JP3776827B2 - Dynamic air data generation method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a dynamic air data generation method and apparatus.
[0002]
[Prior art]
Attempts have been made to extract defects in the aircraft before the flight test by changing the air data input to the aircraft sensors and performing evaluation in a flight simulation environment. Here, when the aircraft is flying, air pressure corresponding to the sum of static pressure (atmospheric pressure) and dynamic pressure (air pressure applied by flying at the air speed) acts on the aircraft.
Air data is data relating to the air pressure.
[0003]
In order to improve the effect of aircraft defect detection before flight test, air data is dynamically changed on the ground at a desired rate of change to create a more realistic flight simulation environment. It is desired to evaluate the state of the aircraft at.
[0004]
As shown in FIG. 5, the conventional air data generator has a discrete evaluation that can evaluate only point points.
Moreover, it was only possible to generate a simulated environment in which air data was changed manually.
[0005]
The conventional measurement method is a discrete evaluation and can only perform a polarity check.
[0006]
[Problems to be solved by the invention]
It is desired to be able to generate dynamically changing air data (dynamic air data).
It is desired to be able to generate air data that changes continuously and automatically in a simple manner.
There is a need for an air pressure simulation device that can automatically and continuously generate air data.
[0007]
It is desired that the air pressure circuit that follows the simulation calculation value can be generated by eliminating the delay element of the pneumatic circuit.
With respect to a pneumatic circuit having a nonlinear element, it is desired to match a simulation calculation value and a control amount by using an inverse transfer function compensation method.
[0008]
An object of the present invention is to provide a dynamic air data generation method and apparatus capable of generating dynamically changing air data (dynamic air data).
Another object of the present invention is to provide a dynamic air data generation method and apparatus capable of generating air data that changes continuously and automatically in a simple manner.
Still another object of the present invention is to provide a method and apparatus for generating dynamic air data that changes automatically and continuously.
[0009]
Still another object of the present invention is to provide a dynamic air data generation method and apparatus capable of generating a pneumatic pressure following a simulation calculation value by eliminating a delay element of a pneumatic circuit.
Still another object of the present invention is to provide a dynamic air data generation method and apparatus capable of matching a simulation calculation value and a control amount using an inverse transfer function compensation method for a pneumatic circuit having a nonlinear element. is there.
[0010]
[Means for Solving the Problems]
[Means for Solving the Problems] will be described below using the numbers and symbols used in [Embodiments of the Invention]. These numbers and symbols are added to clarify the correspondence between the description of [Claims] and the description of [Mode for carrying out the invention]. It should not be used to interpret the technical scope of the described invention.
[0011]
The dynamic air data generation method of the present invention controls the pneumatic circuit (25) by the inverse transfer function compensation method, and generates dynamic air data that continuously changes with respect to the air pressure output from the pneumatic circuit (25). A dynamic air data generation method for controlling the air pressure circuit (25) by a simple adaptive controller (21) and reducing the air pressure by applying the simple adaptive controller (21). Generating an inverse model (22) of the circuit (25); and executing the inverse transfer function compensation method using the inverse model (22).
[0012]
The dynamic air data generation device of the present invention includes a pneumatic servo valve (25a) that outputs a predetermined air pressure (24) by controlling a valve opening degree, and a simple adaptive control that controls the pneumatic servo valve (25a). A computing unit (27) that performs computation using the reciprocal (22) of the transfer function of a pneumatic control device (20) having a pressure regulator (21), the pneumatic servo valve (25a), and the simple adaptive controller (21). ).
[0013]
In the dynamic air data generation device (30) of the present invention, the pneumatic servo valve (25a) outputs the air pressure (24) following the calculation result (23) by the calculation unit (27). The valve opening is controlled.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of a dynamic air data generation device of the present invention will be described with reference to the accompanying drawings.
[0015]
FIG. 1 is a block diagram showing the configuration of the dynamic air data generation device of this embodiment.
FIG. 2 is a diagram illustrating an example of a flight simulation environment generated by the dynamic air data generation device of the present embodiment.
FIG. 3 is a block diagram showing a detailed configuration of the dynamic air data generation device of the present embodiment.
