KR20110125994A - Automatic attitude recovery system for aircraft - Google Patents

Abstract

PURPOSE: An automatic aircraft attitude recovery system is provided to protect a pilot and an aircraft by automatically correcting an abnormal attitude of the aircraft even in case of failure of sensors and instrument systems. CONSTITUTION: An automatic aircraft attitude recovery system comprises a measuring unit(100) and a control unit(200). The measuring unit measures information on an aircraft including a pitch attitude angle. The controller controls the aircraft using the information, and the controller includes an attitude recovery command generator(210) which sets a control area according to the pitch attitude angle and generates an attitude recovery command corresponding to the set control area. The attitude recovery command comprises a pitch recovery command and a roll recovery command.

Description

Automatic aircraft attitude recovery system {AUTOMATIC ATTITUDE RECOVERY SYSTEM FOR AIRCRAFT}

The present invention relates to an automatic control system of an aircraft, which can automatically recover the attitude of the aircraft to a safe flight area in abnormal flight situations, such as when the pilot flight is impossible due to bad weather or unable to properly grasp the attitude of the aircraft. Relates to a device.

Abnormal posture recovery of the conventional aircraft was performed by the pilot's operation. In the case of a flight where the clock is not secured due to night flight and bad weather, the pilot relies on various sensors, alarms, and instrument systems to assist the flight. The pilot recognizes this via an alarm system or instrument system and steers the aircraft to recover to normal conditions. However, if the warning device or instrument system breaks down, or if the aircraft's posture due to excessive flight control cannot be properly determined, the aircraft may be lost.

The present invention automatically recovers the attitude of the aircraft when the pilot is unable to properly grasp the attitude of the aircraft to automatically cruise to the safe flight area to eliminate the dangerous flight situation in advance to improve the safety of the aircraft automatic attitude Provide a system.

The present invention has been made in order to solve the above problems, the measuring unit for measuring and providing information of the aircraft including a pitch attitude (θ); And a control unit for controlling the aircraft using the information provided by the measuring unit, wherein the control unit sets a control area according to the pitch attitude angle θ, and the attitude recovery command corresponding to the set area. And a posture recovery command generator for generating a posture recovery command, wherein the posture recovery command includes a pitch recovery command and a roll recovery command.

The control unit may further include an altitude recovery command generator configured to generate an altitude recovery command such that the aircraft maintains a predetermined altitude after the attitude recovery of the aircraft according to the attitude recovery command. .

The control unit may further include a speed recovery command generator configured to generate a speed recovery command so that the aircraft may fly at a predetermined speed after the attitude recovery of the aircraft according to the posture recovery command. .

Here, the information measured by the measuring unit includes any one or more of the altitude, speed, flight path angle and roll angle of the aircraft, the posture recovery command generator to reflect the information to generate the posture recovery command It can be characterized.

Here, the region is divided into three regions (region 1, region 2, region 3) by setting angles t1, t2, and t3 (90 °> t1> t2> 0 °> t3> -90 °). 1 is an area in which the pitch posture angle θ belongs to t3 ≤ θ <t2, and area 2 is an area in which the pitch posture angle θ belongs to t2 ≤ θ ≤ t1, and the area 3 is the pitch posture angle (θ) may be a region belonging to t1 <θ ≦ 90 ° and −90 ° ≦ θ <t3.

Here, (a) the posture recovery command corresponding to the region 1 is to restore the pitch posture by restoring the nose or the nose down with the pitch recovery command after restoring the roll posture of the aircraft by the roll recovery command. (B) the posture recovery command corresponding to the area 2 is to return to the pitch after performing a nose lift with the pitch recovery command after switching to the back flight, and entering the area 1 after entering the area 1; (C) the posture recovery command corresponding to the area 3 is a nose recovery by the pitch recovery command to enter the area 1 or the area 2 and then enter the area 1 or the area; It may be characterized in that the command to follow the posture recovery command corresponding to the area 2.

Here, when the area is switched from the area 2 to the area 1 according to the posture recovery command, an area for setting a predetermined switching condition and following the posture recovery command corresponding to the area 2 until the switching condition is satisfied. It may be characterized in that it further comprises a switching unit.

Here, the flight path angle generating unit for re-generating the flight path angle by correcting the influence according to the speed of the aircraft in the flight path angle; may further comprise a.

The control unit may further include a command limiting unit configured to set a range of the posture recovery command and the speed recovery command so as to perform posture recovery and speed recovery of the aircraft within the range.

The command limiting unit may include a pitch command limiter limiting the pitch recovery command and a roll command limiter limiting the roll recovery command; And a speed command limiter for limiting the speed recovery command.

