CN115617057B - Method for synchronously controlling longitudinal pitch angle of landing tail end of four-tilting rotor aircraft - Google Patents
Method for synchronously controlling longitudinal pitch angle of landing tail end of four-tilting rotor aircraft Download PDFInfo
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- CN115617057B CN115617057B CN202211347554.XA CN202211347554A CN115617057B CN 115617057 B CN115617057 B CN 115617057B CN 202211347554 A CN202211347554 A CN 202211347554A CN 115617057 B CN115617057 B CN 115617057B
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000011217 control strategy Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010187 selection method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
- G05D1/0684—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing on a moving platform, e.g. aircraft carrier
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a method for synchronously controlling longitudinal pitch angles of landing ends of a four-tilting rotor aircraft, which is designed to realize mutual decoupling between a rotor rotation plane pitch angle and an aircraft body pitch angle, and synchronously deflect the engine body pitch angle and a ship deck pitch motion state, so that the relative angle of landing gear of the four-tilting rotor aircraft is zero at the moment of ship contact, the landing gear stress is uniform when the four-tilting rotor aircraft contacts a ship, the landing gear single-point contact of the ship caused by ship fluctuation is avoided, and the safety landing of the four-tilting rotor aircraft is ensured. The invention provides a method for synchronizing pitching of the aircraft carrier of the four-tilting rotor aircraft, which not only ensures the landing safety of the aircraft carrier of the four-tilting rotor aircraft, but also has novel and innovative thought method, easy implementation, and important engineering practical value, and can greatly improve the landing safety of the aircraft carrier of the four-tilting rotor aircraft.
Description
Technical Field
The invention relates to a method for synchronously controlling longitudinal pitch angles of landing ends of a four-tilting rotor aircraft, and belongs to the technical field of aircraft flight control.
Background
At present, with the expansion of the application scene of the tilting rotor, the tilting rotor on-board is a future trend and is one of the factors necessary for supporting the navy trend of various countries, so that the tilting rotor on-board receives more and more attention. However, the ship deck has pitching motion under the influence of sea waves besides forward sailing speed, so that in order to improve the safety of the landing plane of the ship deck with four tilting rotor wings, a synchronous control method for the longitudinal pitch angle of the landing tail end of the ship of the four tilting rotor wing aircraft is provided.
Disclosure of Invention
The invention aims to: the invention aims to realize that the pitch angle of the rotor aircraft at the tail end of the landing ship with four tilting rotors is consistent with the pitch angle of the ship, so that the included angle between the landing gear plane of the rotor aircraft with four tilting rotors and the plane of a ship deck at the moment of landing ship contact is zero, the risk of damage to the aircraft due to single-point landing of the landing gear at the tail end of the landing ship is greatly reduced, and the landing safety of the aircraft is improved.
The technical scheme is as follows:
the application realizes the above-mentioned effect through following technical scheme: the method for synchronously controlling the longitudinal pitch angle of the landing tail end of the four-tilting rotor aircraft comprises the following steps:
according to pitch angle rate and pitch angle signals measured by an airborne sensor, a control law of a four-tilting rotor tilting angle control channel is obtained through a feedback control method, and further a control input instruction signal of the tilting angle control channel is obtained, so that a plane where a rotor at the tail end of a ship is rotated is automatically adjusted forwards, the forward tilting component of the pulling force of the rotor overcomes aerodynamic resistance caused by following forward motion of a ship, the relative rest of a ship relative to a set landing point is realized in a forward position direction under an inertial coordinate system, the situation that the four-tilting rotor is always right above the set landing point is ensured, and landing is ready to start;
on the basis of completing the control law of the tilting angle control channel, designing a collective pitch control channel by adopting a strategy of negative feedback of the phase-sky speed, obtaining a rotor collective pitch control channel control input instruction signal, and realizing that the four-tilting rotor aircraft vertically descends on the deck plane of the ship at a set descent speed at a uniform speed and stably;
the method comprises the steps of obtaining ship deck pitch angle motion data, designing and obtaining a four-tilting rotor wing elevator channel control input command signal according to a linear negative feedback method, and achieving a pitch angle theta of a four-tilting rotor wing airframe b Pitch angle theta with ship deck ship The motion state is synchronous in real time, and the relative pitch angle between the airframe pitch angle and the ship deck pitch angle of the four-tilting rotor is zero.
Further, according to the forward speed V of the ship ship And ship pitch angle θ ship Closed loop calculation to obtain rotor wing lift force forward inclination angle tau b Controlling forward speed u of tiltrotor aircraft and forward motion speed V of ship ship The same applies.
Further, the four tilt rotor aircraft tilt angle channel control strategy is:
u g ＝V ship ；
wherein τ b For a four tiltrotor aircraft pitch angle control input, u is aircraft forward speed, u g V is a forward speed control command ship Is the ground speed, theta of the ship movement ship Is a pitch angle of a deck of the ship.