FIG. 4 is a block diagram showing a circuit based on the inverse transfer function compensation method for explaining the configuration of the dynamic air data generation device of this embodiment.
[0016]
As described in Japanese Patent Laid-Open No. 10-27008, a model control method is known. The model control method is to improve controllability by modeling a control target and controlling it with a controller so that the output of the model and the output of the control target match.
[0017]
Here, when the transfer function of the controlled object (reference numeral 13 in FIG. 4) is F (s), if an inverse model (reference numeral 10 in FIG. 4) of the inverse function 1 / F (s) is used as a model, the system The overall transfer function is
(1 / F (s)) × F (s) = 1
Thus, the control amount (reference numeral 12 in FIG. 4) can always be made equal to the target value (reference numeral 11 in FIG. 4).
[0018]
As shown in FIG. 4, according to the model control method (inverse transfer function compensation method), the output (operation amount) 15 obtained by inputting the target value 11 to the inverse model 10 is input to the control target (forward model) 13. Then, since the entire transfer function is 1, the same output (control amount) 12 as the target value 11 is obtained from the controlled object 13.
[0019]
However, in practice, it is impossible to realize a complete inverse model. In particular, when the model is nonlinear, it is almost impossible to directly obtain the inverse model.
Since the square of the air flow rate is almost proportional to the differential pressure (the difference between the load upstream pressure and the load downstream pressure), the pneumatic circuit has various non-linear elements such as the characteristics change depending on the input amplitude (pneumatic pressure to be input). Yes.
[0020]
Even if you try to generate dynamic air data using the model control method (inverse transfer function compensation method), it is not possible to accurately identify (model the control target) a pneumatic circuit with various nonlinear elements. The inverse model 10 that eliminates the delay element of the pneumatic circuit in FIG. 4 is approximate, and it is difficult to make the control amount 12 coincide with the simulation calculation value 11.
[0021]
In the present embodiment, as shown in FIG. 1, by using a SAC (Simple Adaptive Controller) 21 for the controller (pneumatic control circuit G) 20, the pneumatic circuit can be easily reduced (primary approximation). can do. The inverse model 22 of the simplified pneumatic circuit can be easily created. By using the simplified inverse model 22 of the pneumatic circuit, it is possible to eliminate the delay element of the pneumatic circuit and generate the air pressure 24 that follows the calculated value (target value) 23 obtained by the simulation calculation.
[0022]
As shown in FIG. 3, the dynamic air data generation device (simulator) 30 of this embodiment supplies a desired air pressure to the airframe 40. The airframe 40 detects the air pressure by the air data sensor system 41, and performs a flight control test by the flight control computer 42 based on the detection result.
[0023]
As shown in FIGS. 3 and 1, the simulator 30 includes an air pressure control device 20 and an air pressure control program (simulation computer) 27. The pneumatic control device 20 includes a pneumatic circuit that is a control target 25 and a SAC 21.
[0024]
In the pneumatic circuit 25, a pneumatic servo valve 25a capable of controlling positive and negative pressure is used. A reservoir tank 25c is connected to an air supply unit 25b that supplies air from the factory. A reservoir tank 25e is connected to the vacuum pump 25d. The pneumatic servo valve 25a is connected to a pressurization-side reservoir tank 25c and a vacuum-side reservoir tank 25e. In the present embodiment, the air data 24 is automatically and continuously changed by operating the pneumatic servo valve 25a by a predetermined operation amount 28.
[0025]
The air data 24 is fed back to the SAC 21.
The inverse model 22 is generated on the simulation computer 27.
In the simulation computer 27, the motion of the airframe 40 is simulated based on the steering signal 26a input by the pilot and the initial value 26b, and the target value 23 of the air data is inversely calculated based on the simulation result of the airframe motion. (26d).
