RU2016104767A - CONTROL SYSTEM IN THE LONGITUDINAL CHANNEL OF PILOTED AND UNMANNED AERIAL VEHICLES IN THE MODE OF ATTRACTION FROM DANGEROUS HEIGHT WHEN WORKING ON LAND OBJECTS - Google Patents

CONTROL SYSTEM IN THE LONGITUDINAL CHANNEL OF PILOTED AND UNMANNED AERIAL VEHICLES IN THE MODE OF ATTRACTION FROM DANGEROUS HEIGHT WHEN WORKING ON LAND OBJECTS Download PDF

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RU2016104767A
RU2016104767A RU2016104767A RU2016104767A RU2016104767A RU 2016104767 A RU2016104767 A RU 2016104767A RU 2016104767 A RU2016104767 A RU 2016104767A RU 2016104767 A RU2016104767 A RU 2016104767A RU 2016104767 A RU2016104767 A RU 2016104767A
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signal
control
stu
output
input
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RU2016104767A
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RU2644048C2 (en
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Денис Александрович Михайлин
Григорий Михайлович Синевич
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Акционерное общество "Концерн радиостроения "Вега"
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C19/00—Aircraft control not otherwise provided for
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots

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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Claims (8)

Система, состоящая из радиовысотомера малых высот (РВ), системы воздушных сигналов (СВС) для измерения вертикальной скорости Vy и воздушной скорости V, бесплатформенной инерциальной навигационной системы (БИНС), в составе датчика нормальной перегрузки ny, датчика угловой скорости тангажа ωz и датчика положения ручки летчика Xp, цифровой системы траекторного управления (СТУ), и модальной системы дистанционного управления (СДУ) в составе блока формирования приведенного коэффициента подъемной силы
Figure 00000001
в зависимости от условий полета по высоте и воздушной скорости, вычислителя желаемой передаточной функции Wж(p) по критерию Шомбера-Гертсена оптимальной управляемости по угловой скорости тангажа ωzm, на вход которого подключены сигналы
Figure 00000002
и Xp и вычислитель формирования астатической невязки по разности (ωz-ωzm), входы которого соответственно соединены с датчиками угловой скорости тангажа ωz и вычислителем Wж(p), а выход соединен с первым входом электрогидравлического привода, второй вход которого соединен с выходом демпфера по сигналу ωzm и ny, причем в СДУ поступают данные с датчиков первичной информации БИНС, от СВС, РВ и датчика положения ручки летчика Xp, отличается тем, что в состав СТУ введен вычислитель управления высотой (ВУВ) и вычислитель алгоритма (ВАСОВ) для формирования сигнала опасной высоты Ноп, на вход которого поступают сигнал текущей высоты с выхода радиовысотомера малых высот HPB, сигнал безопасной высоты Ноп+ΔН, введенный с пульта РВ и корректируемый сигнал вертикальной скорости с выхода СВС, при условии HPB≤Hбо+k⋅Vy с выхода BACOB выдается сформированный сигнал Ноп, который поступает на вход вычислителя управления высотой (ВУВ) и обеспечивает начало его работы, также на соответствующие входы ВУВ поступают сигналы HPB, Нбо и k⋅Vy, при этом на выходе ВУВ формируется сигнал управления гидравлическим приводом ЛА по правилу:A system consisting of a low altitude radio altimeter (RV), an airborne signal system (AHS) for measuring vertical speed V y and airspeed V, a strapdown inertial navigation system (SINS), consisting of a normal overload sensor n y , and a pitch angular velocity sensor ω z and a pilot position sensor X p , a digital trajectory control system (STU), and a modal remote control system (SDU) as part of the unit for generating a reduced lift coefficient
Figure 00000001
depending on flight conditions in altitude and airspeed, calculator of the desired transfer function W w (p) according to the Schombert-Gertsen criterion of optimal controllability in terms of pitch angular velocity ω zm , to the input of which signals
Figure 00000002
