 20 corresponds to a first control authority, the jet flow control surface 10 corresponds to a second control authority, a target deflection angle of the mechanical control surface 20 and a target pressure ratio of the jet flow control surface 10 are determined by utilizing a moment authority control expression according to the first control authority and the second control authority, and the mechanical control surface 20 and the jet flow control surface 10 are respectively adjusted according to the target deflection angle and the target pressure ratio so that the aircraft can switch the control surfaces.
The jet flow control surface 10 and the mechanical control surface 20 are used for adjusting the pressure ratio of the jet flow control surface 10 and the deflection angle of the mechanical control surface 20 according to the adjusting instruction generated by the control surface stepless switching control device 30 so as to realize the switching control of the jet flow control surface 10 and the mechanical control surface 20 and the flight verification of the jet flow control surface.
The embodiment provides an aircraft, which utilizes control surface stepless switching control equipment to adjust and control a set jet control surface and a set mechanical control surface so as to complete flight verification of the jet control surface, and provides verification data support for stable switching of the jet control surface and the mechanical control surface of the aircraft in a flight process.
Referring to fig. 2, fig. 2 is a schematic structural diagram of an aircraft control surface stepless switching control device according to an embodiment of the present invention.
The device may be a User Equipment (UE) such as a Mobile phone, smart phone, laptop, digital broadcast receiver, personal Digital Assistant (PDA), tablet computer (PAD), handheld device, wearable device, computing device or other processing device connected to a wireless modem, mobile Station (MS), or the like. The device may be referred to as a user terminal, portable terminal, desktop terminal, etc.
Generally, the apparatus comprises: the control system comprises at least one processor 301, a memory 302 and an aircraft control surface stepless switching control method program which is stored on the memory and can run on the processor, wherein the aircraft control surface stepless switching control method program is configured to realize the steps of the aircraft control surface stepless switching control method.
The processor 301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 301 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 301 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in a wake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 301 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. The processor 301 may further include an AI (Artificial Intelligence) processor for processing operations related to the aircraft control surface stepless switching control method, so that the aircraft control surface stepless switching control method model may be trained and learned autonomously, thereby improving efficiency and accuracy.
In some embodiments, the terminal may further include: a communication interface 303 and at least one peripheral device. The processor 301, the memory 302 and the communication interface 303 may be connected by a bus or signal lines. Various peripheral devices may be connected to communication interface 303 by a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 304, a display screen 305, and a power source 306.
The communication interface 303 may be used to connect at least one peripheral device related to I/O (Input/Output) to the processor 301 and the memory 302. The communication interface 303 is used for receiving the movement tracks of the plurality of mobile terminals uploaded by the user and other data through the peripheral device. In some embodiments, processor 301, memory 302, and communication interface 303 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 301, the memory 302 and the communication interface 303 may be implemented on a single chip or circuit board, which is not limited by the embodiment.
The Radio Frequency circuit 304 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The rf circuit 304 communicates with a communication network and other communication devices through electromagnetic signals, so as to obtain the movement tracks and other data of a plurality of mobile terminals. The rf circuit 304 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 304 comprises: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 304 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: metropolitan area networks, various generation mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the radio frequency circuit 304 may further include NFC (Near Field Communication) related circuits, which are not limited in this application.
The display screen 305 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 305 is a touch display screen, the display screen 305 also has the ability to capture touch signals on or over the surface of the display screen 305. The touch signal may be input to the processor 301 as a control signal for processing. At this point, the display screen 305 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display screen 305 may be a front panel of the electronic device; in other embodiments, the display screens 305 may be at least two, which are respectively disposed on different surfaces of the electronic device or in a foldable design; in still other embodiments, the display 305 may be a flexible display disposed on a curved surface or a folded surface of the electronic device. Even further, the display screen 305 may be arranged in a non-rectangular irregular figure, i.e. a shaped screen. The Display screen 305 may be made of LCD (liquid crystal Display), OLED (Organic Light-Emitting Diode), and the like.
