CN115556923A - Method and device for switching automatic flight control turning modes of airplane - Google Patents

Abstract

The invention provides a method and a device for switching an automatic flight control turning mode of an airplane, wherein the method comprises the following steps: when the flight turning mode of the airplane is in any mode with second priority, if the fact that the pilot operates to enter other modes with second priority or the mode with first priority is detected, mode switching is carried out; when the flight turning mode of the airplane is in a mode of a first priority, if the pilot is detected to operate to enter any mode of a second priority, mode switching is not carried out; controlling the flight of the airplane according to the current flight turning mode of the airplane; wherein the mode of the first priority comprises: a joystick mode; the modes of the second priority include: a heading pre-selection mode, a heading hold mode, and a lateral navigation mode. The invention provides a more reasonable selection mode, and achieves the effect of reducing the driving burden of pilots.

Description

Method and device for switching automatic flight control turning modes of airplane

Technical Field

The invention belongs to the technical field of automatic flight control of fixed-wing manned aircrafts, and particularly relates to a method and a device for switching automatic flight control turning modes of an airplane.

Background

The fixed wing manned aircraft (shown in figure 1) realizes the control of the flight path of the aircraft by controlling the deflection of the elevator, the ailerons and the rudder surface through a manual control system, and the change of the flight course of the aircraft can be realized by controlling the deflection of the rudder or controlling the deflection of the rudder surface of the aileron.

When the airplane turns and flies, a pilot needs to operate all the time, and the problem of heavy load of the pilot in flying the airplane exists.

Disclosure of Invention

The invention provides a method and a device for switching an automatic flight control turning mode of an airplane, which solve the problem of overlarge burden of the existing pilot during turning flight.

The invention provides a method for switching an automatic flight control turning mode of an airplane, which comprises the following steps:

when the flight turning mode of the airplane is in any mode with second priority, if the pilot is detected to operate to enter other modes with second priority or the mode with first priority, switching the modes;

when the flight turning mode of the airplane is in a mode of a first priority, if the pilot is detected to operate to enter any mode of a second priority, mode switching is not carried out;

controlling the flight of the airplane according to the current flight turning mode of the airplane;

wherein the mode of the first priority comprises: a joystick mode; the modes of the second priority include: a heading pre-selection mode, a heading hold mode, and a lateral navigation mode.

Optionally, the controlling the flight of the aircraft according to the current flight turning mode of the aircraft includes:

when the flight turning mode of the airplane is in any mode with a second priority, acquiring a slope selection state;

and controlling the flight of the airplane according to the gradient selection state and the current flight turning mode of the airplane.

Optionally, the gradient selection state comprises: an automatic state and a preset value state;

when the gradient selection state is a preset numerical value state, controlling the flight of the airplane according to the gradient selection state and the current flight turning mode of the airplane, wherein the control method comprises the following steps of:

controlling the flying rolling gradient of the airplane not to exceed a preset numerical value indicated by a preset numerical value state according to the current flying turning mode of the airplane;

when the gradient selection state is an automatic state, the method for controlling the flight of the airplane according to the gradient selection state and the current flight turning mode of the airplane comprises the following steps:

and controlling the flight of the airplane according to the current flight turning mode of the airplane and the current flight parameters of the airplane.

Optionally, the method further includes:

when the flight turning mode of the airplane is in a first priority mode, if the situation that a pilot operates a control handle to be in a neutral position is detected, the airplane exits from the first priority mode and enters into an attitude keeping mode;

and when the flight turning mode of the airplane is in any mode with the second priority, if the situation that the pilot selects to exit the mode with the current second priority is detected, entering an attitude keeping mode.

Optionally, the method further includes:

when the airplane is in the attitude keeping mode, if the pilot is detected to operate to enter any mode with the second priority or the mode with the first priority, the mode is switched.

The invention also provides a device for switching the automatic flight control turning mode of the airplane, which comprises:

the mode switching module is used for switching modes when the flight turning mode of the airplane is in any mode with second priority and if the pilot is detected to operate to enter other modes with second priority or the mode with first priority; when the flight turning mode of the airplane is in a mode with a first priority, if the situation that the pilot operates to enter any mode with a second priority is detected, mode switching is not carried out;

the control module is used for controlling the flight of the airplane according to the current flight turning mode of the airplane;

wherein the mode of the first priority comprises: a joystick mode; the modes of the second priority include: a heading pre-selection mode, a heading hold mode, and a lateral navigation mode.

