RU15146U1 - SYSTEM FOR FORECASTING RESULTS OF NATURAL TESTS OF UNMANNED AIRCRAFT - Google Patents

Abstract

A system for predicting the results of full-scale tests of an unmanned aerial vehicle, comprising an aircraft simulator, a radio altimeter simulator, a control room simulator including a control panel and a test control device connected to the output of the control panel start signal, as well as a control signal generation device, the signal parameters of which connected to the corresponding outputs of the control panel, and the input of the trigger signal is combined with the inputs of the trigger signal simulated the radio altimeter and the aircraft simulator and is connected to the output of the test control device, the flight altitude simulator output signal is connected to the signal input of the radio altimeter simulator, and the control system system output signal is connected to the corresponding input of the aircraft simulator, characterized in that simulator of angular velocity sensors, simulator of angle meter, simulator of linear acceleration meter, simulator of steering gears, wind simulator ityv, a simulator of the underlying surface and a simulator of the coordinate meter of the object of observation, the input of the start signal of each of which is connected to the output of the test control device, as well as the parameter setter of the object of observation, the span control unit and the device for processing test results, containing a switch, a memory unit, an implementation fixing unit , a calculator of accuracy estimates and a calculator of the probability of a meeting, while the outputs of the angular velocity signals at the heading, roll and pitch of the aircraft simulator

Description

SYSTEM FOR FORECASTING RESULTS OF NATURAL TESTS

Unmanned aerial vehicle

The utility model relates to comprehensive testing devices designed to predict the results of full-scale testing of unmanned aerial vehicles.

Improving the quality and reliability of the developed unmanned aerial vehicles (LA), as well as their control systems, is associated with conducting comprehensive tests. The quality of the aircraft and its other technical and economic indicators depend on the correct solution of the test problem. The results of the full-scale tests have the greatest reliability, but the possibilities of conducting them for unmanned aerial vehicles and obtaining the required amount of information are limited due to the great complexity and high cost of conducting full-scale tests. As a result, careful testing of all aircraft systems at the previous stages of their development and manufacture is necessary. In addition, the variability of the conditions for conducting full-scale tests makes it difficult to ensure repeatability of the experimental conditions and to obtain representative samples of the results even for the main modes of aircraft use.

Since the main device providing the required quality of the aircraft control system is the control signal generation device (or autopilot), the primary task is to develop its algorithms and study the influence of tunable parameters on the performance of the entire control system. For reliable prediction and addition of field results, the integrated test system is equipped with models

IPC G09B 9/00 APPARATUS

functional systems for collecting and processing data for making decisions about the operability of aircraft control systems (SU).

A known system 1 for checking the operability of an aircraft control system and working out control algorithms, comprising a radio signal simulator, a dynamic stand with an installed aircraft control equipment (radar sighting device, angle and angular velocity sensors, steering mechanisms), an angular motion simulator of the observation object and calculators. The signal from the radio signal simulator enters the antenna mounted on the nose of the radar sighting device. The movement of the horn simulator simulates the angular movement of the object of observation. A dynamic stand with installed instruments receives signals from the outputs of the calculator, in which the current range is calculated from the initial value of the range and speeds of the observation object and the aircraft of the aircraft.

A disadvantage of the known system is the complexity of developing algorithms by the aircraft generating control signals of the aircraft, due to the use in the system of both simulators and real equipment of the control system of the aircraft and, as a result, low accuracy. In addition, the system does not provide high reliability in predicting the results of full-scale tests of aircraft due to the lack of special processing devices and the generalization of test results (since a single experiment can never be decisive for checking the control aircraft).

The closest in technical essence analogue adopted as a prototype of the proposed utility model is system 2 for predicting the results of field tests

an unmanned aerial vehicle, which contains a simulator of an aircraft, a radio altimeter simulator, a first dynamic stand, on the platform of which angular meters are installed, a radar sighting device mounted on the platform of the second dynamic stand and connected via radio channel to a simulator of the angular motion of the object to be observed, a radio signal simulator,

control room simulator and steering mechanisms. In the aircraft simulator, according to the initial data, signals are generated about the position of the aircraft and the object of observation in space, their relative speeds. In accordance with the received range signal between the aircraft and the object of observation, the radio signal simulator generates a signal equivalent to that reflected from the object of observation. This signal enters the antenna of the radar sighting device, in which the signals of the measured azimuth angles and the target location of the observation object are generated, which, together with the signals received at the outputs of the angular velocity sensors, angle meters, linear accelerations, and the radio altimeter simulator, enter the control signal generation device. In the device for processing control signals, control signals for power drives of the aircraft steering mechanisms are generated. The steering element is deflected, and the signal removed from its output, proportional to the corner of the corresponding steering wheel tab, is fed to the input of the aircraft simulator, closing the control loop of the control system under study. The system is stopped by the operator after the estimated time in advance, which corresponds to the meeting of the aircraft and the object of observation, and at the time of the stop, the miss value is fixed in the vertical and lateral planes, which are used to make conclusions about the quality of the aircraft control system.

In the prototype system, due to the refusal to reproduce insignificant dependences in the models of kinematics and dynamics of the processes of pointing the aircraft at the observation object, the kinematic schemes of the aircraft motion and relative angular motion of the observation object are extremely simplified, errors of environmental simulators are eliminated, which allows to achieve high fidelity of the functioning processes SU LA and, accordingly, high reliability of test results in laboratory conditions.

The disadvantage of the prototype system is excessive complexity when it is used to test the algorithms of the aircraft control signal generation device, as well as the lack of certain statistical processing of test results in order to eliminate uncertainty. In addition, it is practically very difficult to determine in advance exactly the time of the meeting of the aircraft and the object of observation, which becomes an additional source of errors in fixing the test results and, therefore, the forecast of full-scale tests.

The objective of the utility model is to simplify the system for predicting the results of full-scale tests and increase the reliability of assessing the quality of the equipment of the aircraft control system by obtaining a more complete amount of data and better visualization of them during ground tests.

It is known that the main criteria for assessing the quality of the equipment of an SU SU are the accuracy of pointing the aircraft at the object of observation and the probability of impact, which can be quantified by the magnitude of the miss or span. The magnitude of the span depends on many random factors characterizing the operation of the SU aircraft. Therefore, dynamic accuracy is estimated by statistical methods, processing the results of a sufficiently large number of electronic starts under the same kinematic initial conditions. The result is a statistical estimate of the dynamic accuracy of the SU SU.

In the proposed system, tests of aircraft are carried out with the reproduction of models of the processes of interaction of the external environment and elements of the control system, which ensures the functioning of the main

the control device of the aircraft equipment - the device for generating control signals - in conditions as close to real as possible. Assessment of the accuracy of the aircraft control system is carried out according to the lateral and vertical span of the aircraft of the observation object, which is fixed at the moment when the distance between the aircraft and the observation object is zero. The volume of tests (samples) is determined based on the accepted values of the confidence probability of the meeting and the required accuracy of point and interval estimates.