Further, rotor collective pitch delta T The control channel adopts a control strategy of fixed sinking rate, namely
Wherein the method comprises the steps ofAltitude rate of change for a four tiltrotor aircraft,>for four tilt rotor get off rate command, < +.>Ship sinking and floating rate delta measured by sensor T_trim Controlling feed forward value for collective pitch of four tiltrotor aircraft, ensuring rapidity of control response, +.>Is a control parameter of the sinking rate of the total distance control channel.
Further, the four tilt rotor elevator channel control strategy is:
θ g ＝θ ship ；
wherein U is E For the virtual elevator control law solving quantity, the pitch angle rate, theta measured by a Q airborne sensor b For pitch angle, θ measured by an on-board sensor g In order to be a pitch angle control command,for pitch angle acceleration signal, θ ship And the pitch angle signal is measured by the ship-based sensor.
The beneficial effects are that:
according to the method for synchronously controlling the longitudinal pitch angle of the landing tail end of the four-tilting rotor aircraft, disclosed by the invention, the mode of closed-loop control of the tilting angle deflection and the pitch angle is adopted, namely, the tilting angle deflection and the elevator pitch control are cooperatively controlled, so that the decoupling control of the longitudinal fuselage angular motion and the rotor pulling plane is realized.
Drawings
FIG. 1 is a schematic view of a landing of a four tiltrotor aircraft;
FIG. 2 is a schematic diagram of a tilt angle channel control circuit;
FIG. 3 is a schematic diagram of a throttle collective control loop;
FIG. 4 is a schematic diagram of an elevator channel control circuit.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are exemplary only for explaining the present invention and are not to be construed as limiting the present invention.
A method for synchronously controlling longitudinal pitch angles of landing ends of a four-tilting rotor aircraft comprises the following specific design steps:
step 1: and designing a tilt angle control law algorithm of the four-tilting rotor wing. Defining the tilt angle of a four-tilt rotor as τ b The PI control structure with no steady-state error control of forward speed is adopted, the synchronous forward motion of the four tilting rotors along with the ship is ensured, meanwhile, in order to reduce forward speed fluctuation caused by pitching motion of the ship body, decoupling control of pitching motion of the ship body and forward speed control is realized, a ship pitch angle signal is used as a feedforward signal and is introduced into a tilting angle control loop, and the control structure is as follows:
u g ＝V ship ；
and 2, designing an accelerator total distance channel control law. In an inertial coordinate system, an astronomical speed signal measured by a GPS is selected as a control signal, and a PI control structure without steady-state error is adopted. To speed up control and reduce the burden of integral term, delta is selected simultaneously T_trim As the feedforward control quantity of the throttle collective pitch channel, the four-tilting rotor aircraft can stably land on the ship at a uniform speed of-0.5 m/s;
wherein delta T_trim =0.6, the selection method is: providing an accelerator amount corresponding to a pull of 0.8 x G, G being the weight of the four tiltrotor aircraft.
And 3, designing a synchronous control law of pitching of the four-tilting rotor fuselage and the ship. To achieve a pitch angle of a four-tiltrotor airframeθ b Pitch angle theta with ship deck ship Synchronous and consistent state, ensuring that the axis of the carrier-landing tail end machine body is in a relatively parallel state relative to the plane of the deck at the moment, and selecting a pitch angle signal theta measured by a carrier-based sensor ship As the elevator control command target value, the control algorithm of the elevator channel adopts a control law algorithm with no steady-state error, advanced phase and high disturbance rejection, and the specific structure is as follows:
θ g ＝θ ship ；
the method for synchronously controlling the longitudinal pitch angle of the landing tail end of the four-tilting rotor aircraft not only greatly reduces the risk of landing, but also reduces the operating burden of pilots, and has important engineering application value.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (3)
1. The method for synchronously controlling the longitudinal pitch angle of the landing tail end of the four-tilting rotor aircraft is characterized by comprising the following steps of:
according to pitch angle rate and pitch angle signals measured by an airborne sensor, a control law of a four-tilting rotor tilting angle control channel is obtained through a feedback control method, and further a control input instruction signal of the tilting angle control channel is obtained, so that a plane where a rotor at the tail end of a ship is rotated is automatically adjusted forwards, the forward tilting component of the pulling force of the rotor overcomes aerodynamic resistance caused by following forward motion of a ship, the relative rest of a ship relative to a set landing point is realized in a forward position direction under an inertial coordinate system, the situation that the four-tilting rotor is always right above the set landing point is ensured, and landing is ready to start;
on the basis of completing the control law of the tilting angle control channel, designing a collective pitch control channel by adopting a strategy of negative feedback of the phase-sky speed, obtaining a rotor collective pitch control channel control input instruction signal, and realizing that the four-tilting rotor aircraft vertically descends on the deck plane of the ship at a set descent speed at a uniform speed and stably;
the method comprises the steps of obtaining ship deck pitch angle motion data, designing and obtaining a four-tilting rotor wing elevator channel control input command signal according to a linear negative feedback method, and achieving a pitch angle theta of a four-tilting rotor wing airframe b Pitch angle theta with ship deck ship The motion state is synchronous in real time, so that the relative pitch angle between the airframe pitch angle of the four-tilting rotor wing and the pitch angle of the ship deck is zero;
according to the forward speed V of the ship ship And ship pitch angle θ ship Closed loop calculation to obtain rotor wing lift force forward inclination angle tau b Controlling forward speed u of tiltrotor aircraft and forward motion speed V of ship ship The same;
the tilt angle channel control strategy of the four-tilt rotor aircraft is as follows:
u g ＝V ship ；
wherein τ b For a four tiltrotor aircraft pitch angle control input, u is aircraft forward speed, u g V is a forward speed control command ship Is the ground speed, theta of the ship movement ship Is a pitch angle of a deck of the ship.