Optionally, the root control module is specifically configured to, when the flight turning mode of the aircraft is in any mode with the second priority, acquire a slope selection state;

and controlling the flight of the airplane according to the gradient selection state and the current flight turning mode of the airplane.

Optionally, the gradient selection state comprises: an automatic state and a preset numerical state;

the root control module is specifically used for controlling the flight rolling gradient of the airplane not to exceed a preset value indicated by a preset value state according to the current flight turning mode of the airplane when the gradient selection state is the preset value state; and when the gradient selection state is an automatic state, controlling the flight of the airplane according to the current flight turning mode of the airplane and the current flight parameters of the airplane.

Optionally, the mode switching module is further configured to,

when the flight turning mode of the airplane is in a first priority mode, if the situation that a pilot operates a control handle to be in a neutral position is detected, the airplane exits from the first priority mode and enters into an attitude keeping mode;

and when the flight turning mode of the airplane is in any mode with the second priority, if the situation that the pilot selects to exit the current mode with the second priority is detected, entering an attitude keeping mode.

Optionally, the mode switching module is further configured to,

when the airplane is in the attitude keeping mode, if the pilot is detected to operate to enter any mode with the second priority or the mode with the first priority, the mode is switched.

The invention provides a method and a device for switching automatic flight control turning modes of an airplane, which set the corresponding control authority for the automatic flight turning mode and are specifically designed as follows: 1 highest level (primary) turning mode ' operating handle (mode) ', 3 secondary (secondary) turning mode ' course preselection ', ' course keeping ' and ' lateral navigation ' modes, and 1 secondary turning compatible mode ' gradient selection ' mode, provide more reasonable selection mode, have reached the effect that alleviates pilot's driving burden.

Drawings

FIG. 1 is a schematic view of a flight control surface of a fixed wing manned aircraft;

FIG. 2 is a schematic illustration of a "joy stick" mode design;

FIG. 3 is a schematic diagram of a "heading pre-selection" mode design;

FIG. 4 is a schematic diagram of a "heading hold" mode design;

FIG. 5 is a schematic diagram of a "lateral navigation" mode design;

FIG. 6 is a schematic illustration of a "grade select" mode design;

FIG. 7 is a schematic illustration of a "fixed course" flight space;

FIG. 8 is a schematic view of a "fixed target point" small-range airspace flight;

FIG. 9 is a schematic view of small-range airspace flight of "moving target point".

Detailed Description

The method and the device for switching the automatic flight control turning mode of the airplane provided by the invention are explained in the following with reference to the attached drawings.

As shown in figures 1-9, the present invention belongs to the field of automatic flight control technology, and the automatic flight space is divided into three types, (1) space with fixed route (see figure 7), (2) small-range space with fixed target point (see figure 8), and (3) small-range space with moving target point (see figure 9).

When the pilot controls the airplane to turn automatically through the automatic flight control system, a turning mode is designed 5 in the system, and corresponding control authority is set.

(1) Operating handle (mode)

The design of the control handle is shown in figure 2.

The "stick" (mode) is the pilot's autonomous control mode. The pilot needs to send out a control command in real time through the control handle according to the flight track of the airplane, and the flight course of the airplane is changed and adjusted in real time. The operation authority is designed to be the highest level (first level), and after selection, all modes with the next highest level (second level) operation authority can be quitted, and the modes with the next highest level (second level) operation authority can not be quitted.

During operation of the automatic flight control system, the pilot steers the "stick handle" from the neutral position, left or right, to set the rate of left or right roll yaw of the aircraft as desired for the flight

(the more the handle leaves the neutral position, the set yaw rate

The larger) to establish the rolling gradient phi of the airplane flight and realize the course of the airplane

A change in the position of the mobile terminal.

(2) Course preselection (mode)

See fig. 3, a schematic view of a heading preselection design.

"heading Pre-selection" (mode) belongs to the pilot selection confirmed automatic control mode. The operation authority is designed to be a secondary high level (secondary level), and is mutually exclusive with the modes of other secondary high level (secondary level) operation authorities, and the mode of other secondary high level (secondary level) operation authorities which work currently can be exited after selection.