The power supply 306 is used to supply power to various components in the electronic device. The power source 306 may be alternating current, direct current, disposable or rechargeable. When power source 306 comprises a rechargeable battery, the rechargeable battery may support wired or wireless charging. The rechargeable battery may also be used to support fast charge technology.
It will be appreciated by those skilled in the art that the configuration shown in figure 2 does not constitute a limitation of the stepless switching control device for aircraft rudder surfaces and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
The embodiment of the invention provides a stepless switching control method for an aircraft control surface, and referring to fig. 3, fig. 3 is a schematic flow chart of the stepless switching control method for the aircraft control surface according to the embodiment of the invention.
In this embodiment, the stepless switching control method for the control surface of the aircraft includes the following steps:
and S100, acquiring a first control effect of the mechanical control surface and a second control effect of the jet flow control surface, and normalizing the first control effect and the second control effect.
Specifically, after acquiring a first control effect of the mechanical control surface and a second control effect of the jet flow control surface, the first control effect and the second control effect are subjected to normalization processing in a use attack angle range.
After that, a conversion relation between the pressure ratio of the jet flow control surface and the deflection angle of the mechanical control surface can be established according to the acquired first control effect and the acquired second control effect, so that the states of the jet flow control surface and the mechanical control surface can be controlled more efficiently when the switching control verification of the jet flow control surface and the mechanical control surface is carried out.
And S200, establishing a torque authority control expression according to the relation between the total torque and a first torque corresponding to the first rudder effect and a second torque corresponding to the second rudder effect.
Specifically, the relationship between the total moment and the first moment corresponding to the first rudder effect and the second moment corresponding to the second rudder effect is specifically as follows:
Cm(de1)=Cmde*de1
Cm(dp1)=Cmdp*dp1
the control method comprises the following steps that Cm (de 1) is a first moment, cm (dp 1) is a second moment, cmde is a first control effect, cmdp is a second control effect, de1 is a deflection angle corresponding to a mechanical control surface in the first moment, and dp1 is a pressure ratio corresponding to a jet flow control surface in the second moment.
It should be noted that, when the two states of the jet control surface and the mechanical control surface are switched, the corresponding moments in the extreme states of the jet control surface and the mechanical control surface should be equal to each other, that is, when the aircraft is completely in the state of the jet control surface, the corresponding first moment is Cm (de 1), when the aircraft is completely in the state of the mechanical control surface, the corresponding second moment is Cm (dp 1), and the first moment is equal to the second moment.
As can be easily understood, the torque authority control expression is:
Cm(de1)*λ(e)+ Cm(dp1)*λ(p)= Cm(de1)= Cm(dp1)
λ(e)+λ(p)=1
wherein, cm (de 1) is a first moment, cm (dp 1) is a second moment, lambda (e) is a first control authority, and lambda (p) is a second control authority.
Therefore, on the basis, if the switching adjustment of the control surface is carried out, the pressure ratio of the jet flow control surface and the deflection angle of the mechanical control surface can be accurately controlled by distributing corresponding control authorities to the jet flow control surface and the mechanical control surface, so that the switching of the mechanical control surface and the jet flow control surface is realized, and the flight verification of the jet flow control surface is completed.
Step S300, when receiving a control surface switching instruction, executing control authority adjustment on the mechanical control surface and the jet flow control surface; the mechanical control surface corresponds to a first control authority, and the jet flow control surface corresponds to a second control authority.
Specifically, the step of performing control authority adjustment on the mechanical control surface and the jet flow control surface specifically includes:
when the control surface switching instruction is that the mechanical control surface is switched to the jet flow control surface, the control authority is adjusted to reduce the first control authority of the mechanical control surface and increase the second control authority of the jet flow control surface;
when the control surface switching instruction is that the jet flow control surface is switched to be the mechanical control surface, the control authority is adjusted to be the first control authority of the mechanical control surface, and the second control authority of the jet flow control surface is reduced.
