JP2006137278A - Method and device for generating bank angle for flight path - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method and a device for generating a bank angle for a flight path, in which the bank angle can be controlled with high responsiveness even when speed is varied. <P>SOLUTION: The bank angle ϕ of an aircraft at a current position is determined based on cross track deviation XTE, course deviation CE, and predicted pass point. The bank angle ϕ is thus determined under consideration of not only direction deviation of the aircraft including the cross track deviation XTE and the course deviation CE, but also the predicted pass point determined based on flight speed at the current speed. Therefore, generation of overshoot to a turning path passing the predicted pass point is prevented even where the speed of the aircraft is varied. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a flight path bank angle generation method for calculating a bank angle of an aircraft including a fixed wing aircraft and a rotary wing aircraft, a flight control method using this method, a flight path bank angle generation apparatus, and this apparatus. The present invention relates to a flight control device.

  FIG. 4 is a plan view for explaining a procedure for generating a bank angle by a conventional bank angle generation method. This conventional technique is described in Patent Document 1. The aircraft 1 flies off the flight path 2 in front of the target passing point 3 on the preset flight path 2. Such deviation from the target passing point 3 of the aircraft 1 at the current position 4 includes a cross-track deviation θ1 that is an angle formed by the traveling direction 7 of the aircraft 1 and the flight path 2, and the current position 4 of the aircraft 1 and the target. This is represented by a course deviation θ2 that is an angle formed by the line 6 connecting the passing point 3 with respect to the flight path 2.

  Since the current position 4 of the aircraft 1 deviates to the left with respect to the flight path 2, the cross track deviation θ1 can be eliminated by taking the right bank angle + φ that the aircraft 1 turns to the right. Further, since the traveling direction 7 of the aircraft 1 deviates to the right from the flight path 2, the course deviation θ2 can be eliminated by taking the left bank angle −φ that turns left.

  With respect to such conflicting bank angles + φ, −φ, the arithmetic processing unit of the flight control device ensures that the aircraft 1 finally returns to the flight path 2 and passes through the target passing point 3 with certainty. A bank angle φ is calculated, and a predetermined control surface of the aircraft 1 is controlled so that flight along the bank angle φ is achieved.

  FIG. 5 is a block diagram showing a simplified electrical configuration of the bank angle generation device 10 that implements the bank angle generation method described with reference to FIG. The bank angle generation method described above is realized by the bank angle generation device 10 and obtains the bank angle φ of the aircraft 1 based on the cross track deviation θ1 and the course deviation θ2.

  The bank angle generation device 10 includes a first gain multiplier 11, a second gain multiplier 12, a subtractor 13, and a limiter 14. The input cross track deviation θ 1 is multiplied by the first gain by the first gain multiplier 11 and input to the subtractor 13. Further, the input course deviation θ2 is input to the subtractor 13 multiplied by the second gain by the second gain multiplier 12. The subtractor 13 subtracts the input cross-track deviation θ1 and the course deviation θ2 after gain multiplication to obtain a difference. This difference value is input to the limiter 14. The limiter 14 outputs a constant limiter value when the input difference value exceeds the threshold value.

JP 2002-362495 A

  In the prior art, since the bank angle φ is calculated based on the flight direction of the aircraft, if the speed changes, an overshoot occurs in the turning path passing through the passing point, and the bank angle follows the change in speed. There is a problem that φ cannot be controlled with high responsiveness.

  An object of the present invention is to provide a bank angle generation method and apparatus for a flight path that can control the bank angle with high responsiveness even if the speed changes.

  The flight path bank angle generation method according to the present invention includes a cross-track deviation between a flight path preset in an aircraft and a current position of the aircraft, a course deviation between the direction of the flight path and the traveling direction of the aircraft, A bank angle of the aircraft at the current position is generated so as not to generate the cross track deviation and the course deviation based on a predicted passing point after a predetermined time from the current position at the flight speed on the route. It is a bank angle generation method of a flight path.