During the operation of the automatic flight control system, a pilot can press a ' heading pre-selection mode ' button indicator according to flight requirements, the mode button indicator (green) is lighted, then a ' heading pre-selection ' knob is rotated to set the heading of pre-selection flight, a ' pre-selection heading vernier ' on a compass follows (the ' pre-selection heading vernier ' can be instantly synchronized to the current heading when the ' heading pre-selection ' knob is pressed, the ' pre-selection heading ' value is also synchronized to the current heading), the value of the pre-selection heading is displayed in a ' heading pre-selection ' window, and the automatic flight control system can be used for controlling the automatic flight according to a ' pre-selection heading deviation value

"control aircraft to turn automatically, ultimately control aircraft to maintain a preselected heading

And (4) flying.

(3) Course keeping (mode)

See FIG. 4 for a schematic of a heading-preserving design.

"heading hold" (mode) belongs to the pilot selected post-confirmation automatic control mode. The operation authority is designed to be the second highest (second level), which is mutually exclusive with the modes of other second highest (second level) operation authorities, and the current working mode of other second highest (second level) operation authorities can be exited after selection.

During the operation of the automatic flight control system, in the course of the change of the aircraft course, the pilot recognizes the current flight course according to the flight requirement

Requiring to maintain flight, pressing a "heading hold mode" button indicator that lights up (green), and the autopilot system maintains the bias according to the "heading hold bias

' controlling airplane auto hold

And (5) flying.

(4) Side navigation (mode)

See fig. 5, schematic diagram of a lateral navigation design.

"lateral navigation" (mode) belongs to the pilot selection-confirmed automatic control mode. The operation authority is designed to be the second highest (second level), which is mutually exclusive with the modes of other second highest (second level) operation authorities, and the current working mode of other second highest (second level) operation authorities can be exited after selection.

During the operation of the automatic flight system, the pilot presses the button indicator of the 'side navigation mode' according to the flight requirement, the indicator (green) is lighted, and the automatic flight control system provides the navigation signal phi according to the avionic system _{L_NAV} Changing the real-time course of an aircraft

And flying according to the set navigation mode route.

(5) Slope selection (mode)

See fig. 6, a schematic of a grade select design.

"grade select" (mode) belongs to the pilot's selection of the control mode for automatic restriction after confirmation. Its manipulation authority is designed to be only compatible with the next highest (second) level manipulation authority and does not function in the highest (first) level manipulation authority mode.

During operation of the automatic flight system, (1) under normal conditions, the pilot may place the "grade select" rotation in the "auto" position, and the automatic flight control system will automatically limit roll grade limits during automatic turns based on flight safety and flight requirements. (2) When a pilot needs to limit the maximum turning slope of the airplane (for example, the airplane flies in a bumpy airflow, the airplane flies in an easily-frozen area, or the airplane has a specific artificial limit to fly), a corresponding maximum roll slope limit value (5, 10, 15, 20 or 25 degrees; the maximum roll slope limit scale can be designed according to the use requirements of pilots, and can be subdivided or expanded or reduced, and the limit range can be expanded or reduced) is set by rotating a 'slope selection' knob, and when the automatic flight control system controls the airplane to turn and fly in a secondary (secondary) turning mode, the roll slope of the airplane does not exceed the set slope value.

The flight safety and flight requirement can be flight parameters, and the flight parameters can be an included angle between a current course and a pre-flying course of the aircraft, an included angle between the current course and the pre-flying course, an attitude angle, an attack angle, a flight speed, a flight altitude and the like, and can also be the cargo weight of the aircraft, the cargo type (bulk cargo, container cargo, personnel) and the like.

The invention divides the flight characteristics of the automatic flight airspace into three types, namely, an airspace of a fixed airway route, a small-range airspace of a fixed target point and a small-range airspace of a mobile target point. According to the characteristics of the airplane, the turning mode of automatic flight is set with corresponding control authority, and the method is specifically designed as follows: 1 highest level (primary) turning mode ' operating handle (mode) ', 3 secondary (secondary) turning mode ' course preselection ', ' course keeping ' and ' lateral navigation ' modes, and 1 secondary turning compatible mode ' gradient selection ' mode, provide more reasonable selection mode, have reached the effect that alleviates pilot's driving burden.