2. The method for synchronously controlling longitudinal pitch angle of landing tip of four-tiltrotor aircraft according to claim 1, wherein rotor collective pitch delta T The control channel adopts a control strategy of fixed sinking rate,
i.e.
Wherein the method comprises the steps ofAltitude rate of change for a four tiltrotor aircraft,>for four tilt rotor get off rate command, < +.>Ship sinking and floating rate delta measured by sensor T_trim Controlling feed forward value for collective pitch of four tiltrotor aircraft, ensuring rapidity of control response, +.>Is a control parameter of the sinking rate of the total distance control channel.
3. The method of claim 1, wherein the four-tiltrotor aircraft landing tip longitudinal pitch angle synchronization control strategy is:
θ g ＝θ ship ；
wherein U is E For the virtual elevator control law solving quantity, the pitch angle rate measured by the Q airborne sensor, Q b For pitch angle, θ measured by an on-board sensor g In order to be a pitch angle control command,for pitch angle acceleration signal, θ ship And the pitch angle signal is measured by the ship-based sensor. />
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211347554.XA CN115617057B (en) | 2022-10-31 | 2022-10-31 | Method for synchronously controlling longitudinal pitch angle of landing tail end of four-tilting rotor aircraft |
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| CN202211347554.XA CN115617057B (en) | 2022-10-31 | 2022-10-31 | Method for synchronously controlling longitudinal pitch angle of landing tail end of four-tilting rotor aircraft |
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| CN115617057A CN115617057A (en) | 2023-01-17 |
| CN115617057B true CN115617057B (en) | 2024-03-29 |
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Citations (5)
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| CN109782785A (en) * | 2019-01-28 | 2019-05-21 | 南京航空航天大学 | Aircraft auto landing on deck control method based on side-jet control |
| CN111459184A (en) * | 2020-04-15 | 2020-07-28 | 烟台南山学院 | Unmanned aerial vehicle automatic carrier landing control method adopting segmented attack angle instruction |
| CN112148027A (en) * | 2020-08-28 | 2020-12-29 | 成都飞机工业（集团）有限责任公司 | Carrier-based unmanned aerial vehicle arresting carrier landing and escape missed-flight integrated control design method |
| CN113176785A (en) * | 2021-05-21 | 2021-07-27 | 南京航空航天大学苏州研究院 | Automatic landing route design method for carrier-based vertical take-off and landing unmanned aerial vehicle |
| CN114035601A (en) * | 2022-01-06 | 2022-02-11 | 北京航空航天大学 | Tilt rotor unmanned aerial vehicle carrier landing method based on H infinite control |
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- 2022-10-31 CN CN202211347554.XA patent/CN115617057B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109782785A (en) * | 2019-01-28 | 2019-05-21 | 南京航空航天大学 | Aircraft auto landing on deck control method based on side-jet control |
| CN111459184A (en) * | 2020-04-15 | 2020-07-28 | 烟台南山学院 | Unmanned aerial vehicle automatic carrier landing control method adopting segmented attack angle instruction |
| CN112148027A (en) * | 2020-08-28 | 2020-12-29 | 成都飞机工业（集团）有限责任公司 | Carrier-based unmanned aerial vehicle arresting carrier landing and escape missed-flight integrated control design method |
| CN113176785A (en) * | 2021-05-21 | 2021-07-27 | 南京航空航天大学苏州研究院 | Automatic landing route design method for carrier-based vertical take-off and landing unmanned aerial vehicle |
| CN114035601A (en) * | 2022-01-06 | 2022-02-11 | 北京航空航天大学 | Tilt rotor unmanned aerial vehicle carrier landing method based on H infinite control |
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| Automatic carrier landing system based on active disturbance rejection control with a novel parameters optimizer;Yue Yu;Aerospace Science and Technology;20171031;69;全文 * |
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