The essence of the utility model is that in the system for predicting the results of full-scale tests of an unmanned aerial vehicle, containing an aircraft simulator, a radio altimeter simulator, a control room simulator including a control panel, and a test control device connected to the output of the control panel start signal, as well as a device generating control signals, the signal inputs of the program parameters of which are connected to the corresponding outputs of the control panel, and the signal input is the ska is combined with the inputs of the start signal of the simulator of the radio altimeter and the simulator of the aircraft and connected to the output of the test control device, the output of the signal of the flight altitude simulator of the aircraft is connected to the signal input of the simulator of the radio altimeter, and the output of the control signal of the system of the remote control is connected to the corresponding input of the simulator of the aircraft, additionally introduced a simulator of angular velocity sensors, a simulator of an angle meter, a simulator of a linear acceleration meter, a steering wheel simulator mechanisms, a simulator of wind gusts, a simulator of the underlying surface and a simulator of a coordinate measuring instrument of the object of observation, the inputs of the trigger signal of which are combined and connected to the output of the test control device, as well as the parameter set of the object of observation, the span control unit and the device for processing test results, containing a switch, a block memory, a block for fixing implementations, a calculator of accuracy estimates and a calculator of the probability of a meeting, while the outputs of the signals of angular velocities by heading, roll and pitch at the aircraft simulator, connected to the corresponding inputs of the simulator of angular velocity sensors, the outputs of the heading angle, roll and pitch signals are connected to the corresponding inputs of the simulator of the angle meter, and the outputs of the linear acceleration signals are connected to the corresponding inputs of the simulator of the linear acceleration meter, the output of which, as well as the outputs of the simulator the angle meter and the simulator of angular velocity sensors are connected to the corresponding inputs of the device for generating control signals, the outputs of the signals of flight speed and angle the inclination of the trajectory of the simulator of the aircraft is connected to the corresponding inputs of the simulator of the meter of coordinates of the object of observation, the outputs of the signals of the angles of sight of the object of observation of which are connected to the corresponding inputs of the device for generating control signals.

the outputs of the control signals for elevators, the direction and ailerons of which are connected to the inputs of the simulator of steering mechanisms, and the input of the signal for flight altitude is connected to the output of the simulator of a radio altimeter, the signal input of the underlying surface of which is connected to the output of the simulator of the underlying surface, the outputs of the signals of the angles of laying the rudders, altitude and ailerons steering gear simulators are connected to the corresponding inputs of the aircraft simulator, the input of the wind gust simulation signal of which is connected to the simulator output wind gusts, the output of the control panel system setup signal is connected to the corresponding inputs of the switch, accuracy assessment calculator, steering gear simulator and the monitoring object coordinate simulator, the initial setting signal inputs of which are connected to the corresponding control panel outputs, the current range signal output is to the input of the control unit span, and the inputs of the signals of flight altitude and lateral deviation of the aircraft are combined with the corresponding inputs of the switch and s to the corresponding outputs of the aircraft simulator, the switch output is connected to the indicator input and the information input of the memory block, the control input of which is combined with the control inputs of the implementation fixation unit and the test control device and connected to the output of the flight control unit, the output of the implementation fixation unit is connected to the signal inputs zero-range accuracy evaluator and meeting probability calculator, the span signal inputs of which are connected to the output of the memory unit, the signal output h the implementation of the parameter setter of the object of observation is connected to the corresponding inputs of the test control device, the unit for fixing the implementations, the calculator of accuracy estimates and the calculator of the probability of the meeting, the input signals of the dimensions of the object of observation of which are connected to the corresponding outputs of the parameter setter of the object of observation, the output of the signal of the height of the radar reflection center of the object of observation of which connected to the corresponding input of the accuracy estimator.

whose outputs and the output of the meeting probability calculator are system outputs.

Thanks to the introduction of the aircraft control system equipment simulator into the proposed system (instrument for measuring the coordinates of the object of observation, simulator of sensors for angular velocities, simulator of linear accelerations and simulator for measuring angles), simulators of external disturbances (simulator of wind gusts and simulator of the underlying surface) as well as additional processing and control units tests (indicator, parameter setter of the object to be monitored, span control unit and devices for processing test results) is provided Noah simplification of the system to predict the full-scale test results. In this case, a more accurate and reliable fixation of the results of a single test of the SU of the aircraft (miss value at the meeting of the aircraft and the object of observation) is carried out, and statistical processing of a series of tests under identical initial conditions allows us to estimate the mathematical expectation and variance of the miss, as well as the probability of meeting the aircraft and the object of observation according to the results of separate tests in the vertical and horizontal planes under the influence of various unstable factors (such as wind and underlying surface), which is especially relevant but in the study of aircraft flight modes at low altitude).

The proposed system provides an increase in the effectiveness of ground tests by increasing the reliability of the results of studies of aircraft equipment. This new quality is determined both by the new structure of the system, and by the processes of interaction of elements that reproduce the influence of the external environment, as well as by the way of fixing and processing the results.

The essence of the utility model is illustrated by a further description and drawings, which show:

FIG. 1 is a structural diagram of a system;

FIG. 2 is a structural diagram of a simulator measuring the coordinates of the object of observation; in d in FIG. 4 is a structural diagram of a device for simulating lateral movement of an aircraft; FIG. 5 is a structural diagram of a device for simulating other aircraft motion; FIG. b - block diagram of the calculator accuracy estimates; FIG. 7 is a structural diagram of a meeting probability calculator; FIG. 8 is a block diagram of a test control device; FIG. 9 is a structural diagram of a control panel; FIG. 10 is a structural diagram of a steering gear simulator; FIG. 11 is a structural diagram of a laziness signal generating device. In FIG. 1 marked: 1 - simulator measuring the coordinates of the object of observation; 2- aircraft simulator; 3- span control block; 4- device for processing test results; 5- switch; 6 - block fixation of implementations; 7- calculator accuracy ratings; 8- memory block; 9- calculator of the probability of a meeting; 10 - parameter set of the object of observation; 11- control room simulator; 12 - test control device; 13- control panel; 14- simulator of angular velocity sensors; 15, - a simulator of an angle meter; 16- simulator of a linear acceleration meter; 17- simulator of wind gusts; 18- simulator of a radio altimeter; 19 - simulator of the underlying surface; 20- indicator;

According to FIG. 1 third output of the simulator 1 measuring instrument of the coordinates of the object of observation (current range signal - D) is connected to the input of the span control unit 3, the first and second outputs (outputs of the signals y, and the viewing angles of the object of observation) are connected to the corresponding inputs (7th and 8th -th inputs) of the device 22 generating control signals, inputs from the second to the seventh (inputs of the signals of the initial installation of the simulator 1) are connected respectively to the outputs from the third to eighth control panels 13, and the inputs of the signal of flight speed - V (10th input), signal track angle the orii are in (11th input), the flight altitude signal in the normal earth coordinate system is y, (8th input), and the lateral deviation signal in the normal earth coordinate system Z, (9th input) are connected respectively to 1- mu, 8th, 9th and 10th outputs of the simulator 2 aircraft.

The outputs of the simulator 2 of the aircraft according to the signals of the velocities of changing the course angles — сОх, roll — Оу, pitch-о, (1st, 2nd, 3rd outputs) through the simulator 14 angular velocity sensors are connected respectively to the inputs from the fourth to the sixth devices 22 for generating control signals, outputs for heading angle signals - X | /, roll - y, and pitch - and (4th, 6th and 5th outputs) are connected through the simulator 15 of the angle meter, respectively, to the inputs from the first to third device 22 for processing control signals, outputs for linear acceleration signals - ay, a. through a simulator, 16 linear acceleration meters are connected to the ninth and tenth inputs of the device 22 for generating control signals, the output from the flight altitude signal in a normal earth coordinate system - Ud (10th output) is connected through a simulator

18 radar altitude meter to the eleventh input of the control signal generation device 22, which is the input of the flight altitude signal - N.