Claims (10)

1. A method for switching an automatic flight control turning mode of an airplane is characterized by comprising the following steps:

when the flight turning mode of the airplane is in any mode with second priority, if the fact that the pilot operates to enter other modes with second priority or the mode with first priority is detected, mode switching is carried out;

when the flight turning mode of the airplane is in a mode of a first priority, if the pilot is detected to operate to enter any mode of a second priority, mode switching is not carried out;

controlling the flight of the airplane according to the current flight turning mode of the airplane;

wherein the mode of the first priority comprises: a joystick mode; the modes of the second priority include: a heading pre-selection mode, a heading hold mode, and a lateral navigation mode.

2. The method of claim 1, wherein controlling the flight of the aircraft based on the current flight turn pattern of the aircraft comprises:

when the flight turning mode of the airplane is in any mode with a second priority, acquiring a slope selection state;

and controlling the flight of the airplane according to the gradient selection state and the current flight turning mode of the airplane.

3. The method of claim 2, wherein the grade select state comprises: an automatic state and a preset numerical state;

when the gradient selection state is a preset numerical value state, controlling the flight of the airplane according to the gradient selection state and the current flight turning mode of the airplane, wherein the control method comprises the following steps:

controlling the flying rolling gradient of the airplane not to exceed a preset numerical value indicated by a preset numerical value state according to the current flying turning mode of the airplane;

when the gradient selection state is an automatic state, the method for controlling the flight of the airplane according to the gradient selection state and the current flight turning mode of the airplane comprises the following steps:

and controlling the flight of the airplane according to the current flight turning mode of the airplane and the current flight parameters of the airplane.

4. The method of claim 1, further comprising:

when the flight turning mode of the airplane is in a first priority mode, if the situation that a pilot operates a control handle to be in a neutral position is detected, the mode of the first priority is exited, and an attitude keeping mode is entered;

and when the flight turning mode of the airplane is in any mode with the second priority, if the situation that the pilot selects to exit the mode with the current second priority is detected, entering an attitude keeping mode.

5. The method of claim 4, further comprising:

when the airplane is in the attitude keeping mode, if the pilot is detected to operate to enter any mode with the second priority or the mode with the first priority, the mode is switched.

6. An aircraft automatic flight control turning mode switching device, comprising:

the mode switching module is used for switching modes when the flight turning mode of the airplane is in any mode with second priority and if the pilot is detected to operate to enter other modes with second priority or the mode with first priority; when the flight turning mode of the airplane is in a mode of a first priority, if the pilot is detected to operate to enter any mode of a second priority, mode switching is not carried out;

the control module is used for controlling the flight of the airplane according to the current flight turning mode of the airplane;

wherein the mode of the first priority comprises: a joystick mode; the modes of the second priority include: a heading pre-selection mode, a heading hold mode, and a lateral navigation mode.

7. The apparatus of claim 6, wherein the root control module is specifically configured to obtain a grade selection status when the flight turning mode of the aircraft is in any of the second priority modes;

and controlling the flight of the airplane according to the gradient selection state and the current flight turning mode of the airplane.

8. The apparatus of claim 7, wherein the grade select state comprises: an automatic state and a preset value state;

the root control module is specifically used for controlling the flying roll gradient of the airplane not to exceed a preset value indicated by a preset value state according to the current flying turning mode of the airplane when the gradient selection state is the preset value state; and when the gradient selection state is an automatic state, controlling the flight of the airplane according to the current flight turning mode of the airplane and the current flight parameters of the airplane.

9. The apparatus of claim 6, wherein the mode switching module is further configured to,

when the flight turning mode of the airplane is in a first priority mode, if the situation that a pilot operates a control handle to be in a neutral position is detected, the airplane exits from the first priority mode and enters into an attitude keeping mode;

and when the flight turning mode of the airplane is in any mode with the second priority, if the situation that the pilot selects to exit the current mode with the second priority is detected, entering an attitude keeping mode.

10. The apparatus of claim 9, wherein the mode switching module is further configured to,

when the airplane is in the attitude keeping mode, if the pilot is detected to operate to enter any mode with the second priority or the mode with the first priority, the mode is switched.

Images