JPH07112837B2 - FBW aircraft trim device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention inputs to an output means an input signal u from an input means which takes a value of 1 for positive direction input, -1 for negative direction input and 0 for no input. Of the FBW aircraft trimming device for providing a signal that integrates the output of the device by an integrator to activate the FBW aircraft actuation means.

[0002]

2. Description of the Related Art F flying using an electric wiring system
In aircraft equipped with a BW (FLY BY WIRE) control system, a force detection type side arm type control device is used as the main control device to reduce weight and save space. However, with this method, it was necessary to constantly apply force to the side arms in order to continue inputting certain control commands, and this imposes a heavy burden on the pilot. Therefore, it is effective to allow the trimming device (so-called “beep trimming device”) to continue inputting without applying a steady steering force.

However, the conventional beep trim system is a simple integrator with a limiter for inputting a beep trim switch input signal as a beep trim gain K as shown in FIG. In addition, the amount of change in beep trim is proportional to the switch operation time.

In such a conventional beep trimming device, (1) it is desirable that a relatively large rough trim correction increases a large operating speed, that is, a change amount of the beep trim per unit time, and (2) small precision. It is not possible to meet the pilot's request that it is desirable to perform a proper trim correction at a low operating speed.

Even in the conventional method, any precise trim correction can be theoretically possible by shortening the switch operation time, but in reality, the minimum operation time t _min (sec) by the pilot is ergonomic. Due to the limitations, the above-mentioned demands arise. For example, the actual measurement result of the operation test by the pilot using the flight simulator shows that t
_min was about 0.16 sec.

[0006]

SUMMARY OF THE INVENTION The present invention solves the above problems in the prior art, and it is possible to obtain both a small operating speed and a large operating speed by a simple software change without modifying the hardware. It is an object of the present invention to provide a trim device for an FBW aircraft that can be used.

[0007]

In order to solve the above-mentioned problems, the present invention solves the above problems by inputting 1 in the positive direction, -1 in inputting the negative direction, and
An input signal u from the input means that takes a value of 0 when there is no input
In the trimming device of the FBW aircraft for providing a signal for operating the operating means of the FBW aircraft by integrating the output of the output means by the integrator, and the output means outputs the trim operating speed x, Assuming that the time constant is T and the trim gain that is asymptotic at the time of continuous input is K, the trim operation speed x is dx when the input signal u is 1 or -1.
The / dt = first formula represented by -Kx / T + Ku / T
Obtained, the input signal u is equal to or obtained by the second formula represented by x = 0 when 0.

[0008]

According to the present invention, since it has the above-mentioned configuration,
In the output means, when the input is 1 or -1, the first
According to the formula, a small operation speed, that is, a small trim operation speed x is obtained in a short operation time, and a large operation speed, that is, a large trim gain K is obtained in a continuous operation for a long time. On the other hand, when the input becomes 0, x is calculated by the second equation.
= 0, the signal is reset immediately and the signal is prevented from overshooting.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows the configuration of a trim device according to an embodiment.
The main unit is 1 for positive direction input, -1 for negative direction input,
Beep as an input means that takes a value of 0 when there is no input
A trim switch 1 and a beep filter 2 which is an output means for outputting a trim actuation speed x based on the input signal u.
And an integrator 3 with a limiter as an integrator that integrates the trim operation speed x and outputs an output y that operates an actuator (for example, used for controlling the attitude of the airframe) as an operating means of the FBW aircraft. . The reason why the integrator is provided with a limiter in this embodiment is to limit the upper limit of the signal for safety.

The beep filter 2 has an input signal , where T is a time constant and K is a trim gain that is asymptotic at the time of continuous input.
When u is 1 or -1, it is obtained by the following equation (1).
The trim operating speed x is output and the input signal u is 0 or more.
Calculate the trim operating speed x obtained by the equation (2) below.
Force dx / dt = −Kx / T + Ku / T −−−−−−−− (1) x = 0 −−−−−−−−−−−−−−−−−−−−− (2) where , X is the actuator operation speed (unit is, for example, m
m is a gain (unit is, for example, mm / sec) for continuous operation, and T is a time constant (unit is sec).