The sixth input of simulator 2 of the aircraft is connected to the output of simulator 17 wind gusts, the control input of which (start signal) is combined with the control inputs of the start ± simulator of simulator 19 of the underlying surface, simulator 18 of the radio altimeter (2nd input), simulator of 15 angle meters, (4 input), simulator 14

angular velocity sensors (4th input), simulator of 16 linear acceleration meters (3rd input) / simulator of 1 measuring device of coordinates of the object of observation (1st input), simulator of 2 aircraft (1st input), simulator of 21 steering mechanisms ( The 5th input and control signal generation devices 22 (12th input) and is connected to the output of the test control device 12, the start input of which, in turn, is connected to the second output of the control panel 13, which is included with the test control device 12 simulator 11 control points.

The outputs from the ninth to fourteenth control panel 13 (the outputs of the signals of the program parameters of the motion of the aircraft) are connected to the corresponding inputs from the thirteenth to the eighteenth device 22 of the generation of control signals.

The outputs of the control signals for elevators o., Directions r "and ailerons a, devices 22 for generating control signals through a simulator 21 of steering mechanisms are connected to the corresponding inputs of a simulator 2 aircraft by signals of the angles of laying elevators 5 ,, directions - 5н and ailerons 5, (3 -th, 4th and 5th inputs).

The 2nd input of the simulator 2 aircraft, the 12th input of the simulator 1 meter coordinates of the object of observation, the 3rd input of the switch 5, the 4th input of the simulator 21 steering mechanisms and the 5th input of the calculator 7 accuracy ratings are connected to the first output of the control panel 13 , which is the output of the system tuning signal of the control panel 13 and the control point simulator 11.

The 9th output of the simulator 2 of the aircraft (aircraft lateral deviation signal in the normal Earth coordinate system is “d, and the 10th output (flight altitude signal in the normal Earth coordinate system is Ud) is connected to the first and second inputs of switch 5, which comes together with block b fixing the implementations, a calculator 7 accuracy estimates, a memory block 8 and a calculator 9 probability of meeting in the device 4 processing the test results.

The output of the switch 5 is connected to the information inputs of the indicator 20 and the memory unit 8, the control (1st) input of which is combined with the first input of the implementation fixing block b, the third

the input of the control device 12 is tested and connected to the output of the span control unit 3. The second control input of the implementation fixing unit b is connected to the third inputs of the calculators 7 and 9, the second input of the test control device 12 and connected to the third output (signal for setting the number of implementations) of the setter 10 of the parameters of the observation object. The outputs of the setter 10 parameters of the object of observation according to the signals of the sizes of the object of observation (1st, 2nd and 3rd outputs) are connected to the fourth to sixth inputs of the calculator 9 of the probability of a meeting, and the output according to the signal of the height of the radar center of reflection of the object of observation (4th output) - to the fourth input of the calculator 7 accuracy estimates. The first inputs (zero-range signals) of both calculators 7 and 9 are combined and connected to the output of the implementation fixing block b, their second inputs (span signals) are also combined and connected to the output of the memory unit 8. At the outputs of the calculator 7 accuracy estimates, signals of accuracy estimates of the SU LA are generated — the mathematical expectation of the miss value, the variance of the miss and the standard deviation, and at the output of the calculator 9 — the probability of a given size falling into the object of observation.

The simulator 1 of the coordinate of the object of observation is designed to simulate the generation of signals of angles of sight of the object of observation relative to the aircraft’s construction axis - Od, is the measured elevation angle, X | / A is the measured azimuth angle, which are generated in the radar sight of the aircraft control system.

The algorithm of the simulator 1 measuring instrument coordinates of the object of observation is described by the well-known system of equations 3, 4,

for the lateral motion problem D - V cos 0 cos q + Уц cos q ,, (1.1) sin9 «- | i-, for the longitudinal motion problem (1.2)

Sin Vd - -, (1.4)

where D is the current distance to the object of observation; V - flight speed; Zg and y, are the coordinates of the aircraft (lateral deviation and flight altitude) in the normal earth coordinate system; in - the angle of inclination of the trajectory; VD, Уц, q, and b, are the set parameters of the motion of the object of observation; q - heading angle of the object of observation; H- | -Fia Bts 0 + angular deviations of the object of observation f - the angle of the path, which determines the direction of the ground speed of the aircraft.

The structural diagram of the simulator 1 of the coordinate meter of the observation object that implements the specified algorithm is shown in FIG. 2, where it is indicated: 23 - timer; 24, 25 - functional blocks; 26 - multiplier; 27 is a functional block; 28 - multiplier; 29 is a functional block; 30, 31 - multipliers; 32 - adder; 33 - divider; 34 - adder; 35 - divider; 36 - integrator; 37 - integrator; 38 is a functional block; 39 is a functional block; 40 - memory block; 41, 42 - switches.

The outputs of the timer 23 are connected to the first inputs of all the computational blocks of the simulator 1 of the coordinate meter of the object to be monitored, namely: the first output to the inputs of the functional blocks 24, 25, 27, 29, the second to the inputs of the multipliers 26 and 28, the third to the input of the multiplier 31 and adder 32, the fourth to the inputs of the multiplier 30, the fifth to the inputs of the adder 34 and integrator 36, the sixth to the inputs of the dividers 35 and 33, the seventh to the inputs of the functional blocks 38 and 39, and the eighth to the 1st inputs of the integrator 37 and a memory unit 40.

The timer input is the first input of the simulator 1 of the coordinate meter: t of the observation object, the fifth input of which is connected to the second input of the memory unit 40, the output of which is the third output of the simulator 1 of the coordinate meter of the observation object (current range signal - D).

The third input of the memory unit 40 is connected to the output of the switch 41, the third input of which is combined with the third input of the switch 42 and connected to the twelfth input of the simulator 1. The second input of the switch 41 and the third input of the divider 33 are connected to the output of the integrator 36, the first input of the switch 41 is connected to the output integrator 37 and the second input of the divider 35, the output of which through the function block 38 is connected to the second input of the switch 42.

The outputs of the switch 42 are the first and second inputs of the outputs of the simulator 1 (outputs of the signals | fa, and the viewing angles of the object to be monitored), and the first input is connected through a series-connected function block 39 and divider 33 to the eighth input of the simulator 1.

The second input of the simulator 1 is connected to the third input of the adder 32, the output of which is connected to the second input of the integrator 36, and the second input to the output of the multiplier 28. The third input of the multiplier 28 is connected to the fourth input of the simulator 1 through the function block 29, and the second input is combined with the second the input of the multiplier 30 and is connected to the tenth input of the simulator 1. The output of the multiplier 30 through the adder 34 is connected to the second input of the integrator 37, the third input is to the output of the multiplier 31, the second input of which is connected to the eleventh input through the function block 24 itator 1, and the third input through the function block 25 is connected to the sixth input of the simulator 1.