and X p and a calculator of the formation of an astatic residual by difference (ω z -ω zm ), the inputs of which are respectively connected to the pitch angular velocity sensors ω z and the calculator W w (p), and the output is connected to the first input of the electro-hydraulic drive, the second input of which with the damper output by the signal ω zm and n y , moreover, the SDE receives data from the primary information sensors of the SINS, from the SHS, RV, and the position sensor of the pilot’s handle X p , differs in that the STU includes a height control computer (VUV) and a computer algorithm (YOU) for form Hovhan dangerous height signal H op, the input of which receives the signal current output from the radio altimeter altitude low altitude H PB, safe altitude signal H? H + op inputted from the remote CM and corrected vertical signal SVS speed output provided bo H PB ≤H + k⋅V y from the BACOB output, the generated signal Н op is generated, which is fed to the input of the height control computer (HLW) and provides the beginning of its operation, also H PB , Н Bo and k⋅V y signals are received at the corresponding inputs of the HLW, Hydraulic control signal is generated at the output of the water turbine Aircraft driven by the rule:
Figure 00000003
, где:
Figure 00000003
where: UCTY=k1(HPB-Hбo)+k2Vy - управляющий сигнал СТУ;U CTY = k 1 (H PB -H bo ) + k 2 V y - control signal STU; k - масштабный коэффициент для формирования скорректированного значения вертикальной скорости Vускорр;k is the scale factor for the formation of the corrected values of the vertical velocity V accelerator ; k1 - коэффициент закона управления СТУ в невязке по высоте;k 1 - coefficient of the law of control of the STU in the residual in height; k2 - коэффициент закона управления СТУ по вертикальной скорости;k 2 - coefficient of control law STU in vertical speed; k4 - коэффициент закона управления модальной СДУ в пропорциональной и интегральной составляющих по невязке в угловых скоростях тангажа;k 4 is the coefficient of the control law of the modal CDS in the proportional and integral components of the residual in the pitch angular velocities; k5 - коэффициент закона управления модальной СДУ по вертикальной перегрузке.k 5 - coefficient of the control law of the modal CDS for vertical overload.
RU2016104767A 2016-02-12 2016-02-12 Control system in longitudinal channel of manned and unmanned aircrafts in mode of creeping from dangerous height at work on ground objects RU2644048C2 (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115857557A (en) * 2023-03-01 2023-03-28 西安航天动力研究所 Lateral position control method for longitudinal instruction matching of target climbing section
CN116453378A (en) * 2023-06-16 2023-07-18 陕西德鑫智能科技有限公司 Unmanned aerial vehicle navigation section handover switching method and device

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU7755U1 (en) * 1997-08-04 1998-09-16 Летно-исследовательский институт им.М.М.Громова PILOT AND NAVIGATION COMPLEX
RU2207613C1 (en) * 2002-03-15 2003-06-27 Федеральное государственное унитарное предприятие "Центральный научно-исследовательский институт "Гранит" Airborne equipment of control systems of drone
RU2235042C1 (en) * 2003-11-12 2004-08-27 Оао "Миэа" Method of control of aircraft
US8761970B2 (en) * 2008-10-21 2014-06-24 The Boeing Company Alternative method to determine the air mass state of an aircraft and to validate and augment the primary method
RU2443602C2 (en) * 2009-11-26 2012-02-27 Московский государственный университет приборостроения и информатики Aircraft pitch automatic control system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115857557A (en) * 2023-03-01 2023-03-28 西安航天动力研究所 Lateral position control method for longitudinal instruction matching of target climbing section
CN116453378A (en) * 2023-06-16 2023-07-18 陕西德鑫智能科技有限公司 Unmanned aerial vehicle navigation section handover switching method and device
CN116453378B (en) * 2023-06-16 2023-09-08 陕西德鑫智能科技有限公司 Unmanned aerial vehicle navigation section handover switching method and device

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