The method may further include a delay filter for preventing a sudden change of the posture recovery command when the area is switched from one area to another area according to the posture recovery command.

Here, the delay filter may include a pitch command delay filter for preventing a sudden change of the pitch recovery command and a roll command delay filter for preventing a sudden change of the roll recovery command.

According to the present invention, even when the pilot cannot determine the external situation, such as when the night flight or the weather is bad weather conditions, even if the attitude of the aircraft due to the failure of various sensors and instrument system can not properly determine the attitude of the aircraft It can automatically recover to protect pilots and aircraft.

In addition, the present invention protects the pilot and the aircraft by recovering the aircraft at a safe altitude and speed automatically after recovering the abnormal attitude of the aircraft.

1 is a view showing the configuration of the present invention automatic aircraft attitude control system,
Fig. 2 is a diagram showing an example in which a control region is set according to the pitch posture angle [theta];
3 is a view showing an example in which the pitch posture angle θ belongs to area 1;
Fig. 4 is a diagram showing an example in which the pitch posture angle θ belongs to area 2;
Fig. 5 shows an example in which the pitch posture angle θ belongs to area 3;
6 is a diagram illustrating the automatic posture recovery process of the aircraft.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

1 is a view showing each component of the present invention automatic aircraft attitude control system, as shown in the present invention is a measurement unit 100, the control unit 200, the area switching unit 300, the flight path angle generation unit ( 400, an instruction limiting unit 500, and a delay filter 600.

FIG. 2 is a view showing that the posture recovery command generator 210 sets the control region to three regions of the region 1 (R1), the region 2 (R2), and the region 3 (R3) according to the pitch attitude angle θ. As such, the setting of this area is one embodiment according to the flight test data, and thus can be variously set according to the situation. In addition, in FIG. 2, the set angles are set to t1 = 80 °, t2 = 40 °, and t3 = -80 ° in order to set three areas. However, these setting angles are only for explaining an embodiment of the present invention. It can be set variously according to the situation.

The present invention provides a measurement unit 100 for measuring and providing information of an aircraft including a pitch posture angle θ; And a controller 200 for controlling the aircraft by using the information provided from the measurement unit 100, wherein the controller 200 sets a control region according to the pitch posture angle θ. And a posture recovery command generator 210 for generating a posture recovery command corresponding to each set area, wherein the posture recovery command includes a pitch recovery command and a roll recovery command. . 2, the state of the aircraft is included in the region 1 (R1), the region 2 (R2), or the region 3 (R3) according to the pitch posture angle θ of the aircraft. A recovery command is generated to perform the aircraft's posture recovery. For example, if the current pitch posture angle θ of the aircraft is -50 °, the attitude of the aircraft is restored by the posture recovery command corresponding to the region 1 (R1).

Hereinafter, each configuration of the present invention will be described in detail with reference to the embodiments shown in FIGS. 1 and 2.

First, the measurement unit 100 serves to measure and provide a variety of information about the attitude and state of the aircraft, including the pitch posture angle (θ), roll angle, flight path angle, speed, altitude, angle of attack, etc. of the aircraft to be. In the present invention, since the control area is changed according to the pitch posture angle θ, accurate measurement and provision of the pitch posture angle θ are particularly important. Pitch posture angle θ means an angle with the fuselage centerline of the aircraft with respect to a reference plane such as the ground and is also called a pitch angle. In general, the aircraft body is horizontal with respect to the reference plane when the pitch attitude angle (θ) is 0 °, and the nose is vertically raised at 90 °, and the nose is vertically lowered at -90 °. do.

The control unit 200 is a part for controlling the aircraft based on the information provided by the measurement unit 100 in the present invention, as shown in Figure 1 posture recovery command generator 210, altitude recovery command generator 220, speed recovery command It is configured to include a generator 230.

Here, the posture recovery command generator 210 sets an area according to the pitch attitude angle θ and generates a posture recovery command for each area. In the embodiment, the set angle is set to t1 = 80 °, t2 = 40 °, We set t3 = -80 ° and set the posture recovery command for each area by dividing it into three areas. These settings are set to reflect various flight test results and pilot evaluations of actual aircraft, but are not limited to this method. The posture recovery command can be largely classified into a pitch recovery command for controlling the pitch attitude of the aircraft and a roll recovery command for restoring the roll attitude of the aircraft.