  The flight path bank angle generation method of the present invention is characterized in that the flight speed is a ground speed.

  Further, the flight control method of the present invention controls the control surface of the aircraft so that the aircraft flies along the flight path using the bank angle generated by the bank angle generation method of the flight path. This is a flight control method.

  Furthermore, the flight path bank angle generating apparatus according to the present invention includes a cross track deviation with respect to a predetermined flight path of an aircraft, a course deviation with respect to the direction of the predetermined flight path, and a current flight speed on the flight path. A flight path bank angle generating device for generating an aircraft bank angle at a current position so as to cancel the cross track deviation and course deviation based on a predicted passing point after a predetermined time from a position. is there.

  Furthermore, the flight path bank angle generation device of the present invention is characterized in that the flight speed is a ground speed.

  Furthermore, the flight control device of the present invention controls the control surface of the aircraft so that the aircraft flies along the flight path using the bank angle generated by the flight path bank angle generation device. It is a flight control device.

  According to the flight path bank angle generating method of the present invention, the bank angle of the aircraft at the current position is calculated based on the cross track deviation, the course deviation, and the predicted passing point. The aircraft is equipped with a flight control device that controls the control surface so that the aircraft flies along the flight path. The flight control device generates the flight path based on a starting point and an arriving point input by a pilot and a plurality of passing points therebetween. The flight path thus generated is set and stored as flight data in the storage unit of the flight control device.

  The cross track deviation is a deviation between the current position of the aircraft and the position of the aircraft on the flight path. The course deviation is an angle formed by the traveling direction of the aircraft and the flight path. The predicted passing point is a calculated position that arrives after a predetermined time from the current position, obtained from the current flight speed on the flight path. As the flight path, for example, a straight line, a circle, an ellipse, and other quadratic curves may be used.

  The bank angle at the current position is calculated taking into account not only the cross track deviation and course deviation but also the estimated passing point obtained from the current flight speed, so it will pass through the passing point even if the aircraft speed changes. It is possible to prevent an overshoot from occurring on the turning route, and to calculate the bank angle with high responsiveness according to a change in speed.

  Such a bank angle is calculated by a flight management computer (FMC) of a navigation guidance device also called an auto flight system mounted on an aircraft, and used for control of a control surface, thereby achieving high turning performance. Can be realized. Further, in the case of maneuvering by manual operation without using the autopilot mode, for example, an electronic attitude indicator (abbreviated as EAI) is displayed with a flight director generated using the bank angle, and the flight path is displayed to the pilot. The guidance information may be presented.

  According to the flight path bank angle generation method of the present invention, the ground speed is used as the flight speed. This ground speed is obtained by, for example, a satellite navigation device mounted on an aircraft, and can be calculated as the sum of speed components in a horizontal plane.

  Furthermore, according to the flight control method of the present invention, even if the speed of the aircraft changes by controlling the control surface of the aircraft so that the aircraft flies along the flight path, the optimal control according to the speed is performed. The control surface is controlled to turn at the bank angle, and the flight of the aircraft can be controlled with high accuracy without causing overshoot to the turning path passing through the passing point.

  Further, according to the bank angle generation device for a flight path of the present invention, the bank angle generation means is configured to detect a cross track deviation with respect to a preset flight path of the aircraft and a target passing point on the preset flight path. The bank angle of the aircraft at the current position is calculated so as to cancel out the cross track deviation and the course deviation based on the course deviation and the predicted passing point after a predetermined time from the current position at the flight speed on the flight path. The flight control computer calculates and outputs a steering angle based on the bank angle calculated by the bank angle generation means. The control surface control means controls the control surface of the aircraft based on the steering angle output from the flight control computer.

  The bank angle of the aircraft at the current position is calculated based on the cross track deviation, the course deviation, and the expected passing point. The aircraft is equipped with a flight control device that controls the control surface so that the aircraft flies along the flight path. The flight control device generates the flight path based on a starting point and an arriving point input by a pilot and a plurality of passing points therebetween. The flight path thus generated is set and stored as flight data in the storage unit of the flight control device.