The seventh input of the simulator 1 measuring instrument of the coordinates of the object of observation through the multiplier 26 is connected to the third input of the adder 34, the third input through the function block 27 is connected to the third input of the multiplier 26, and the ninth input is to the third input of the divider 35.

Simulator 2 of the aircraft is designed to generate information about the simulated position of the aircraft in space, its angles of attack and slip, angular and linear speeds. It is known 3, 41 that for most unmanned aerial vehicles, the system of differential equations describing perturbed motion splits into two independent groups of equations, one of which describes a change in the parameters of longitudinal motion, and the other of lateral motion. This feature is taken into account both when building the aircraft simulator, and the device as a whole, which can significantly increase the reliability of the tests. In this case, it becomes possible to conduct independent tests of aircraft control channels in the lateral and longitudinal planes.

According to FIG. 3, the simulator 2 of the aircraft contains a device 43 for modeling the lateral movement of the aircraft and a device 44 for simulating the longitudinal movement of the aircraft, the first input of which is the third input of the simulator 2 of the aircraft by the signal of laying the rudder 6c, the second input (start signal) is the first input of the simulator of 2 aircraft and is connected to the sixth input of the aircraft lateral motion modeling device 43. The fourth, fifth and sixth outputs of the device 44 for modeling the longitudinal movement of the aircraft according to the signals of the flight speed - V, the angle of inclination of the trajectory - 0, the flight height in the normal earth coordinate system - beats are the 7th - 8th and 10th outputs of the simulator 2 aircraft .

The eighth output of the aircraft lateral motion modeling device 43 according to the lateral deviation signal in the normal earth coordinate system - Zg is also the ninth output of the aircraft simulator 2. The inputs of the device 43 according to the signals of the angle of attack — a, the rate of change of the pitch angle — the yugi of the pitch angle — and and (the 1st, 2nd, and 3rd inputs) are connected respectively to the outputs from the first to the third device 44, and the inputs are V and beats - to the fourth and sixth outputs of the device 44, respectively.

The outputs of the device 43 according to the signals of the rates of change of the course angles — Yuh, roll — Yuu, pitch — South (1st, 2nd, 3rd outputs) are the first, second, and third outputs of the aircraft simulator 2, respectively. The fourth, fifth and sixth outputs of the device 43 for modeling the lateral movement of the aircraft by the signals of the course angles - у,

roll - and pitch - and are the fourth, sixth and fifth outputs of the simulator 2 aircraft. The 11th and 12th outputs of the simulator 2 of the aircraft according to linear acceleration signals a., EU in the normal earth coordinate system are the sixth output of the device 43 for the lateral movement of the aircraft and the seventh output of the device 44 for modeling the longitudinal movement of the aircraft, respectively.

The fourth and fifth outputs of the aircraft simulator 2 according to the signals of laying rudders - 5 ”and ailerons 8 are connected to the 7th and 8th inputs of the device 43 for modeling the lateral movement of the aircraft, respectively. The second input of the simulator 2 aircraft by the signal settings of the system is connected to the ninth input of the device 43 modeling lateral movement of the aircraft. The sixth input of the aircraft simulator 2 by the wind control signal is connected to the tenth input of the aircraft lateral motion simulation device 43 and the eighth input of the aircraft longitudinal motion simulation device 44.

The algorithm of the device 43 modeling the lateral movement of the aircraft is described by the following system

equations:

P-r,% cos a + O), sin a, (2.1)

1p V a - (C ((M, p, b -2) -2- S - P (Ud, Y) JzJxy fOx-r- fX + -Г- fu / La A Jxy Jx (Oy -T-fX-Г fy, Aj aj fx {тх (М, а, р, б „, 6,) + (Ox + m fy (1Пу (М, а, Р, 6„, 5,) + о, + Го А j Jx Jy -, PP Pw, sinp cosa), (2.2) (2.3) (2.4) pV «Щ) SI, (2.5) pV«),) SI, (2.6) (2.7) (2.8) Y (Ox - (Oy tgu cozy, Ф 1 / - P,

2g V sinp (cosvcosY - sinu siny) - cosa cosp siny cosu - sina cosp {cosv | / siny + sinu cozy), (2.12)

where 1 is the characteristic size; y, y, and - the angles of the course, roll and pitch of the aircraft; t and, Cza / nix,% - aerodynamic characteristics of the aircraft; Yuu, coX and coz are the angular velocities of the aircraft; J, Jy, - the main and centrifugal moments; P, P - slip angle and the component of the angle of slip from the side gusts of wind; ah - acceleration; and - angle of attack; 5 „, bv and 5a - bookmark angles rudders, heights and ailerons; a (beats, T (beats) and p (Beats, T (beats), p) is the speed of sound and air density, depending on the distribution of air temperature in height and pressure at the location of the aircraft; S is the characteristic area; LA is the average aerodynamic chord; g - gravitational acceleration; m - mass of the aircraft; P (beats, U) and roorfcCYg / V) - high-speed and throttle characteristics of the marching engine;

m mceic (yg, V),

P P (Ud / T (ud)),

a (Ud, t (Ud)

In FIG. 4, representing the structural diagram of the device 43, the following notation: 45 - timer; 46, 47, 48, 49, 50, 51, 52, 53, 54, 55 — functional blocks; 56 - multiplier; 57 adder; 58 is a functional block; 59 - multiplier; 60- adder; 61 is a functional block; 62 - adder; 63 is a functional block; 64 - integrator; 65 is a functional block; 66-67 adders; 68, 69 - multipliers; 70.71.72 - integrators; 73 - mind (2.10) (2.11)

scissor; 74 - integrator; 75 - functional block; 76, 77 adders; 78 - multiplier; 79 - integrator; 80 - switch. The outputs of the timer 45 are connected to the first inputs of all the computing units of the device 43, as shown in FIG. 4, and the input of the timer 45 is the sixth input (trigger signal) of the device 43. The fifth input of the aircraft lateral motion modeling device 43 is connected to the second input of the functional block 53, the third input of which is connected to the second inputs of the multipliers 59, 73 and 78, the second input of the functional block 47, the third input of the function block 63 and the fourth input of the device 43.

The output of block 53 is connected to the fourth input of the functional block 52, the second input of which is connected to the output of the functional block 48, the third input, combined with the third input of the functional block 46 and the sixth input of the functional block 63, is connected to the output of the functional block 75, and the output is connected to the fourth . the input of the functional block 51. The second and third inputs of the functional block 51 are connected to the outputs of the functional blocks 46 and 47, respectively, and the output to the seventh output of the device 43 and the third input of the multiplier 59.

The output of the multiplier 59 is connected to the second input of the adder 60, the output of which is connected through an integrator 64 to the second input of the functional block 75, the third and fourth inputs to the outputs of the functional blocks 61 and 65 /, respectively, the second inputs of which are combined with the second input of the functional blocks 48, 54 and 55, the fourth input of the functional block 63 and connected to the first input of the device 43 for modeling the lateral movement of the aircraft.

The seventh input of the device 43 is connected to the second input of the functional block 46 and the third inputs of the functional blocks 54 and 55, the fourth inputs of which are combined and connected to the eighth input of the device 43.