Therefore, stepless switching control between the mechanical control surface and the jet flow control surface is realized, and switching between the mechanical control surface and the jet flow control surface is realized by gradually adjusting the deflection angle of the mechanical control surface and the pressure ratio of the jet flow control surface.
It should be noted that, when the control surface switching instruction is that the jet control surface is switched to the mechanical control surface, the control authority adjustment may further be: and directly adjusting the first control authority of the mechanical control surface to be 1, and directly adjusting the second control authority of the jet flow control surface to be 0.
Therefore, unidirectional rapid switching control of the jet control rudder to the mechanical control rudder is realized, and through the unidirectional rapid switching control, when the jet control rudder and a control system of the aircraft are abnormal, the jet control rudder switching control switch is directly closed, the jet control rudder is rapidly closed, the mechanical control rudder is opened, and the mechanical control rudder is switched to a mechanical control rudder control mode, so that the switching safety risk is reduced.
And S400, determining the target deflection angle of the mechanical control surface and the target pressure ratio of the jet flow control surface by using a moment authority control expression according to the first control authority and the second control authority.
Specifically, after the distributed first control authority and second control authority are obtained, a first moment corresponding to the mechanical control surface and a second moment corresponding to the jet flow control surface are matched by using the moment authority control expression.
Then, according to the first moment and the first control effect, calculating and obtaining a corresponding target deflection angle of the mechanical control surface under the control instruction; and calculating to obtain a corresponding target pressure ratio of the mechanical control surface under the control instruction according to the second moment and the second control effect.
And S500, respectively adjusting a mechanical control plane and a jet flow control plane according to the target deflection angle and the target pressure ratio so as to enable the aircraft to switch the control plane.
Specifically, after the corresponding target deflection angle and the target pressure ratio under the control command are obtained, the deflection angle of the mechanical control surface and the pressure ratio of the jet flow control surface can be respectively adjusted through the driving mechanism, so that the aircraft provided with the mechanical control surface and the jet flow control surface keeps stable flight when the control surfaces are switched.
It should be noted that, in the switching control of the mechanical control surface and the jet control surface, the jet control surface and the mechanical control surface may specifically be:
the jet flow control surface is a jet flow aileron, and the mechanical control surface is a mechanical aileron; or the jet flow control surface is a jet flow lifting control surface, and the mechanical control surface is a mechanical lifting control surface; or the jet flow control surface is a jet flow elevating aileron control surface, and the mechanical control surface is a mechanical elevating control surface and a mechanical aileron.
The embodiment provides an aircraft control surface stepless switching control method, which comprises the steps of establishing a torque authority control expression according to acquired control effects and the relationship between the control effects and torque, and executing control authority adjustment on a mechanical control surface and a jet flow control surface when receiving a control surface switching instruction; and determining a target deflection angle of the mechanical control surface and a target pressure ratio of the jet flow control surface by using a moment authority control expression according to a first control authority corresponding to the mechanical control surface and a second control authority corresponding to the jet flow control surface so as to realize control switching of the mechanical control surface and the jet flow control surface. In the embodiment, the states of the mechanical control surface and the jet control surface are gradually controlled by a stepless control method for adjusting the control authority, the switching between the mechanical control surface and the jet control surface is realized under the condition of ensuring the safety of the flight attitude of the aircraft, and the flight verification of the jet control surface is completed.
In order to more clearly understand the technical scheme of the application, a specific application example of the stepless switching control method for the control surface of the aircraft is provided below.
In the present embodiment, switching between the mechanical elevator and the jet elevator surface is explained as an example.
Normalizing the mechanical elevator control effect Cmde and the jet elevator control effect Cmdp in a use angle range, and establishing a relation between de and dp according to Cmdp + dp = Cmde + f1 (dp) = Cmde + de = Cmdp + f2 (de) = Cmdp + dp: de = f1 (dp) and dp = f2 (de), non-linear between de and dp.