  The cross track deviation is a deviation between the current position of the aircraft and the position of the aircraft on the flight path. The course deviation is an angle formed by the traveling direction of the aircraft and the flight path. The predicted passing point is a calculated position that is obtained from the current flight speed on the flight path and arrives after a predetermined time from the current position. As the flight path, for example, a straight line, a circle, an ellipse, and other quadratic curves may be used.

  The bank angle at the current position is calculated taking into account not only the cross track deviation and course deviation but also the estimated passing point obtained from the flight speed at the current position. An overshoot is prevented from occurring with respect to the turning route passing through, and the bank angle φ can be calculated with high responsiveness in accordance with a change in speed.

Such a bank angle is output as a bank angle command of various actuators that drive a control surface by a flight management computer (FMC) of a navigation guidance device called an auto flight system mounted on an aircraft. The surface is controlled. Thereby, high turning performance can be realized. In addition, when maneuvering by manual operation without using an autopilot, for example, an electronic attitude indicator (electronic
The flight director generated using the bank angle may be displayed by Attitude Indicator (abbreviated as EAI), and guidance information may be presented to the pilot.

  Furthermore, according to the bank angle generation device for a flight path of the present invention, a ground speed is used as the flight speed. This ground speed is obtained by, for example, a satellite navigation device mounted on an aircraft, and can be calculated as the sum of speed components in a horizontal plane.

  Furthermore, according to the flight control device of the present invention, even if the speed of the aircraft changes by controlling the control surface of the aircraft so that the aircraft flies along the flight path, the optimal control according to the speed is performed. The control surface is controlled to turn at the bank angle, and the flight of the aircraft can be controlled with high accuracy without causing overshoot to the turning path passing through the passing point.

  FIG. 1 is a block diagram showing a flight path bank angle generation apparatus 20 according to an embodiment of the present invention. FIG. 2 shows a flight control apparatus 21 including the flight path bank angle generation apparatus 20 shown in FIG. FIG. In the present embodiment, the flight path bank angle generation device 20 realizes the flight path bank angle generation method, and the flight control apparatus 21 realizes the flight control method. The flight control device 21 generates a flight path based on the departure point and arrival point input by the pilot and a plurality of passing points therebetween, and is set and stored as flight data in the storage unit of the flight control device. The aircraft (see FIG. 3 described later) 22 will be described assuming a fixed-wing aircraft.

  The flight control device 21 mounted on the aircraft 22 includes an inertial reference device 23, a satellite navigation device 24, an air specification measurement device 25, a bank angle generation device 20, a display device 26, a flight control computer 27, and a control surface control device 28. And a control surface driving device 29.

  The bank angle generation device 20 includes a path generation unit 31, a reference bank angle command generation unit 32, a cross track deviation calculation unit 33, a course deviation calculation unit 34, a cross track deviation gain multiplier 35, and a course deviation gain multiplier 36. , First subtractor 37, second subtractor 38, bank angle φ limiter 39 and rate limiter 40.

  Inertial Reference System (abbreviated as IRS) 23 is equipped with a stabilization plate that is always kept horizontal by a gyro on the aircraft, and a high-accuracy accelerometer is provided on the stabilization plate in three orthogonal directions. , And by repeating the integral calculation of the acceleration by a built-in computer, the speed, the flight distance, and the flight direction can be obtained.

The satellite navigation system 24 is a GPS (Global Positioning System).
A satellite global positioning system, also called System, can be used to detect the three-dimensional position, speed and time of an aircraft.

  The Air Data System (abbreviated as ADS) 25 is an air speed meter that can simultaneously measure the size, direction, and altitude of the air flight speed using a Pitot static pressure tube, etc. An air change is detected as a pressure by a probe provided, and the detected pressure is converted into an electric signal by an arithmetic processing unit.