The first output of the device 43 is connected to the output of the integrator 71, which is also connected to the third inputs of the function block 61 and the adder 67, the fourth input of the adder 66 and the second input of the adder 62, the output of which through the integrator 74 is connected to the sixth output of the aircraft lateral motion modeling device 43, the fifth the input of the functional block 63 and the second input of the functional block 58.

The third input of the adder 62 is connected to the output of the adder 57, the third input of which is connected to the output of the functional unit 58 and the third input of the multiplier 68, and the second input is connected to the output of the multiplier 56, the third input of which is combined with the second input of the multiplier 68, the third input of the functional block 65, the second inputs of the adders 66 and 67 and is connected to the output of the integrator 72, which serves as the second output of the device 43.

The third output of the device 43 is connected to its second input, and the third input through a series-connected function block 49, the multiplier 56, and the adder 57 is connected to the third input of the adder 62, and is also directly connected to the first input of the switch 80, the second input of the function block 63 and the second the input of the functional unit 50, the output of which is connected to the second input of the multiplier 69.

The third input of the multiplier 69 is connected to the output of the multiplier 68, and the output is to the second input of the integrator 79, the output of which is connected to the second input of the switch 80 and the seventh input of the function block 63, the output of which through the integrator 70 is connected to the eighth output of the device 43.

The ninth input (system setting signal) of the device 43 is connected to the third input of the switch 80, the outputs of which are the fourth and fifth outputs of the device 43. The second input of the integrator 72 is connected to the input of the adder 77, the second input of which is connected in series through the multiplier 78 and the adder 66 to the output function block 54, and is also connected to the third input of the adder 76, the output of which is connected to the second input of the integrator 71. The second input of the adder 76 is connected to the third input of the adder 77 and through a series of The dual multiplier 73 and the adder 67 are connected to the input of the functional block 55. The tenth input (wind gust signal) of the device 43 is connected to the third input of the functional block 75. The algorithm of the device 44 of the aircraft movement can be the subject of the equations: V a - g sin0,

Memory g

0 - - - COS0, (3.2)

and 0) 7, (3.3)

1pV

% - (, V) sina - Su. - S), (3.4)

1pV

a, - (P (yg, V) cosa - Cxa -g- S), (3.5)

  Cxa (M, CyJ, (3.6)

Cya Cya (M, a, 6,), (3.7)

pV SbA

cox mz (M, a, 5c) -pr- - - (3.8)

 iJz

Yg V sin0, (3.9)

H Yg - Y „, (3.10)

a u- 0 + a „, (3.11)

where a is the component of the angle of attack from vertical gusts of wind; and Well - acceleration ;. Сх mz - aerodynamic characteristics-LA; g is the acceleration of gravity; Jz is the moment of inertia of the aircraft; H - height measured by a radio altimeter; YM - the current height of the underlying surface under the aircraft.

In FIG. 5, representing the structural diagram of the device 44 for modeling longitudinal motion of an aircraft, the following notation is adopted: 81 — timer; 82, 83 - functional blocks; 84- multiplier; 85 - integrator; 86 - multiplier; 87, 88 - integrators; longitudinal modeling to be described by the following sys (3.1)

89 - functional block; 90 - multiplier; 91 - a quadrator; 92 multiplier; 93 - functional block; 94 - multiplier; 95 - integrator; 96 - functional block; 97 - functional block; 98

-adder; 99 - multiplier; 100 - functional block; 101 adder; 102 - functional block; 103, 104 - adders; 105

-multiplier; 106 is a functional block; 107 - integrator; 108

-functional block.

According to FIG. 5, the input of the timer 81 is the second input (trigger signal) of the device 44, and its outputs are the first inputs of all the computing units of the device 44. The first input of the device 44 is connected to the second inputs of the functional blocks 82, 83. The output of the functional block 82 is connected through a series-connected functional block 89 , the multiplier 92 and the adder 104 is connected to the third input of the adder 101, and through the series-connected multiplier 90 and the adder 98 is also connected to the seventh output of the aircraft longitudinal motion simulation device 44, which also connected to the third input of function block 96.

The third input of the adder 98 is connected to the output of the multiplier 99. The second input of the multiplier 99 is connected to the output of the function block 93, which through the multiplier 105 is also connected to the third input of the adder 104, and the third input is connected to the output of the functional block 100. The second input of the functional block 100 is connected to the third inputs of the functional blocks 82, 83, and the second input of the functional block 106 and is connected to the output of the functional block 108, which is the first output of the device 44.

The output of the functional block 106 is connected to the third input of the multiplier 105. The second input of the multiplier 105 is connected to the output of the functional block 93, the second input of which is connected to the second inputs of the quadrator 91, multipliers 94 and 86 and connected to the output of the integrator 95, which serves as the fourth output of the simulation device 44 longitudinal movement of the aircraft.

block 93, and the second input of the integrator 107 is connected to the output of the multiplier 94, the third input of which is connected to the second input of the function block 96 and connected to the output of the function block 97, the second input of which is connected to the second inputs of the adder 103 and the functional block 102 and connected to the output of the integrator 88, which serves as the fifth output of the device 44.

The output of adder 103 is connected to the second input

a functional block 108, the third input of which serves as the eighth input of the device 44. The output of the functional block 102 is connected to the second input of the adder 101, the output of which through the integrator 95 is connected to the second input of the multiplier 86, and the output of the multiplier 86 is connected to the second input of the integrator 88.

The third output of the device 44 is connected to the output of the integrator 87, which is also connected to the third input of the function block 108, and the second input of the integrator 87 is connected to the output of the integrator 85, which serves as the second output of the device 44. The second input of the integrator 85 is connected to the output of the multiplier 84, the third input which is connected to the third inputs of the multipliers 90 and 92 and the output of the quadrator 91. The second input of the multiplier 84 is connected to the output of the functional block 83. The third input of the multiplier 86 is connected to the output of the functional block 96.

The span control unit 3 is designed to fix the point in time when the distance D between the aircraft and the object of observation in the algorithms (1) is equal to O, which corresponds to the time of the flight of the aircraft above (or below) the object of observation in the vertical plane and to the left or right of the object of observation in the the plane. Block 3 span control is made in the form of a Schmitt trigger.

The device 4 for processing test results is intended for statistical processing of test results in order to obtain reliable estimates of the magnitude of the miss probability of meeting the aircraft and the object of observation in a specific series of electronic launches. Estimates are calculated directly from the output signals of the simulator of 2 aircraft, which in the vertical plane are the value of y ,, and in the horizontal plane, are the flight altitude and lateral deviation of the aircraft in a normal earth coordinate system.

For the vertical plane, a correction is introduced for the height above the horizon of the radar center of reflection of the object of observation Uda. Thus, the misses are equal to:

UO "N Ud t -1- J

  Zg, (4.2)

when D about

As estimates of accuracy are accepted: mathematical expectation

Wo., 2 Wo «1 i (4.3.)

dispersion

1 y ° 1 Y0 «| -Y0« i) (4.4)

standard deviation

STuo ™ DywTH (4.5)

To evaluate the accuracy of the aircraft equipment in the lateral plane, the formulas are similar.

The probability of meeting the aircraft and the object of observation during testing is determined as follows. The facts of the aircraft getting into the contours of the observation object are recorded and the probability of a meeting is determined using the well-known formula

The block b for fixing the implementations of the device 4 for processing the test results is intended to count the number of electronic starts made in a series and to issue a control signal when the last start from the given ones will be made. Block 7 fixing the implementation is a regular counter.