Area 1 (R1) is a region in which the pitch posture angle θ exists between -80 ° and 40 °. As shown in FIG. Or (2) a form in which the nose is lowered by -50 ° from the horizontal, and the corresponding posture recovery command is a roll recovery command to recover the aircraft's roll posture and then lift or nose the aircraft by a pitch recovery command. It is to lower the pitch to restore the pitch posture. That is, (1) when the aircraft's pitch posture angle (θ) is 20 °, the posture of the aircraft is restored horizontally by lowering the nose after recovering the roll posture, and (2) the pitch posture angle (θ) of the aircraft is In the case of -50 °, after the roll posture is restored, the nose posture is lifted to restore the aircraft's pitch posture horizontally.

Area 2 (R2) is a region in which the pitch posture angle θ is between 40 ° and 80 °, and as shown in FIG. The posture recovery command corresponding to this may be performed by lifting the nose with a pitch recovery command after the aircraft is converted from the upright flight to the rear flight to recover the pitch posture and enter the area 1 (R1), and then enter the area 1 (R1). Follow the posture recovery command. Unlike the region 1 (R1) where the pitch attitude angle θ is small, in the region 2 (R2) where the pitch attitude angle θ is large, when the nose is lowered in the upright flight state, the negative vertical acceleration is increased. This is dangerous because it causes a large amount of blood on the pilot, causing a large amount of blood to be drawn toward the pilot's head. Therefore, in the case of region 2 (R2), the posture recovery command is set so as to recover the pitch posture horizontally by first performing a nose lift after switching from the upright flight to the back flight from roll rotation. When the pitch posture angle θ decreases to less than 40 ° in the rear flight state, it belongs to the region 1 (R1), and in this case, the attitude recovery command of the region 1 (R1) must be followed. However, when the area 2 (R2) is switched to the area 1 (R1) as described above, the area is determined by referring to the information such as the area switching unit 300 and the flight path angle generation unit 400. The conversion unit 300 and the flight path angle generator 400 will be described.

Area 3 (R3) is an area where the pitch posture angle θ is larger than 80 ° or smaller than -80 °, and as shown in FIG. 5, the attitude of the aircraft is approximately (1) the nose is raised vertically (2). The nose is vertically lowered. The posture recovery command corresponding to the posture is a pitch recovery command to lift the nose to enter the area 1 (R1) or the area 2 (R2) and then the area 1 (R1) or the The posture recovery command corresponding to the area 2 (R2) is followed. (1) When the pitch posture angle (θ) is 85 °, the nose lift is performed according to the posture recovery command of the area 3 (R3) .The pitch posture angle (θ) increases, so that the aircraft is turned over 90 ° and turned over. Proceed by flight. When the pitch posture angle θ decreases due to the nose lift in the rear flight state and falls below 80 °, it belongs to the area 2 (R2) and follows the posture recovery command of the area 2 (R2). However, in this case, unlike the area 2 (R2) discussed above, since the aircraft is already in the rear flight state, the nose lift is performed without the procedure of switching from the upright flight to the rear flight. If the pitch posture angle θ is continuously decreased by the nose lift in the rear flight and falls below 40 °, it belongs to the area 1 (R1), and in this case, the attitude recovery command of the area 1 (R1) must be followed. However, when the area 2 (R2) is switched to the area 1 (R1) as described above, the area is determined by referring to the information such as the area switching unit 300 and the flight path angle generation unit 400. The conversion unit 300 and the flight path angle generator 400 will be described. (2) In the case where the pitch posture angle θ is -85 °, when the nose is lifted according to the posture recovery command of the area 3 (R3), the absolute value of the pitch posture angle θ becomes smaller and becomes -80 °. If it becomes smaller than the absolute value of, it belongs to the area 1 (R1). Therefore, after the roll posture is restored according to the posture recovery command of the region 1 (R1), the nose is lifted and the posture is restored horizontally.

In the posture recovery command generator 210 described above, the posture recovery command generator 210 is set based on the pitch posture angle θ, but information such as an aircraft's altitude, speed, flight path angle, and angle of attack may also be reflected in the posture recovery command. This is because such information can be reflected to generate a posture recovery command that can respond to various situations. For example, if you lift the posture after restoring the roll posture in the area 1 (R1) according to the posture recovery command, if the altitude is lower, apply the lifter with greater force to reflect this altitude information. You can set the posture recovery command.

In addition, the posture recovery command generator 210 may be applied to posture recovery of all manned aircraft (light aircraft, civil aircraft, fighter aircraft, etc.) and unmanned aerial vehicles (UAV) to which digital control technology is applied.

The altitude recovery command generator 220 is a device that allows the aircraft to fly at a predetermined altitude after the attitude recovery of the aircraft according to the attitude recovery command. As shown in FIG. 6, even when the aircraft's pitch and roll attitude are restored according to the posture recovery command, if the aircraft's altitude is low, there is a risk of colliding with the feature. do.