  The display device 26 is realized by a liquid crystal display device provided with a flight director or the like.

  A flight control computer (abbreviated as FCC) 27 calculates and outputs a steering angle command based on the bank angle φ output from the bank angle generation means 20.

  The control surface controller 28 calculates and outputs a control surface control signal based on the control angle command output from the flight control computer 27. The control surface control signal from the control surface control device 28 includes a ladder that displaces the attitude of the aircraft 22 in the yaw direction, an aileron that displaces the attitude of the aircraft 22 in the roll direction, an elevator that displaces the attitude of the aircraft 22 in the pitch direction, and An operation command is input to an actuator that drives various control surfaces such as a stabilizer to control each control surface.

  FIG. 3 is a plan view for explaining the flight path m in the vicinity of the predicted passing point P1 of the aircraft 22. The route generation unit 31 of the bank angle generation device 20 calculates and outputs route data from the waypoint data and wind data by a predetermined route generation logic. The route data includes a start point position, an end point position, a route type, and the like for each route.

  The reference bank angle command generation unit 32 performs arithmetic processing using a preset reference bank angle command generation logic based on the predicted passing point P1 from the route generation unit 31 and the flight position P2 on the route, The angle φ0 is output as a command. The cross track deviation XTE is an angle formed by the current flight direction of the aircraft 22 and the flight path. The course deviation CE is an angle formed by the traveling direction of the aircraft 22 and the flight path. The predicted passing point is a calculated position that arrives after a predetermined time from the current position, obtained from the current flight speed, on the flight path. As the flight path, for example, a straight line, a circle, an ellipse, and other quadratic curves may be used.

The reference bank angle φ0 is set such that the path turning deviation is ΔCRS_FP, the time set in consideration of the turning performance such as the roll rate of the aircraft 22 is Δt, and the expected turning rate obtained therefrom is ΔCRS_FT / Δt. When the ground speed is VGS, the reference bank angle φ0 is
φ0 = tan ⁻¹ {(ΔCRS_FP / Δt) · (VGS / g)} (1)
Sought by.

  Here, g is a gravitational acceleration. The time Δt is a time set according to the turning performance of the aircraft.

  The cross track deviation calculation unit 33 calculates a difference between the flight position on the route from the route generation unit 31 and the current position from the inertial reference device 23 and outputs the cross track deviation XTE. To do.

  The course deviation calculation unit 34 outputs a course deviation CE as a difference between the course and the track angle of the route from the route generation unit 31.

  The cross track deviation gain multiplier 35 calculates and obtains a value obtained by multiplying the cross track deviation XTE from the cross track deviation calculation unit 33 by a predetermined first gain G1 and outputs the result.

  The course deviation gain multiplier 36 calculates and outputs a value obtained by multiplying the course deviation CE from the course deviation calculation unit 34 by a predetermined second gain G2.

  The first subtractor 37 calculates the difference between the cross track deviation XTE from the cross track deviation gain multiplier 35 and the course deviation CE from the course deviation gain multiplier 36 to obtain the first bank angle φ1, Output.

  The second subtractor 38 calculates the difference between the first bank angle φ1 from the first subtractor 37 and the reference bank angle φ0 from the reference bank angle command generation unit 32 to obtain the second bank angle φ2 and outputs it. To do.

  The bank angle limiter 39 is an upper / lower limiter that limits the upper and lower limits of the second bank angle φ2 from the second subtractor 38, and is limited so that the second bank angle φ2 does not exceed the turning performance of the aircraft 22. The third bank angle φ3 is output.

  The rate limiter 40 limits the upper limit value and the lower limit value determined from the roll speed to the third bank angle φ3 output from the bank angle limiter 39 and whose upper limit and lower limit are restricted. The value is output as the bank angle φ given to the next flight control computer 27.