The calculator 7 estimates of accuracy (see Fig.6), contains a control unit 109, a timer 110, a calculator 111, an adder 112,

(4.6)

a quadrator 113, a calculator 114, a switch 115, a memory unit 116, an adder 117, a scale unit 118, an adder 119.

The first input of the calculator 7 accuracy estimates for the zero-range signal is connected to the input of the control unit 109, the first fourth signal outputs of which are connected to the first inputs of the memory unit 116, the adder 117, the scale unit 118 and the timer 110, respectively

The second input of the calculator 7 accuracy estimates for the span signal is connected to the first input of the switch 115, the second input of which is connected to the fifth input of the calculator 7 accuracy estimates by the system setup signal, the first output to the first input of the adder 119, the second input of which is connected to the fourth input of the calculator 7 estimates of accuracy, and the output is connected to the third input of the memory unit 116, the second input of which is connected to the second output of the switch 115.

The output of the memory unit 116 is directly connected to the second input of the adder 112, and through the adder 117 is connected to the second input of the scale unit 118, the third input of which is connected to the second inputs of the calculator 114 and the timer 110 and connected to the third input of the calculator 7 of the accuracy estimates.

The first to fourth outputs of timer 110 are connected to the first inputs of adder 112, quadrator 113, calculator 114, and calculator 111, respectively. The output of the calculator 111 is connected to the third output of the calculator 7 accuracy estimates, the second output of which is connected to the output of the calculator 114, which is also connected to the second output of the calculator 111. The third input of the calculator 114 is connected to the output of the quadrator 113, the second input of which

connected to the output of the adder 112, and the third input with the output of the scale unit 118, which is the first output of the calculator 7 estimates of accuracy.

At the outputs of the calculator 7 accuracy estimates, mathematical expectation, variance, and standard deviation mean square deviations are generated (1st, 2nd, and 3rd outputs, respectively).

The meeting probability calculator 9 (see FIG. 7) comprises a control unit 120, a comparison unit 121, a memory unit 122, and a division unit 123.

The first input of the meeting probability calculator 9 by the zero-range signal is connected to the first input of the control unit 120, the first output of which is connected to the first input of the comparison unit 121, the second and third outputs are connected to the second inputs of the memory unit 122 and the division unit 123, respectively. The third input of the division block 123 is connected to the third input of the meeting probability calculator 9, the second input of which is connected to the second input of the comparison block 121.

The third and fifth inputs of the comparison unit 121 are connected to the fourth and sixth inputs of the meeting probability calculator 9, and the output is connected to the first input of the memory unit 122. The output of the division block 123 by the signal of the calculated probability of the meeting is the output of the calculator 9 and the corresponding output of the system.

The setter 10 of the parameters of the observation object is intended for entering into the system the overall (length, width, height) and radio engineering (height of the radar reflection center) characteristics of the monitoring object, as well as the number of starts to obtain reliable estimates of the system.

The setter 10 of the parameters of the object of observation is a device whose input unit is an analog-digital converter, the output of which is connected to memory circuits. In each memory scheme, the values of the initial or program values are recorded.

Test control device 12 included

control room simulator 11 (see FIG. 8), comprises a driver 124, a delay device 125, a key 126, a counter 127, and a signal driver 128.

The first input of the test control device 12 according to the start signal is connected to the input of the signal shaper 128, the output of which is connected to the input of the counter 127, the output of which is connected to the input of the key 126. The control input of the key 126, by the end start signal, is connected to the third input of the device 12

test control, and the output through a series-connected delay device 125 and driver 124 to the output of the trigger signal of the test control device 12, which is also the output of the trigger signal of the control room simulator 11. The second and third inputs of the counter 127 by the signals of the end of the start and the number of implementations are connected respectively connected to the third and second inputs of the device 13 test control.

The control panel 13 / which is part of the simulator 11 of the control point (see Fig. 9), contains a start button 129, a switch 130 Mode, a potentiometer 131, the Initial conditions and the parameter setting 132 connected to the power source. The outputs of the switch 130 and the button 129 are the first and second outputs of the control panel 13, respectively, and the output of the potentiometer 131 is connected to the input of the parameter setter 132, the outputs of which are the outputs from the third to fourteenth control panel 13.

Parameter setter 132 is a device, the input unit of which is an analog-to-digital converter, the output of which is connected to memory circuits. In each memory scheme, the values of the initial or program values are recorded.

Simulators 14, 15, 16 of angular velocity sensors, an angle meter and a linear acceleration meter are designed to simulate the dynamics of real instruments of the investigated aircraft control system. They implement the well-known transfer functions of 3.5.

The simulator 18 of the radio altimeter is designed to reproduce the movement conditions of the aircraft above the surface and

implements the well-known transfer function of 3.5. The input unit of the simulator 18 of the radio altimeter is an adder, the other input of which is connected to the simulator 19 of the underlying surface. The signal supplied to the first input of the adder of the simulator 18 of the radio altimeter, proportional to the signal y ,, generated by the simulators 2 of the aircraft, is added to the signal y, which is processed by the simulator 19 of the underlying surface. At the output of the simulator 18 of the radio altimeter, a flight altitude signal is generated above the underlying surface - H (for example, by the sea). The simulator 19 of the underlying surface and the simulator 17 of wind gusts are random signal generators.

The indicator 20 is designed to visually display the trajectory of the aircraft and is, for example, a video terminal device.

A simulator of 21 steering mechanisms reproduces the dynamics of steering drives that drive elevators, directions and ailerons.

The steering gear simulator 21 (FIG. 10) comprises a head drive simulator 133, a roll drive simulator 134 and a pitch drive simulator 135, the outputs of which are the corresponding outputs of the steering gear simulator 21, and the inputs are connected to the outputs of the switch 136, the inputs of which are the first to fourth inputs a simulator of 21 steering gears. The control inputs of the simulators 133, 134, 135 are connected to the fifth input of the simulator 21 steering mechanisms.

Drive simulators implement the known transfer functions 7. As a switch 136, a conventional relay is used, in which the fourth, control, input is connected to the fourth input of the steering gear simulator 21.

The device 22 for generating control signals is designed to generate control signals for steering mechanisms and is a device of the investigated SU LA. The control signal generation device 22 comprises three control channels — elevators / directions and ailerons, respectively. Algorithms for the formation of control laws for most unmanned aircraft are widely known and have the form 3, p. 78, fig. 4.

o, K «(U-UI) -I- К„ (0). + t, b,) - 1- Kh (7bh «h) K, h hdt + + S ,,

a, Ck. (T - 4i) + CK, (SE + TV (yy) + K „.p., (5.2)

a, Ku y + Ku (o) + + TT Yuh), (5.3)

ay Pu g, (5.5)

h H, - Hnp (t), (5.6)

where KI, Ko, T., Kh, Th, K, h / Kny, Kch- / Kf / fv, Ky, K, T are gear ratios; n., Pu, n, - overload; bir, H (1 :), Ui and program values of the corresponding parameters that determine the law of motion of the aircraft; a sign () - signals received from simulators of devices of real equipment of the control system are marked.