As shown in fig. 4, the mechanical elevator control surface is switched to the jet elevator control surface, when the aircraft is in the vertical trim flight state, the mechanical elevator control surface control authority λ (e) =1, the jet control surface control authority λ (p) =0, the mechanical elevator control surface rudder deflection angle is de1, and the jet elevator control surface relative pressure ratio is 0, according to the conversion relationship, if only the jet elevator control surface is used, the model vertical trim is maintained in the same state, and the jet control surface relative pressure ratio is dp1, de1= f1 (dp 1) and dp1= f2 (de 1), the pitch moment generated by the mechanical elevator deflection is represented as Cm (de), and the pitch moment generated by the jet control surface pressure ratio is represented as Cm (dp), cm (de 1) = Cm (dp 1).
And turning on a jet flow control surface switching control switch, keeping the transverse and heading control surfaces and the control authority of the airplane unchanged, gradually increasing the jet flow control surface moment control authority lambda (p) through a switching knob, reducing the mechanical control surface moment control authority lambda (e), and keeping the sum of the two control authorities equal to 1, namely lambda (e) + lambda (p) =1, wherein at the moment, cm (de 1) × lambda (e) + Cm (dp 1) = lambda (p) = Cm (de 1) = Cm (dp 1).
Wherein Cm (de 1) × λ (e) = Cmde × de1 × λ (e)), whereby the rudder deflection of the mechanical elevator can be obtained for each control authority, cm (dp 1) × λ (p) = Cmdp × dp1 × λ (p) = Cmdp = dp (dp 1 × λ (p)), whereby the pressure ratio of the jet control surface can be obtained for each control authority.
And finally, lambda (p) =1 and lambda (e) =0, the mechanical elevator deflects to zero at the moment and is locked, a jet flow elevator control plane control mode is entered, and the longitudinal control of the airplane is completely realized by the jet flow elevator control plane. The switching control time can be adjusted according to the needs, and the model posture is kept from being changed violently in the switching control process.
When the model is in a trim state, the moment control authority of the mechanical lifting control surface is gradually improved through a switching knob, the moment control authority of the jet lifting control surface is reduced, the sum of the two control authorities is kept equal to 1, finally, a mechanical control mode is entered, and then a jet control surface switching control switch is turned off. The switching control time can be adjusted according to the needs, and the model posture is kept from being changed violently in the switching control process.
When the model is in a trim state or the jet flow control plane and a control system thereof are abnormal, the jet flow control plane switching control switch can be directly closed, the jet flow control plane can be quickly closed, the mechanical control plane can be opened, and the mechanical control plane control mode can be switched to.
According to the method, a switching control strategy between the mechanical ailerons and the jet flow ailerons and a switching control strategy between the mechanical ailerons and the jet flow ailerons can be obtained similarly. As shown in fig. 5, when the mechanical lifting control surface and the mechanical aileron and the jet flow lifting aileron are switched and controlled, in order to reduce the safety risk, the control surfaces need to be switched and controlled one by one, and finally, a jet flow lifting aileron control mode is formed.
In this embodiment, a stepless switching control strategy and method for the jet control surface and the mechanical control surface are provided, the control authority of the jet control surface is gradually improved in a stepless switching control mode, flight verification of the jet control surface is realized under the condition that the flight attitude safety of an aircraft is ensured, the safety risk of a test is greatly reduced, and meanwhile, under the condition that the jet control surface and a control system thereof are in failure, the control mode is quickly switched back to the mechanical control surface control mode through the quick switching mode, so that the flight attitude control safety of the aircraft is ensured.
Referring to fig. 6, fig. 6 is a structural block diagram of an embodiment of the stepless switching control device for the control surface of the aircraft.
