KR101732415B1

KR101732415B1 - Control apparatus and control method of aircraft

Info

Publication number: KR101732415B1
Application number: KR1020150090995A
Authority: KR
Inventors: 이찬석; 고기옥; 조인제
Original assignee: 한국항공우주산업 주식회사
Priority date: 2015-06-26
Filing date: 2015-06-26
Publication date: 2017-05-08
Also published as: KR20170001263A

Abstract

The present invention relates to an aircraft control apparatus and a control method including an AOS variance output device 200. In the absence of a rudder adjustment input, the AOS variance output device 200 outputs a measured value of an input AOS sensor as it is, The AOS sensor measurement value at the moment when the rudder input of the pilot is generated from the AOS sensor measurement value storage device is received and the measured measurement value of the AOS sensor is input to the AOS sensor measurement value To the control command generation circuit 100. The control command generation circuit 100 generates the control command value? As a result, even when there is an offset error in the AOS sensor of the airplane, the control for matching the rolling direction with the yawing direction can be stably performed.

Description

[0001] CONTROL APPARATUS AND CONTROL METHOD OF AIRCRAFT [0002]

The present invention relates to an airplane control device and a control method thereof, and more particularly, to an airplane control device and a control method for causing stable rolling at the time of rudder input even when an offset error exists in an AOS sensor of an airplane.

It is common to use a rudder, a flaperon, an elevator or the like to control the direction of an airplane.

1 is a conceptual view showing the direction of an airplane of Fig. 1; Fig.

The plane A is adjusted by the rudder 10 in the A direction and the plane B is adjusted in the B direction by the flapper 20 (also referred to as aileron) The patch is adjusted by the elevator 30.

Control devices (control devices using various control techniques such as feedback control and integral control) are generally used for such direction adjustment.

&Quot; A lateral control system of an aircraft " described in Patent Document 1 is an example of such a control device.

In such an airplane control apparatus, it is general to control the rolling direction and the yawing direction to be the same.

That is, when the rudder is inputted to the right side, the airplane controls yawing in the right direction and rolling in the right direction (clockwise direction). When the rudder is inputted to the left side, the airplane controls yawing in the left direction and rolling in the left direction (counterclockwise direction). When controlled in this manner, stable rolling phenomenon is estimated to occur.

This control is accomplished by the controller using the measured yaw and roll angles of the sensor.

However, this control requires an AOS (Angle of Sideslip) sensor to measure the yaw angle, which may have an offset error. Such an offset error may be caused by an error of the sensor itself, an accumulated mounting error at the time of assembling or mounting, or may be caused by various other causes.

However, in the conventional control apparatus, when there is an offset error in the AOS sensor, the control for making the rolling direction and the yawing direction the same is not performed properly, so that rolling and yawing are performed in different directions As shown in Fig.

For example, when there is an offset error in the AOS sensor, the airplane is yawing to the right. The AOS sensor recognizes yawing to the left, so that the rolling direction and the yawing direction The same control is not performed properly.

Patent Document 1: Korean Patent Publication KR 10-2001-0095978 A (Published Date: Nov. 07, 2001)

SUMMARY OF THE INVENTION It is an object of the present invention to provide an airplane control device and a control method capable of stably controlling a rolling direction and a yawing direction even when there is an offset error in an AOS sensor of an airplane, .

The airplane control device of the present invention is an airplane control device for controlling an airplane including a flapper, a rudder, a pilot rudder adjuster, and an AOS sensor, the airplane control device comprising: an AOS variation output device (200); The AOS variance output device 200 outputs the measured value of the input AOS sensor to the control command generation circuit 100 without a rudder adjustment input, The AOS sensor measurement value at the moment when the rudder input of the pilot is generated is received from the AOS sensor measurement value storage device, and the received measurement value is subtracted from the measured value of the input AOS sensor to control the value (AOS) And outputs it to the command generation circuit 100. [

The AOS variance output device 200 further includes a limiter 230. A value obtained by subtracting the AOS sensor measurement value at the moment when the rudder input of the adjuster is generated from the measured value of the input AOS sensor, ), And then transmitted to the control command generation circuit 100.

The AOS variance output device 200 may include a memory for converting an AOS sensor measurement value at the moment when the rudder input of the pilot is generated into a digital value and storing the digital value.