Ui FUI (a „1),

and “1 K,“ OA-OLO + Koy () + K “. (. + Ooo,. + ODA,

1 | shhpridui Uiuuc,

FOI (CToi) Ool at UtBin Ooi UiBM,

CToipritJol f

where Koy, Kf - gear ratios; OJSC / “about the essence of UA and at the moment of starting pointing in the longitudinal task at the object of observation; OOP and (Hus “. - setting values of the parameters.

H / g F, i (),

 BEFORE the lead, when for the first time IV I

K.U VA (v / -r | / o)) yl /

i | / i «« x sign a i for Vimax /

Pyi ()

"TylpriO i | / imin r

where KYY - gear ratios; H / A is a small constant (for example, (/ Ao 0.5 deg), h / o is the course angle at the time of lead.

-adder; 139 - memory block; 140-differentiator; 141 is a functional block; 142 - differentiator; 143 - adder; 144, 145

-differentiators; 146 - integrator; 147 - adder; 148 function block; 149 - adder; 150, 151 - scale blocks; 152 - adder; 153 is a functional block; 154, 155, 156 adders; 157 - scale block; 158, 159 - adders.

The outputs of the timer 137 are connected to the first inputs of all blocks of the control signal generation device 22, and the input to the twelfth input of the control signal generation device 22. The ninth input of the device 22 through the scale block 151 is connected to the second input of the adder 156, the output of which is the third output of the device 22 for generating control signals, and the third input is connected to the output of the adder 152, the third input of which is connected via the function block 153 to the output of the function block 141, and the second input is connected to the sixth input of the functional unit 141 and connected to the first input of the control signal generation device 22,

The seventh, eighteenth, fourteenth / thirteenth and fourth inputs of the device 22 are connected respectively to the inputs from the second to fifth and seventh inputs of the function block 141, and the fifteenth input through the scale block 157 is connected to the seventh input of the adder 156. The fourth input of the adder 156 is connected to the output of the adder 154 , the third input of which is connected to the output of the differentiator 144, the second input of which is connected to the second input of the adder 154 and connected to the fourth input of the device 22 for generating control signals.

The eleventh input of the device 22 is connected to the second input

the adder 138, the output of which is connected directly to the second input of the adder 155, and through the differentiator 145 to the third input of the adder 155. The output of the adder 155 is connected to the fifth input of the adder 156, the sixth input of which is connected through the integrator 146 to the output of the adder 138. The third input of the adder 138 through the block 139 memory is connected to the sixteenth input of the device 22 for generating control signals, the second input of which is connected to the second input of the adder 147 and the second input of the functional block 148.

The output of the functional block 148 is connected through an adder 147 to the second input of the adder 158, the third input of which is connected to the output of the adder 149, the second input of which is connected to the sixth input of the functional block 148 and connected to the fifth input of the control signal generation device 22, which is also connected via a differentiator 142 to the third input of the adder 149. The inputs from the third to fifth functional unit 148 are connected to the eighth, seventeenth and eighteenth inputs of the device 22, respectively.

The tenth input of the device 22 through the scale unit 150 is connected to the fourth input of the adder 158, the output of which is connected to the second input of the device 22. The third input of the device 22 is connected to the third input of the adder 159. The sixth input of the device 22 is connected to the second input of the adder 143 directly, and through the differentiator 140 - to the third input of the adder 143, the output of which is connected to the second input of the adder 159, and the output of the adder 159 serves as the first output of the device 22.

The proposed system works as follows.

Initially, in accordance with the test program, the system is set up.

Using the switch 130 Mode selects the plane in which the movement of the aircraft is studied: longitudinal or lateral. In this case, the switch 5 is activated, and the memory unit 8 of the device 4 for processing the test results is connected to the corresponding signal of the aircraft simulator 2, which characterizes the miss

meeting the aircraft and the object of observation: for the longitudinal task - Ud and for the side task - Zg.

Switch 115 also operates in the calculator 7 of the accuracy estimates and, when solving a longitudinal problem, connects to the computing units a signal coming from the 4th output of the setter 10 of the parameters of the observation object, which characterizes the height of the radar reflection center of the observation object Udts in formula (4). Simulator switch 136 is simultaneously triggered 21

steering mechanisms, which connects the corresponding channels of power drive simulators to the outputs of the control signal generation device 22, and a switch 42 of the simulator 1 of the observation object coordinate meter, which connects the corresponding channel of the viewing angle signal of the observation object to the control signal generation device 22.

The type of the problem to be solved is selected, for which the engine of the potentiometer 131 of the control panel 13 is set to the position corresponding to the selected task. In this case, from the outputs of the memory cells of the setter 132 of the parameters, signals corresponding to the programmed parameters of the aircraft trajectory in the algorithms (5) are received in the device 22, and signals of the initial setting of the range DO to the object of observation and the parameters of the relative motion of the object of observation are sent to the simulator 1 of the coordinate of the object of observation and aircraft in algorithms (1).

From the setter 10 parameters of the object of observation, the parameters of the object of observation are introduced - the length, width, height, height of the radar reflection center, as well as the number of launches in the test series, sufficient to obtain reliable estimates in accordance with the dependences (4).

When you press the 129 button, the start of the remote control 13 starts the system. Initially, the signal from the second output of the control panel 13 enters through the shaper 128 of the test control device 12 to the first input of the meter 127, the second and third inputs of which receive a signal from the output of the span control unit 3, which fixes the end of the system start-up, and a signal from the set point 10 of the parameters of the monitoring object , which determines the number of implementations during the tests - N. When the number of system starts is equal to the specified number of implementations, the signal at the output of the counter 127 will be 0. Since at the first moment it and are not equal, then the start signal from the output of the counter 127 through the key 126, the delay device 125 and the driver 124 is fed to the control inputs of the simulator 1 of the coordinates of the object of observation, simulator 2 of the aircraft, simulator 14 of the angular velocity sensors, simulator 15 of the angle meter, simulator 16 linear accelerations, a simulator 17 of wind gusts, a simulator 19 of the underlying surface, a simulator 18 of a radio altimeter and a device 22 for generating control signals, which are first set to their initial state and then started, and the process begins to simulate the flight of the aircraft and its rapprochement with the object of observation in the test plane.

In simulator 1 of the coordinate of the object of observation according to the initial data, signals are generated about the position of the aircraft in space, its relative speed, as well as about the position of the object of observation in space in accordance with algorithms (1) - (3) and the angles of H / a or U are calculated , sighting the object of observation, which enter the device 22 of the generation of control signals.

Signals proportional to the angular velocities and linear accelerations of the aircraft body are received from the devices 43 and 44 for modeling the lateral and longitudinal movement of the aircraft through simulators 14, 15 and 16 to the device 22 for generating control signals. A signal proportional to the current flight altitude of the aircraft is supplied from the longitudinal motion simulation device 44 to the input of the radio altimeter simulator 18, in which it is summed with a signal simulating the underlying surface and a signal is generated proportional to the current flight altitude of the aircraft above the underlying surface. This signal is supplied to the control signal generation device 22. In the device 22 for generating control signals in accordance with the algorithms (5), signals are generated that control the power drives of the steering mechanisms of the aircraft.