As shown in fig. 6, the stepless switching control device for the control surfaces of the aircraft according to the embodiment of the present invention includes:
the acquiring module 10 is configured to acquire a first control effect of the jet flow control surface and a second control effect of the mechanical control surface, and perform normalization processing on the first control effect and the second control effect;
the establishing module 20 is configured to establish a moment authority control expression according to a relationship between a first moment corresponding to the first rudder effect and a second moment corresponding to the second rudder effect;
the adjusting module 30 is configured to, when receiving a control surface switching instruction, perform control authority adjustment on the mechanical control surface and the jet flow control surface; the mechanical control surface corresponds to a first control authority, and the jet flow control surface corresponds to a second control authority;
the determining module 40 is configured to determine a target deflection angle of the mechanical control surface and a target pressure ratio of the jet control surface by using a torque authority control expression according to the first control authority and the second control authority;
and the control module 50 is used for respectively adjusting the mechanical control plane and the jet flow control plane according to the target deflection angle and the target pressure ratio so as to enable the aircraft to switch the control plane.
Other embodiments or specific implementation manners of the stepless switching control device for the aircraft control surface can refer to the above method embodiments, and are not described herein again.
In addition, an embodiment of the present invention further provides a storage medium, where the storage medium stores a program of a stepless switching control method for an aircraft control surface, and the program of the stepless switching control method for the aircraft control surface, when executed by a processor, implements the steps of the stepless switching control method for the aircraft control surface as described above. Therefore, a detailed description thereof will be omitted. In addition, the beneficial effects of the same method are not described in detail. For technical details not disclosed in embodiments of the computer-readable storage medium referred to in the present application, reference is made to the description of embodiments of the method of the present application. It is determined that the program instructions may be deployed to be executed on one computing device or on multiple computing devices located at one site or distributed across multiple sites and interconnected by a communication network, as examples.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by a computer program, which may be stored in a computer readable storage medium and includes the processes of the embodiments of the methods described above when the program is executed. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
It should be noted that the above-described embodiments of the apparatus are merely schematic, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection therebetween, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that the present invention may be implemented by software plus necessary general hardware, and may also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components and the like. Generally, functions performed by computer programs can be easily implemented by corresponding hardware, and specific hardware structures for implementing the same functions may be various, such as analog circuits, digital circuits, or dedicated circuits. However, the software program implementation is a better implementation mode for the present invention in more cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a readable storage medium, such as a floppy disk, a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk of a computer, and includes instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
Claims (10)
1. An electrodeless switching control method for an aircraft control surface is characterized in that the aircraft is provided with a mechanical control surface and a jet flow control surface, and the method comprises the following steps:
acquiring a first control effect of the mechanical control surface and a second control effect of the jet flow control surface, and performing normalization processing on the first control effect and the second control effect;
establishing a torque authority control expression according to the relation between a first torque corresponding to the first rudder effect and a second torque corresponding to the second rudder effect of the total torque;
when receiving a control surface switching instruction, executing control authority adjustment on the mechanical control surface and the jet flow control surface; the mechanical control surface corresponds to a first control authority, and the jet flow control surface corresponds to a second control authority;
determining a target deflection angle of the mechanical control surface and a target pressure ratio of the jet flow control surface by using a moment authority control expression according to the first control authority and the second control authority;
and respectively adjusting a mechanical control surface and a jet flow control surface according to the target deflection angle and the target pressure ratio so as to enable the aircraft to switch the control surfaces.
2. The stepless switching control method for the aircraft control surface according to claim 1, wherein the relation between the total moment and the first moment corresponding to the first control effect and the second moment corresponding to the second control effect is specifically as follows:
Cm(de1)=Cmde*de1
Cm(dp1)=Cmdp*dp1
wherein Cm (de 1) is a first moment, cm (dp 1) is a second moment, cmde is a first control effect, cmdp is a second control effect, de1 is a deflection angle corresponding to the mechanical control surface when the first moment is applied, and dp1 is a pressure ratio corresponding to the jet flow control surface when the second moment is applied.