Similar to the altitude recovery command generator 220, the speed recovery command generator 230 is a device that allows the aircraft to recover a safe speed and fly after restoring the attitude according to the attitude recovery command. In the process of restoring the attitude of the aircraft according to the posture recovery command, a loss of speed may occur, and in case of a large loss of speed, there is a risk of falling of the aircraft, so the speed of the aircraft is restored to the preset safety speed.

FIG. 6 illustrates a series of processes for recovering altitude and speed after the aircraft automatically recovers its posture from an abnormal posture to a safe flight area.

When the area is switched from the area 2 (R2) to the area 1 (R1) according to the posture recovery command, the area switching unit 300 sets a predetermined switching condition until the area 2 is satisfied. It serves to follow the posture recovery command corresponding to the. For example, in the area switching unit 300, the pitch attitude angle (θ) switching condition is set such that the flight path angle of the aircraft is 0 °, that is, the aircraft is in horizontal flight and is switched from the area 2 (R2) to the area 1 (R1). Can be set. In the above embodiment, when the pitch posture angle θ is 42 °, it belongs to the area 2 (R2), and according to the posture recovery command of the area 2 (R2), the aircraft is switched to the rear flight and then the nose is lifted to perform the pitch. The posture angle θ is reduced. In this case, when the pitch posture angle θ decreases to 39 °, it belongs to the region 1 (R1) and recovers the roll according to the posture recovery command of the region 1 (R1), and immediately returns to the upright flight. In this case, the transition from the upright flight to the back flight is restored to the upright flight immediately afterwards. Therefore, the meaningless transition is repeated, and when the plane is turned from the back flight to the upright flight in the 39 ° portion, the aircraft is inclined. This results in a loss in altitude and speed compared to switching in the horizontal state. Therefore, when the area 2 (R2) is switched to the area 1 (R1), it is possible to set the switching conditions for switching the flight path angle of the aircraft from the rear flight to the vertical flight in the horizontal state. When the transition condition is set in this way, the aircraft maintains the rear flight state according to the attitude recovery command of the region 2 (R2) rather than the region 1 (R1) until the flight path angle of the aircraft becomes horizontal. It is converted to upright flight by the posture recovery command of R1), thereby reducing the loss in altitude and speed.

The flight path angle generator 400 plays a role of regenerating the flight path angle by correcting the influence according to the speed of the aircraft in the measured flight path angle as being closely related to the area switching unit 300. In general, there is a part that displays a flight path angle called a flight path mark (FPM), which is not considered the influence of the aircraft speed, due to the influence of the speed The mark on the flight path mark (FPM) may appear at 0 ° even though is not progressing horizontally. The flight path angle generation unit 400 regenerates the actual flight path angle of the aircraft by improving the problem and correcting the influence of the speed. As discussed in the area switching unit 300, when the aircraft is converted from the rear flight to the upright flight, since it is possible to minimize the loss of altitude and speed by switching in the horizontal state where the flight path angle of the actual aircraft is 0 °. Reconstructing the actual flight path angle in consideration of the influence of the speed in the flight path angle generation unit 400 is very important in relation to the area switching unit 300.

The command limiter 500 sets a range of the posture recovery command and the speed recovery command generated by the control unit 200 to perform posture recovery and speed recovery of the aircraft within the set range. If you do not limit posture recovery commands and speed recovery commands, these commands may be generated beyond the limits that a pilot or aircraft can withstand. In this case, there is a risk that the pilot's life may be endangered or the aircraft itself may be damaged, so that the command limiting unit 500 is set to determine a certain range for the posture recovery command and the speed recovery command.

The command limiter 500 includes a pitch command limiter 510 for limiting the pitch recovery command, a roll command limiter 520 for limiting the roll recovery command, and a speed command limiter 530 for limiting the speed recovery command. Can be. When the aircraft is lifted or lowered by the pitch recovery command, positive or negative gravity acceleration is applied to the pilot and the aircraft. For example, if a rider lifts more than eight times the force of gravity on the pilot and the aircraft, the pilot and the aircraft generally cannot tolerate it. Therefore, it is necessary to limit the force below that through the pitch command limiter 510. The roll command limiter 520 likewise limits the roll recovery command to protect the pilot or aircraft from the roll recovery command. The speed command limiter 530 also imposes a certain limit so that a large acceleration is not applied to the pilot or the aircraft by the speed recovery command. The limit values of the pitch command limiter 510, the roll command limiter 520, and the speed command limiter 530 may be set in consideration of the type and state of the aircraft.