The airplane control apparatus may include a transmission line through which the measured value of the AOS sensor is transmitted to the control command generation circuit 100 without passing through the AOS variance output device 200. [

The airplane control method of the present invention is an airplane control method for controlling an aircraft including a flapper, a rudder, a pilot rudder controller, and an AOS sensor using an aircraft control device including an AOS variance output device and a control command generation circuit, A first step of directly outputting the measured value of the AOS sensor to which the AOS displacement output device is input to the control command generation circuit, if there is no input of the pilot rudder regulator; If there is an input of the adjuster rudder regulator, the AOS variance output device subtracts the AOS sensor measurement value at the moment the input of the pilot rudder input regulator occurs, from the measured value of the input AOS sensor (AAS) to the control command generation circuit And a second step of outputting the output signal.

The airplane control device and the control method of the present invention can stably control the rolling direction and the yawing direction to coincide with each other even when there is an offset error in the AOS sensor of the airplane.

1 is a conceptual diagram showing the direction of an airplane;
2 is a conceptual diagram of a control device of the present invention
3 shows an example of the S / H circuit
4 shows an example of a rudder adjustment input graph
5 shows an example of a roll angular velocity graph using the AOS sensor measurement value
6 shows an example of a roll angle graph using AOS sensor measurement values
7 is an example of a roll angular velocity graph using? AOS
8 is an example of a roll angle graph using? AOS

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise.

2 is a conceptual diagram of a control device of the present invention.

The control command generation circuit 100 receives the rudder control input of the controller and other control inputs (for example, the flapper control input and the elevator control input), the AOS sensor measurement value and other sensor measurement values, It is a circuit that outputs a control command with a wrapper loop and a rudder.

The control apparatus of FIG. 2 includes an AOS variance output device 200.

The AOS variance output device 200 includes an AOS sensor measurement value storage 210 and a subtracter 220.

The AOS sensor measurement value storage device 210 is a device that can store the AOS sensor measurement value a. When a signal b confirming that the rudder adjustment input has occurred is input, the AOS sensor measurement value storage device 210 stores the AOS sensor measurement value a ). &Lt; / RTI >

The signal b may be the pilot's rudder adjustment input, but may be an instruction command from the control command generation circuit to the AOS sensor measurement storage 210. [ That is, the signal (b) can be variously changed according to the needs of the designer, and any type of signal can be used as long as it is a signal that can notify that the adjuster's rudder adjustment input has occurred.

The AOS sensor measurement value storage device 210 is generally implemented by a S / H circuit (sampl and hold circuit).

3 is an example of a S / H circuit.

The output of OP amp 1 (OP 1) is equal to Vin. At this time, when the switch SW is opened by the control command C, the voltage of the capacitor C becomes equal to the Vin value of the instant. Therefore, the output voltage Vout of the OP amp 2 (OP 2) is maintained at the Vin value at the moment when the switch SW is opened.

Another way of storing the AOS sensor measurement value (a) in the AOS sensor measurement value storage 210 is to convert the measurement value at that time into a digital value and store it in the memory device. If the value is converted into a digital value and stored in the memory, there is an advantage that the value does not change with time.

AOS sensor measurements can be stored in a variety of other ways.

The subtractor 220 receives the AOS sensor measurement value at the moment when the input of the pilot rudder input regulator is generated from the AOS sensor measurement value storage 210, Is subtracted from the measured value of the input AOS sensor (? AOS).

If there is no rudder adjustment input, the AOS variance output device 200 outputs the measured value of the input AOS sensor to the control command generation circuit 100 as it is.

However, if there is a rudder adjustment input, the AOS sensor measurement value at the moment when the rudder input of the pilot is generated from the AOS sensor measurement value storage device is received, and the received measurement value is subtracted from the measured value of the input AOS sensor AOS) to the control command generation circuit (100).

The output of the subtractor 220 may be input to the control command generation circuit 100 after passing through the limiter 230. [ The limiter is a device for limiting the output of the limiter to a value larger than a predetermined value when the input value is larger than a predetermined value, and may serve to stabilize the control by limiting the input value of the control circuit.

The rudder adjustment input may also be connected to the limiter 330. The limiter 330 limits the value when the rudder adjustment input is larger than a predetermined value, thereby preventing the airplane from becoming unstable due to the sudden rudder adjustment input.

The limiter 230, and the limiter 330 may be omitted.

The control command generation circuit uses the AOS sensor measurement value in generating the control command to be sent to the elevator, the flapper, and the rudder. When generating the signal for controlling the rolling, the AOS sensor (The value obtained by subtracting the measured value of the AOS sensor at the moment when the input of the regulator is generated) is used, there is an advantage that it is not affected by the offset error of the AOS sensor (error value outputted when the input is 0).

4 is an example of a rudder adjustment input graph.