[0026]
Here, SAC (simple adaptive control) is described in, for example, JP-A-10-161706. The publication describes as follows. The simple adaptive control method can be easily configured as long as the object to be controlled satisfies the ASPR condition (almost strongly realizable condition). Further, as simple adaptive control, Japanese Patent Laid-Open No. 4-34601, and as an example applied to a servo system, the Japan Society of Mechanical Engineers, Vol. 61, Vol. 95-0150, and recent trends in simple adaptive control include Zenta Iwai; Simple Adaptive Control, Journal of Measurement and Control, Vol. 35, No. 6, 1996. Please refer to the above-mentioned literature for the theoretical background of the simple adaptive control method. Based on these documents and the inventors' own experiments, the simple adaptive control method can be used to design an optimal control device without strictly knowing the equation of motion of the controlled object, and at the same time the parameters of the controlled object change. However, safe control performance can be obtained. In addition, it cannot be overemphasized that Unexamined-Japanese-Patent No. 10-161706 does not suggest making the reverse model of a control object using SAC.
[0027]
As described above, since the square of the flow rate is substantially proportional to the differential pressure, the pneumatic circuit has various non-linear elements such as a characteristic that changes depending on the input amplitude. Conventionally, as shown in FIG. 4, since the nonlinear element of the pneumatic circuit 13 could not be absorbed, the control amount (air pressure) 12 could not follow the target value 11 obtained by the simulation calculation. On the other hand, in the present embodiment, by applying SAC, the nonlinearity of the pneumatic circuit 25 is absorbed and simplified, and combined with the inverse transfer function compensation method, the simulation calculation value 23 as shown in FIG. And the control amount 24 can be matched. As a result, it is possible to automatically generate dynamic air data that continuously changes, so that a continuous flight simulation environment can be generated as shown in FIG.
[0028]
According to the present embodiment, by continuously changing air data automatically and performing evaluation in a flight simulation environment, continuous evaluation can be performed, and defect extraction before a flight test can be performed. Become. In addition, reproducibility and quality can be improved.
[0029]
The technique disclosed in Japanese Patent Laid-Open No. 10-27008 is a method of modeling a controlled object and constructing an inverse model by combining a forward model of the controlled object and feedback. Since the technique disclosed in Japanese Patent Laid-Open No. 10-27008 is an engine control technique, it is relatively easy to model a control target.
On the other hand, in this embodiment, since it is difficult to model (accurate identification) of the pneumatic circuit that is the controlled object 25, the inverse model 22 is obtained without using the SAC to model the controlled object 25. Constitute.
[0030]
Although the pneumatic circuit has been described in the present embodiment, it can be applied to a hydraulic circuit as well.
[0031]
【The invention's effect】
According to the dynamic air data generation device of the present invention, dynamically changing air data (dynamic air data) can be generated.
[Brief description of the drawings]
FIG. 1 is a block diagram illustrating a configuration of a dynamic air data generation device according to an embodiment.
FIG. 2 is a diagram schematically illustrating an example of a flight simulation environment generated by the dynamic air data generation device of the present embodiment.
FIG. 3 is a block diagram showing a detailed configuration of the dynamic air data generation device of the present embodiment.
FIG. 4 is a block diagram showing a circuit based on an inverse transfer function compensation method for explaining the configuration of the dynamic air data generation device according to the present embodiment.
FIG. 5 is a diagram schematically illustrating an example of a flight simulation environment generated by a conventional air data generation device.
[Explanation of symbols]
10 Inverse model 11 Target value (calculated value)
12 Control amount 13 Control target 15 Operation amount 20 Pneumatic control circuit (device)
21 SAC
22 Inverse model 23 Target value (calculated value)
24 Control amount 25 Control target 25a Valve 25b Air supply unit 25c Reservoir tank 25d Vacuum pump 25e Reservoir tank 26 Simulation operation unit 27 Simulation computer 28 Operation amount 30 Simulator 40 Airframe 41 Air data sensor system 42 Flight control computer

Claims (2)

A dynamic air data generation method for controlling a pneumatic circuit by a reverse transfer function compensation method and supplying a desired air pressure to the aircraft from the pneumatic circuit ,
Generating a forward model approximating a pneumatic control circuit including the pneumatic circuit and a simple adaptive controller (SAC);
Generating an inverse model of the forward model ;
Simulating the movement of the aircraft;
Generating a first signal that is a target value of the air pressure based on a simulation result of the exercise;
Generating a second signal from the first signal using the inverse model;
The simple adaptive controller controlling the pneumatic circuit based on the second signal.
Da Ina Mick air data generation method. The dynamic air data generation method according to claim 1, wherein the simple adaptive controller approximates the pneumatic control circuit to a first order.

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