In the process of testing, simulators 17, 19 of wind gusts and the underlying surface receive the corresponding disturbing signals acting on the aircraft control system in real conditions.

In the test process, depending on the type of problem being solved (longitudinal or lateral), signals characterizing the movement of the aircraft in the vertical and lateral planes from the 9th and 10th outputs of the aircraft simulator 2 through the switch 5 are fed to the input of the memory unit 8 and indicator 20 for visual control the flight path of the aircraft, and the signal of the current range from the 3rd output of the simulator 1 to the input of the block 3 control span. At the moment when the current range D is equal to zero, a signal will appear at the input of the block 3 span control. According to this signal, in the memory block 8, the value of the values characterizing the miss at the meeting of the aircraft and the object of observation (at D О) is fixed for the longitudinal task - Ud and for the side task - Zg. The signal from the output of the span control unit 3 also arrives at the second input of the test control device 12, by which the key 126 i is triggered, the test control signal from the third output of the device 12 disappears. The system then returns to its original state. If the number of starts made is still not equal to the number of given starts N and there is a signal at the output of counter 127, then after the system returns to its original state and the key 136 is triggered (because the range signal D is not 0), the signal at the output of control device 12 will appear again tests and a new start-up of the system will occur under the same initial conditions and the process will be repeated again,

The process of testing the aircraft equipment system will continue until the number of starts is equal to the number of given starts N. At this point, the signal at the output of counter 127 disappears and, accordingly, the signals at the output of test control device 12 disappear and a series of starts are completed, and the system will go into the processing mode of the results.

At the moment of the equal number of starts made to the number of given starts N, a signal will appear at the output of the block for realizing fixation b, which will go to the control inputs of calculators 7 and 9 of the accuracy and probability estimates of the meeting, the information inputs (second) of which will receive an array of fixed miss values at the meeting LA and the object of observation (depending on the type of problem being solved, vertical or lateral deviation). According to these values, according to formulas (4) in calculators 7 and 9, the values of mathematical expectation, variance, average

square deviation of the miss and the probability of meeting. On this test in this series of tests are completed.

The proposed comprehensive test system for predicting the results of full-scale tests provides the possibility of a multiple (hundreds of times) increase in the volume of tests of real aircraft equipment, compared with full-scale experiments, and obtaining volumes of data sufficient for statistical processing. This increases the reliability of ground tests with less labor.

The industrial applicability of the utility model is determined by the fact that, based on the above description and drawings, the proposed system can be manufactured using well-known components and technological equipment used for the manufacture of electronic systems, and used as an integrated test system to predict the results of full-scale tests of an unmanned aerial vehicle. 1. Modeling and testing of radio equipment. P.P. Veskid,

E.M .. Vinogradov, V.I. Vinokurov and others. - L .: Shipbuilding,

1981. - S. 228, Fig. 6.21. 2. Certificate of the Russian Federation. No. 11626 for a utility model, IPC G09B

9/00, publication October 16, 1999, Arothota. Z. Lebedev A.A., Chernobrovkin A.S. Flight dynamics, Oborongiz, M., 1962 403-404, 473-474. 4.Abgaryan K.A., Kolyazin E.A., Mishin V.P. The dynamics of rockets.

M., Mechanical Engineering, ed. 2, 1990 p. 53-55. 5.Kuzovkov N.G. Sibtem stabilization of aircraft (ballistic and anti-aircraft missiles). M .: Higher school, 1976

6. Reference book on electronics. Under the total. ed.

A.A. Kulikovsky. T.Z. M., Energy, 1970. 558-565. 7.Gamynin N.S. Hydraulic drive of control systems.

M., Mechanical Engineering, 1976, p. 11, Fig. 4.

LIST OF REFERENCES

Claims (1)

A system for predicting the results of full-scale tests of an unmanned aerial vehicle, comprising an aircraft simulator, a radio altimeter simulator, a control room simulator including a control panel, and a test control device connected to the output of the control panel start signal, as well as a control signal generation device, the program parameter signal inputs of which connected to the corresponding outputs of the control panel, and the input of the trigger signal is combined with the inputs of the trigger signal simulated the radio altimeter and the aircraft simulator and is connected to the output of the test control device, the flight altitude signal of the aircraft simulator is connected to the signal input of the radio altimeter simulator, and the output of the control panel system signal is connected to the corresponding input of the aircraft simulator, characterized in that simulator of angular velocity sensors, simulator of angle meter, simulator of linear acceleration meter, steering gear simulator, simulator
gusts of wind, a simulator of the underlying surface and a simulator of the coordinate meter of the object of observation, the input of the start signal of each of which is connected to the output of the test control device, as well as the parameter setter of the object of observation, the span control unit and the device for processing test results, containing a switch, a memory unit, a fixation unit implementations, a calculator of accuracy estimates and a calculator of the probability of a meeting, while the outputs of the angular velocity signals at the heading, roll and pitch of the aircraft simulator arata are connected to the corresponding inputs of the simulator of angular velocity sensors, the outputs of the signals of the heading angle, roll and pitch are connected to the corresponding inputs of the simulator of the angle meter, and the outputs of the signals of linear acceleration are connected to the corresponding inputs of the simulator of the linear acceleration meter, the outputs of which, as well as the outputs of the simulator of the angle meter and simulators of angular velocity sensors are connected to the corresponding inputs of the device for generating control signals, the outputs of the signals of the speed of flight and the angle of inclination of the trajectory simulator a
of the aircraft are connected to the corresponding inputs of the simulator of the coordinates of the object of observation, the outputs of the signals of the angles of sight of the object of observation are connected to the corresponding inputs of the device for generating control signals, the outputs of the signals for controlling elevators, directions and ailerons of which are connected to the inputs of the simulator of steering mechanisms, and the input of the signal of flight altitude - to the output of the simulator of the radio altimeter, the input of the signal of the underlying surface of which is connected to the output of the simulator of the underlying surface radios, outputs of the angle signals for laying rudders, heights and ailerons of the steering simulator are connected to the corresponding inputs of the aircraft simulator, the input of the wind gust simulation signal is connected to the output of the wind gust simulator, the output of the control panel system tuning signal is connected to the corresponding inputs of the switch, evaluator accuracy, a steering gear simulator and a monitoring object coordinate simulator, the inputs of the initial setting signals of which are connected They are connected to the corresponding outputs of the control panel, the output of the current range signal is to the input of the span control unit, and the inputs of altitude signals
flight and lateral deviations of the aircraft are combined with the corresponding inputs of the switch and connected to the corresponding outputs of the simulator of the aircraft, the output of the switch is connected to the indicator input and the information input of the memory unit, the control input of which is combined with the control inputs of the implementation fixation unit and the test control device and connected to the output span control unit, the output of the implementation fixation unit is connected to the inputs of the zero-range signal of the accuracy estimator a meeting probability calculator, the span signal inputs of which are connected to the output of the memory block, the signal output number of implementations of the parameter setter of the object of observation is connected to the corresponding inputs of the test control device, realizations fixing block, accuracy estimation calculator and meeting probability calculator, the signals of the size of the observation object of which are connected to corresponding outputs of the setter of parameters of the object of observation, the output signal of the height of the radar center of reflection of the object of observation I connected to the corresponding input of the accuracy estimator, the outputs of which and the output of the meeting probability calculator are system outputs.