The solid line is the graph when the regulator inputs the right rudder input, and the dotted line is the graph when the regulator inputs the left rudder input.

The ideal roll angle change is rolling to the right when the right rudder input is applied and rolling to the left when the left rudder input is applied.

However, if the AOS sensor has a slight offset error to the left (for example, 0.8 degrees), the controller may recognize the input as a left rudder input even if the adjuster applies the right rudder input, resulting in unstable rolling.

FIG. 5 shows an example of a roll angular velocity graph using an AOS sensor measurement value, and FIG. 6 shows an example of a roll angle graph using an AOS sensor measurement value. In this case, the solid line is the graph when the regulator inputs the right rudder input, and the dotted line is the graph when the regulator inputs the left rudder input.

When the adjuster applies the left rudder input, the roll angle continues to increase to the left, but if the adjuster applies the right rudder input, the roll angle does not change to the right.

If the AOS sensor value is subtracted from the AOS sensor measurement value at the moment the input of the pilot rudder input regulator occurs at the measured value of the AOS sensor instead of the AOS sensor measurement value when generating the flapper control command, The problem is solved and rolling can occur stably.

Fig. 7 shows an example of a roll angular velocity graph using DELTA AOS, and Fig. 8 shows an example of a roll angle graph using DELTA AOS. In this case, the solid line is the graph when the regulator inputs the right rudder input, and the dotted line is the graph when the regulator inputs the left rudder input.

7 and 8. That is, stable rolling occurs to the right when the right rudder input is applied, and stable rolling occurs to the left when the left rudder input is applied.

Although the AAS is a useful signal for generating stable rolling, it is preferable to transmit both the AOS sensor measurement value and AAS to the control command generation circuit 100, since the AOS sensor measurement value is also required to control the yaw angle . 2, the measured value of the AOS sensor is transmitted to the control command generation circuit 100 (not shown) without passing through the AOS shift amount output device 200 in addition to the transmission line to which the output value of the AOS shift amount output device 200 is transmitted to the control command generation circuit 100 And a transmission line connected to the transmission line.

100: Control command generation circuit
200: AOS shift output device
210: AOS sensor measurement value storage device
220:
230, 330: Limiter

Claims

An aircraft control device for controlling an aircraft including a flapper, a rudder, a pilot rudder adjuster, and an AOS sensor,
An AOS variation output device 200;
And a control command generation circuit (100)
The AOS variance output device 200,
If there is no instruction for instruction from the control command generation circuit or the rudder adjustment input of the pilot through the pilot rudder adjuster, the measured value of the input AOS sensor is directly output to the control command generation circuit 100,
If the rudder adjustment input of the pilot through the pilot rudder adjuster or the instruction command from the control command generation circuit is received, the AOS sensor measurement value at the moment when the rudder input of the pilot is generated from the AOS sensor measurement value storage device is received, (AAS) obtained by subtracting the measured value from the measured value of the input AOS sensor to the control command generating circuit 100,
And a separate transmission line for transmitting the measurement value of the AOS sensor input to the control command generation circuit (100) without passing through the AOS variance output device (200).

The method according to claim 1,
The AOS variance output device 200 further includes a limiter 230,
The value obtained by subtracting the AOS sensor measurement value at the instant when the rudder input of the adjuster is generated from the measured value of the input AOS sensor is transmitted to the control command generating circuit 100 after passing through the limiter 230 The aircraft control device.

The method according to claim 1,
Wherein the AOS variance output device (200) includes a memory for converting an AOS sensor measurement value at the moment when a rudder input of the pilot occurs, into a digital value and storing the digital value.

delete

An aircraft control method for controlling an aircraft including a flapper, a rudder, a pilot rudder controller, and an AOS sensor using an aircraft control device including an AOS variance output device and a control command generation circuit,
A first step of directly outputting a measured value of the AOS sensor to which the AOS shift amount output unit is input to the control command generation circuit if there is no rudder adjustment input of the pilot through the pilot rudder adjuster or an instruction instruction from the control instruction generation circuit;
If there is an instruction command from the pilot rudder adjuster through the pilot's rudder adjustment input or from the control command generation circuit, the AOS variance output device outputs the AOS sensor measurement value at the moment the input of the pilot rudder input regulator occurs, A second step of outputting a value (? AOS) subtracted from the value to the control command generation circuit;
/ RTI >
And a separate transmission line for directly transmitting the measured value of the input AOS sensor to the control command generation circuit without going through the AOS variance output device, wherein the measurement value of the AOS sensor, which has not passed through the AOS variance output device, To the airplane.