The delay filter 600 serves to prevent a sudden change of the posture recovery command when the region to which the pitch posture angle θ belongs is switched from one region to another region. For example, if the absolute value of the pitch posture angle θ decreases due to the posture recovery command in the area 3 (R3) and is converted to the area 1 (R1), the posture recovery command is also converted to the posture recovery command in the area 1 (R1). At this time, if a sudden posture recovery command is switched, a sudden shock is applied to the pilot and the aircraft, thus delaying the output of the generated posture recovery command. The delay filter 600 may be set to various values according to a situation such as altitude or speed of the aircraft. For example, if the output of the posture recovery command is delayed at low altitudes, there is a risk that the aircraft will fall, so it is necessary to minimize the delay time even if the pilot is impacted. Can be.

 The delay filter 600 may include a pitch command delay filter 610 for preventing a sudden change of the pitch recovery command and a roll command delay filter 620 for preventing a sudden change of the roll recovery command.

100: measuring unit 200: control unit
210 posture recovery command generator 220: advanced recovery command generator
230: speed recovery command generator 300: area switching unit
400: flight path angle generation unit 500: command limit
510: pitch command limiter 520: roll command limiter
530: speed command limiter 600: delay filter
610: pitch command delay filter 620: roll command delay filter

Claims (12)

A measuring unit measuring and providing information of the aircraft including the pitch posture angle θ; And
And a control unit for controlling the aircraft using the information provided by the measuring unit.
The control unit includes a posture recovery command generator for setting a control area according to the pitch posture angle θ and generating a posture recovery command corresponding to the set area.
And the posture recovery command includes a pitch recovery command and a roll recovery command. The method of claim 1,
The control unit,
And an altitude recovery command generator for generating an altitude recovery command so that the aircraft maintains a predetermined altitude after the attitude recovery of the aircraft according to the attitude recovery command. The method of claim 1,
The control unit,
And a speed recovery command generator for generating a speed recovery command so that the aircraft maintains a predetermined speed after the attitude recovery of the aircraft according to the attitude recovery command. The method of claim 1,
The information measured by the measuring unit includes any one or more of the altitude, speed, flight path angle and roll angle of the aircraft,
And the posture recovery command generator generates the posture recovery command by reflecting the information. The method of claim 1,
The region is divided into three regions (region 1, region 2, region 3) by setting angles t1, t2, and t3 (90 °>t1>t2> 0 °>t3> -90 °),
The area 1 is an area in which the pitch posture angle θ belongs to t3 ≤ θ <t2,
The area 2 is an area in which the pitch posture angle θ belongs to t2 ≦ θ ≦ t1,
And the area 3 is an area in which the pitch posture angle θ belongs to t1 <θ ≤ 90 ° and -90 ° ≤ θ <t3. The method of claim 5, wherein
(a) The posture recovery command corresponding to the area 1 is a command for restoring a pitch posture by restoring a nose or descending with the pitch recovery command after restoring the roll posture of the aircraft by the roll recovery command. ,
(b) The posture recovery command corresponding to the area 2 recovers a pitch posture by lifting the nose with the pitch recovery command after switching to the back flight, and enters the posture recovery command of the area 1 after entering the area 1. Command to follow,
(c) The posture recovery command corresponding to the area 3 is a posture recovery command corresponding to the area 1 or the area 2 after entering the area 1 or the area 2 by lifting a nose with the pitch recovery command. Air vehicle automatic posture recovery system, characterized in that the command to follow. The method according to claim 6,
When the area is switched from the area 2 to the area 1 according to the posture recovery command, an area switching unit for setting a predetermined switching condition and following the posture recovery command corresponding to the area 2 until the switching condition is satisfied. Aircraft automatic posture recovery system characterized in that it further comprises. The method of claim 4, wherein
And a flight path angle generation unit for regenerating the flight path angle by correcting the influence according to the speed of the aircraft at the flight path angle. The method of claim 3, wherein
And a command limiting unit configured to set a range of the posture recovery command and the speed recovery command to perform posture recovery and speed recovery of the aircraft within the range. The method of claim 9,
The command limiting unit,
A pitch command limiter for limiting the pitch recovery command; and
A roll command limiter for limiting the roll recovery command; And
And a speed command limiter for limiting the speed recovery command. The method of claim 1,
And a delay filter for preventing a sudden change of the posture recovery command when the area is changed from one area to the other area according to the posture recovery command. The method of claim 11,
The delay filter,
A pitch command delay filter for preventing sudden switching of the pitch recovery command; and
Automatic roll attitude recovery system comprising a; roll command delay filter for preventing a sudden change of the roll recovery command.

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