  The bank angle φ from the rate limiter 39 is given to the flight control computer 27, and the flight control computer 27 calculates a steering angle command. The control surface control device 28 outputs a control surface control signal to the control surface control device 28 based on the control angle command calculated by the flight control computer 27, and this control surface control signal is given to the control surface drive device 29. Thus, the control surface of the aircraft 22 is controlled.

  According to the above configuration, the bank angle generating device 20 calculates the bank angle φ of the aircraft at the current position based on the cross-track deviation XTE, the course deviation CE, and the expected passing point P1. Such a bank angle φ takes into account not only the deviation in the flight direction of the aircraft 22, that is, the crossing deviation XTE and the course deviation CE, that is, the deviation in the traveling direction, but also the predicted passing point P 1 obtained from the flight speed at the current position. Therefore, the bank angle φ can be calculated with high responsiveness according to the change in speed, and even if the speed of the aircraft 22 changes during navigation in the autopilot mode, it passes through the predicted passing point P1. An overshoot is prevented from occurring with respect to the turning path m, and high turning performance can be realized.

  In another embodiment of the present invention, when maneuvering by manual operation not using the autopilot mode, for example, a flight generated using the bank angle φ by an electronic attitude indicator (abbreviated as EAI) A director may be displayed to provide guidance information to the pilot.

  The ground speed is used as the flight speed. This ground speed is obtained by a satellite navigation device mounted on an aircraft, and the sum of speed components in a horizontal plane can be calculated.

It is a block diagram which shows the bank angle production | generation apparatus 20 of the flight path of one Embodiment of this invention. It is a block diagram which simplifies and shows the flight control apparatus 21 containing the bank angle production | generation apparatus 20 shown by FIG. 4 is a plan view for explaining a flight path m in the vicinity of a predicted passing point P1 of the aircraft 22. FIG. It is a top view for demonstrating the procedure which produces | generates a bank angle by the bank angle production | generation method of a prior art. FIG. 5 is a block diagram showing a simplified electrical configuration of a bank angle generation device 10 that executes the bank angle generation method described with reference to FIG. 4.

Explanation of symbols

DESCRIPTION OF SYMBOLS 20 Bank angle production | generation apparatus 21 Flight control apparatus 22 Aircraft 23 Inertial reference apparatus 24 Satellite navigation apparatus 25 Air characteristic measurement apparatus 26 Display apparatus 27 Flight control computer 28 Control surface control apparatus 29 Control surface drive apparatus 31 Path | route generation part 32 Reference bank Angle command generator 33 Cross track deviation calculator 34 Course deviation calculator 35 Cross track deviation gain multiplier 36 Course deviation gain multiplier 37 First subtractor 38 Second subtractor 39 Bank angle limiter 40 Rate limiter

Claims (6)

  Cross-track deviation between the preset flight path of the aircraft and the current position of the aircraft, course deviation between the direction of the flight path and the traveling direction of the aircraft, and a predetermined time after the current position at the flight speed on the flight path The flight path bank angle generation method includes generating the bank angle of the aircraft at the current position so as not to generate the cross-track deviation and the course deviation based on a predicted passing point.   2. The flight path bank angle generation method according to claim 1, wherein the flight speed is a ground speed.   A flight control method for controlling a control surface of an aircraft so that the aircraft flies along the flight path using the bank angle generated by the bank angle generation method of the flight path according to claim 1 or 2. .   Based on the cross-track deviation with respect to the predetermined flight path of the aircraft, the course deviation with respect to the direction of the predetermined flight path, and the predicted passing point after a predetermined time from the current position on the flight speed on the flight path A bank angle generating device for a flight path, wherein the bank angle of the aircraft at the current position is generated so as to cancel the cross track deviation and the course deviation.   5. The flight path bank angle generation device according to claim 4, wherein the flight speed is a ground speed.   6. A flight control device that controls a control surface of an aircraft so that the aircraft flies along the flight path using the bank angle generated by the bank angle generation device of the flight path according to claim 4 or 5. .

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