RU2042583C1 - Flight simulation complex for investigation of landing systems of ship-based flying vehicles - Google Patents

Abstract

FIELD: aeronautical engineering. SUBSTANCE: introduced into ground portion of flight simulation complex are: landing radar 12 with computer 13, control command computer 10, computer of disturbance and motions model, ship's motions computer-extrapolator 18, computer 24 of vertical velocity of ship's motions, trajectory criterion computer unit 29, logic device 25, external trajectory optical meter 6 with computer 7, optical landing system 8, localizer beacon 16 and glide-path beacon 17, TV measurement information system 15, meteorological parameter meter 11 and air camera recorder 5. First output of computer 13 of landing radar 12 is connected with control signal transmission line 3 through control command computer 10 and its second output is connected with respective inputs of control command computer 10 which are connected in series by means of ship's motions computer-extrapolator 18, motions vertical velocity computer 24 and logic device 25; third output is connected with first input of first adder 21 whose second input is connected with programmed trajectory computer 19 trajectory criterion computer unit 29 whose first output is connected with second input of logic device and second output is connected with first input of second adder whose second input is connected via computer of flying vehicle model and automatic control system model with second output of motions vertical velocity computer which is also connected to respective inputs of programmed trajectory computer and criterion computer unit. Output of second adder is connected with first input of disturbance and motions model computer whose second input is connected with meteorological parameter meter; first output is connected with second inputs of control command computer and optical landing system; second output is connected with landing radar, third output is connected with second input of motions computer-extrapolator whose third input is connected with landing radar; first output is connected to logic device, second output is connected with first input of programmed trajectory computer whose second outputs are connected with computer of external optical trajectory meter, and then with air camera recorder 5 and with display system which is connected to respective inputs of computers of disturbance and motions models, flying vehicle model and automatic control system model, to calculated criterion computer unit, to expert system computer connected to calculated criterion unit. EFFECT: enhanced reliability. 3 dwg

Description

 The invention relates to aircraft, in particular to equipment for conducting flight tests of ship-based aircraft s (LAC), and is intended for the study and development of automatic control systems (ACS) in landing modes on an aircraft carrier ship.

 A control device for flight tests of a remotely controlled aircraft (LA) is known, which includes an executive link for flight control, a flight mode parameter sensor, a receiver and a transmitter for transmitting radio signals to a ground station receiver. The radio signals received by the receiver of a controlled aircraft are used in it as control radio signals for the executive link. In the control software device, the information obtained after processing the flight mode data can be directly used to control this flight. To do this, a device is installed at the ground station for direct processing of the received radio signal, and in the aircraft, a program actuator for setting parameters and flight programs, including for optimizing flight modes specific to the test. However, this device cannot be used when practicing the laws of automatic control of the LAC due to a tough program when setting the trajectory and with low accuracy of determining the location of the aircraft at large flight ranges.

 The invention is aimed at creating a system that provides the search and optimization of general algorithms for closed loop control of a ship landing complex in terms of the technology of performing an approach and landing of an aircraft in conditions of simulating the ship’s pitching, simulating ship and airborne equipment.