As described above, the reason why the integrator with a limiter 3 outputs after applying the beep filter 2 is as follows.
This is to improve the operability by reducing only the operation speed for a precise beep trim operation with a short operation time without affecting the large operation speed that is continuously used. That is, only the trim operation speed at the time of short-time operation is reduced by the equation (1), which means a first-order lag filter, and the filter output is immediately set to 0 by the equation (2) when there is no input, and the beep in the switching operation is reduced.
It prevents overshoot after the trim is activated.

Therefore, in the beep filter 2,
When the input signal u is 0, x =
The value is reset to 0, but the input signal u is +1 or −.
When 1, x will be given by equation (1).

For example, when the equation (1) is solved when the positive input u = 1, the actuator operating speed x is given by x = K-Ke ^{-t / T} --- (3). Further, the output y from the integrator 3 with limiter, the beep trim change amount Δδ _BP (mm), is
Equation (3) is integrated at time t, and is given as Δδ _BP = Kt−KT (1−e ^{− t / T} ) ⁻⁻ (4). The calculation in the beep filter 2 and the integrator with a limiter as described above can be easily performed by software in a computer, for example.

2 (a) to 2 (c) are diagrams showing comparisons of the beep / trim operating speed x and the beep / trim change amount y with respect to the input signal u with those of the prior art. The present invention is shown by a solid line. , The conventional one is shown by a broken line. That is, according to the present invention, a small output can be obtained by a short-time operation, and a larger output can be obtained by a continuous input than by a short-time operation , and immediately when the input is set to 0 (t ₁ , t _{2 in the} figure). x becomes 0, and overshooting is prevented.

In order to further clarify the above characteristics, FIGS. 3 and 4 show that according to the equations (3) and (4), t / T is taken as the horizontal axis, and x / K and the beep trim in the conventional method are used. FIG. 7 is a curve diagram showing a ratio of Δδ _{BP to} a change amount, that is, Δδ _BP / Kt.

For example, if T = t _min /1.59,
Change the beep / trim change amount for the minimum operation time to 1
It can be suppressed to / 2 (Fig. 4). Even in this case, t
After 2.30T (= 1.44t _min ), the operating speed has recovered to 90% of the conventional value (FIG. 3), and it has almost no effect when a large trim correction is performed.

As a result, precise trim setting can be performed more easily than before. Then, to eliminate the disadvantages of the side-arm operating device, flight-increasing effect of the flight control system is sufficiently exhibited, improved handling quality can be achieved. In addition, such an effect has been verified in a pilot test by a flight simulator.

[0018]

As described above, according to the present invention, the output means is dx / dt =-when the input signal u is 1 or -1.
To be obtained by the first equation represented by Kx / T + Ku / T
The rim operating speed x is output, and when the input signal u is 0, x
= Trim operating speed x obtained by the second formula represented by 0
Is output . Therefore, a short operation time to obtain a small operation speed or smaller trim operating speed x is a long time continuous operation can be obtained a high operating speed immediately Tito <br/> Rimugein K than short operation, further, when the input becomes 0, and x = 0, can be immediately prevented excesses reset to signal.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a beep trim device according to an embodiment.

FIG. 2 is a curve diagram of a trim operating speed x and an output y with respect to an input signal u of the device.

FIG. 3 is a curve diagram of an operating speed ratio x / K with respect to an operating time t / T of the device.

FIG. 4 is a curve diagram of a beep / trim change amount ratio with respect to an operating time t / T of the device.

FIG. 5 is an explanatory view of a conventional beep trim device.

FIG. 6 is a curve diagram of a beep / trim change amount Δδ _BP with respect to an operating time t of the device.

[Explanation of symbols]

 1 beep trim switch (input means) 2 beep filter (output means) 3 integrator with limiter (integrator)

Claims (1)

[Claims] 1. When the positive direction input is 1, when the negative direction input-
1, an FBW aircraft which inputs a signal u from the input means, which takes a value of 0 when there is no input, to the output means, integrates the output of the output means by an integrator, and gives a signal for operating the operating means of the FBW aircraft In the trim device, the output means outputs the trim operating speed x, the time constant is T, and the trim gain asymptotic at the time of continuous input is K,
For the trim operating speed x, the input signal u is 1 or -1.
FBW that obtained by the first formula represented by dx / dt = -Kx / T + Ku / T, the input signal u is equal to or obtained by the second formula represented by x = 0 when 0 when
Aircraft trim device.