3. The stepless switching control method for the aircraft control surface according to claim 2, characterized in that the torque authority control expression is as follows:
Cm(de1)*λ(e)+ Cm(dp1)*λ(p)= Cm(de1)= Cm(dp1)
λ(e)+λ(p)=1
wherein Cm (de 1) is a first moment, cm (dp 1) is a second moment, lambda (e) is a first control authority, lambda (p) is a second control authority, lambda (e) is more than or equal to 0 and less than or equal to 1, and lambda (p) is more than or equal to 0 and less than or equal to 1.
4. The stepless switching control method for the aircraft control surfaces according to claim 3, wherein the step of executing control authority adjustment on the mechanical control surfaces and the jet control surfaces specifically comprises the following steps:
when the control surface switching instruction is that the mechanical control surface is switched to be a jet flow control surface, immediately activating a jet flow control surface actuating system, adjusting the control authority to continuously reduce the first control authority of the mechanical control surface and continuously increase the second control authority of the jet flow control surface, and keeping the sum of the two control authorities unchanged;
when the control surface switching instruction is that the jet flow control surface is switched to be the mechanical control surface, the control authority is adjusted to continuously increase the first control authority of the mechanical control surface and continuously reduce the second control authority of the jet flow control surface, the sum of the two control authorities is kept unchanged, and when the control authority of the jet flow control surface is reduced to 0, the jet flow control surface actuating system is closed.
5. The stepless switching control method for the control surfaces of the aircraft according to claim 3, characterized in that when the control surface switching command is that the jet control surfaces are switched to mechanical control surfaces, the control authority is adjusted to be: and directly adjusting the first control authority of the mechanical control surface to 1, directly adjusting the second control authority of the jet flow control surface to 0, and closing the jet flow control surface actuating system.
6. The stepless switching control method for the control surfaces of the aircraft according to any one of claims 1-5, characterized in that the jet control surfaces are jet ailerons, and the mechanical control surfaces are mechanical ailerons; or the jet flow control surface is a jet flow lifting control surface, and the mechanical control surface is a mechanical lifting control surface.
7. The stepless switching control method for the control surfaces of the aircraft according to any one of claims 1 to 5, characterized in that the jet control surfaces are jet aileron control surfaces, and the mechanical control surfaces are mechanical aileron control surfaces and mechanical ailerons.
8. The stepless switching control device for the control surfaces of the aircraft is characterized in that the aircraft is provided with a mechanical control surface and a jet control surface, and comprises:
the acquiring module is used for acquiring a first control effect of the mechanical control surface and a second control effect of the jet flow control surface and carrying out normalization processing on the first control effect and the second control effect;
the establishing module is used for establishing a moment authority control expression according to the relation between the first moment corresponding to the first rudder effect and the second moment corresponding to the second rudder effect of the total moment;
the adjusting module is used for executing control authority adjustment on the mechanical control surface and the jet flow control surface when receiving a control surface switching instruction; the mechanical control surface corresponds to a first control authority, and the jet flow control surface corresponds to a second control authority;
the determining module is used for determining a target deflection angle of the mechanical control surface and a target pressure ratio of the jet flow control surface by utilizing a moment authority control expression according to the first control authority and the second control authority;
and the control module is used for respectively adjusting the mechanical control surface and the jet flow control surface according to the target deflection angle and the target pressure ratio so as to enable the aircraft to switch the control surface.
9. An aircraft, characterized in that it comprises:
a jet flow control surface and a mechanical control surface;
control surface stepless switching control equipment includes: the control method comprises a memory, a processor and a program of the stepless switching control method of the aircraft control surfaces, wherein the program of the stepless switching control method of the aircraft control surfaces is stored in the memory and can run on the processor, and when the program of the stepless switching control method of the aircraft control surfaces is executed by the processor, the steps of the stepless switching control method of the aircraft control surfaces are realized according to any one of claims 1 to 7.
10. A storage medium, characterized in that the storage medium stores thereon a stepless switching control method program for an aircraft control surface, which when executed by a processor implements the steps of the stepless switching control method for an aircraft control surface according to any one of claims 1 to 7.
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