 The essence of the invention lies in the fact that in the flight-modeling complex (LMC) studies of the landing systems of ship-based aircraft, including the airborne part, containing an automatic control system with information sensors of the angular and linear position of the aircraft and servos, interconnected with the transmission line of control signals ( LPSU), and the ground part containing the control signal transmission line, information display device, calculator of the flight dynamics of the aircraft ATA and control-recording equipment, a directional radio receiver connected to the automatic control system is introduced into the airborne part, and a landing radar station ((RLS) associated with the corresponding computer, a control command calculator interconnected with the control signal transmission line, are introduced into the ground part connected calculator of disturbance and pitching models, calculator-extrapolator of pitching, calculator of vertical pitching of the ship and logical device of landing prohibition the output of which is connected to the second input of the control command calculator and to the optical landing system (OSP), the quality criteria calculation block and the expert system calculation block are connected in series, the output of which is connected to the first input of the information display device, the programmed path calculator is connected in series, the first input of which connected to the second output of the calculator-extrapolator of the ship’s pitching, the calculator of the external path optical meter and the external path optical meter spruce associated with the optical landing system, heading and glide path radio beacons, television information measuring system (TIIS), respectively connected to three inputs of the program path calculator, a meteorological parameter meter, the output of which is connected to the first input of the perturbation model calculator and the ship pitch, recording photo equipment an aircraft camera and two adders, the first and second outputs of the transmitter of the landing radar system are connected respectively to the third input control computer, the fourth input of which is combined with the input of the optical landing system and connected to the second output of the computer model of disturbances and pitching of the ship and the first input of the first adder, the second input of which is combined with the first input of the calculator block trajectory criteria and with the third input of the information display device and connected to the output of the program path calculator, the outputs of the first adder are connected respectively to the first input of the second adder and to the second input of the logic device landing ban, the third input of which is connected to the third output of the calculator-extrapolator of the ship’s pitching, the second and third inputs of which are connected respectively to the outputs of the landing radar system and its calculator, the output of the second adder is connected to the second input of the calculator of the model of disturbances and pitching of the ship, the third output of which is connected with landing radar system, the second input of the second adder is connected to the first output of the computer model of the dynamics of the aircraft, the second and third outputs of which connected to the second inputs of the information display device and the trajectory criteria calculator, the first input is connected to the output of the control signal transmission line, and the second input is combined with the fifth input of the program trajectory calculator and the second input of the trajectory criteria calculator, and connected to the second output of the vertical velocity calculator pitching, the third input of the trajectory criteria calculation unit is combined with the fourth input of the information display device and connected to the first output of the computation Ithel perturbation model and pitching of the ship, and a second output connected to a fifth input display apparatus, whose output is connected to a recording control apparatus.

 The proof of the materiality of the distinguishing features follows from the sufficiency of introducing measuring and computing units and devices and the connections between them, which together solve the problem. The task is to search and optimize the general closed loop control algorithms for the ship landing complex in terms of the approach and landing approach technology in conditions of simulating the ship’s pitching, simulating ship and onboard equipment failures, including conflict situations, linking trajectories specified by various information tools.

 Introduction of PRLS, LPSU, pitch extrapolator block, perturbation model and ship pitch calculator, aircraft and ACS contour model calculator, ship pitch vertical velocity calculator, trajectory criteria calculator, external track meter, TIIS, OSP, course and glide path radio beacons, means of trajectory photo-recording , a meteorological data meter and the connections between them allows to achieve a positive effect in comparison with the prototype, the expansion of the capabilities of modeling the landing on an aircraft carrier to Rabl in complex hydro-meteorological and roll of the ship due to mining SAU control laws in these conditions.

 In FIG. 1 shows a schematic block diagram of the proposed LMK; in FIG. 2 layout of landing equipment; in FIG. 3 simulated trajectory and control sections when modeling the relative motion of the aircraft and the runway.

 In FIG. 1 shows the airborne part of the LMK 1, automatic control system 2 (ACS), control signal transmission line 3 (LPSU), and the on-board course and glide path receiver 4.

 The ground part of the LMK includes recording aerial photo equipment (AFA) 5, external trajectory optical meter (VTI) 6, computer 7 VTI, optical system 8 landing (OSP), LPSU 9, computer 10 control commands, meter 11 meteorological parameters (data), landing radar system (RLS) 12, calculator 13 RLS, calculator of model 14 of disturbances and pitching of the ship, television measuring and information system (TIIS) 15, directional radio beacon (CRM) 16, glide path beacon (GRM) 17, calculator-extrapolator 18 of the pitching ship, calculator a program tracker 19, an adder block 20, a first adder 21, a second adder 22, an ACS aircraft dynamics model calculator 23, a vertical pitching speed computer 24, a logic device 25, an operator control panel 26, an information display system 27, an expert system (ES) 28 of the landing manager (computer), block 29 for calculating trajectory criteria, equipment 30 of an aircraft carrier, monitoring and recording equipment (KZA) 31, permitted trajectory windows 32.

 The onboard part of the LMK 1 includes self-propelled guns 2, the output of which is connected to the LPSU 3, and the input is connected to the directional radio receiver 4.

 The ground part of the LPSU 9 is connected to the calculator 10 teams and the calculator 23 dynamics model of the ACS. The computer 10 of the control commands is connected to the logical device "prohibition" 25 and the model 14 of disturbances and pitching. The output of the disturbance and pitching model 14 is connected to the PRLS 12 by the pitching extrapolator 18, the criteria calculation unit 29 and the display 27, and the inputs with the meteorological parameters meter 11 and the adder 22. The inputs of the second adder 22 of the summing block 20 are connected to the calculator 23 of the ACS dynamics model and the output the first adder 21, the first input of which is connected to the calculator 19 of the programmed paths, the second input to the calculator 13 of the PRLS, and the second output of the first adder 21 is connected to the input of the logical device 25. The inputs of the logical device 25 are connected pitching extrapolator 18, calculator 24, heave velocity. The inputs of the computer 23 dynamics model LA-ACS are connected with LPSU 9 and with the computer 24 vertical pitching speed, and the output with the display 27 of the operator. The inputs of the criterion calculation unit 29 are connected to the program path calculator 19, the vertical pitching speed calculator 24, the disturbance and pitching model 14, the LA-ACS dynamics model calculator 23, and the output from the ES 28 and further to the operator display 27, the other inputs of the display 27 are connected to the calculator 19 program paths, the other output of the calculator 19 is connected to the calculator 7 VTI, and the inputs with the extrapolator 18 pitching, the calculator 24 vertical pitching and heading 16 and glidepath 17 radio beacons and TIIS 15. The inputs of the extrapolator 18 pitching connected CLDP 12, the calculator 13 and model 14 CLDP disturbances and pitching. The inputs of the OSB 8 are connected to the disturbance and pitching model 14 and the “inhibit” logic device 25. The VTI calculator 7 is connected to the VTI 6 and the recording AFA 5, the output of the operator display 27 is connected to KZA 31, the criterion calculation unit 29, and the ES 28 computer.

 LMK works as follows.

 LMK allows you to practice and test aircraft control systems in automatic, director and manual control. In the latter case, OSB 8 is used. For all types of control, a group of trajectory measurements is used: PRLS 12, TIIS 15, KRM 16, GRM 17, VTI 6 and AFA 5, which make it possible to increase the accuracy of parameter measurements due to redundancy and complex data processing of these information funds.

 Consider the work of LMK in automatic control mode. The functional and logical core of the LMC in this case are blocks 13 and 14 18 and 19 23 and 24.

 At first, at block 19, a series of programmed trajectories “raised” above the runway is set, the initial conditions of the flight parameters H, Z, D and angular deviations are established.

 The model of perturbations and pitching of the ship on block 14 are set in physical quantities and points.

 On the calculator 23 of the dynamics model of the aircraft and self-propelled guns, the gear ratios and time constants of the control laws are set, their structure for fine-tuning the self-propelled guns is changed; here, signals from the onboard self-propelled guns 2, characterizing the short-period motion of the aircraft, are received by LPSU for comparison.

 A group of trajectory tracking tools for the aircraft and blocks 12, 15, 16, 17, 6 and 5 are included in the process and give the coordinates of the aircraft to control the trajectory.

When the control elements of the aircraft are rejected by the ACS 2 signals received from the information controllers from the aircraft, the data is received via the LPSU 9 radio line to the ground part of the LMC in the form of the values of the current parameters of the short-period aircraft motion: angular position ν, γ, Ψ; angular velocities ω _x , ω _y , ω _z ; overloads n _x , n _y , n _z ; deviations of the controls δ _l , δ _e , δ _n These data are sent to the calculator 10 control commands and the calculator 23 dynamics model of the aircraft and self-propelled guns for comparison.

 At the same time, the parameters of the given control commands, the trajectory parameters, and the specified disturbances for indicating to the pilot are transmitted from the ground part of the LPSU 9 to the ACS from the LMK calculators.

Signals from CLDP A bearing 12, distance D and angle θ place fed to a calculator 13 CLDP where deviations are determined from the measured values of? H _{is measured,} ΔZ _{is measured,} which are further fed to the control computer 10 commands. The same signals are simultaneously sent to the ground part of the LPSU 9 for transmission on board and to the ground part of the LMC to the adder 21 and the calculator-extrapolator 18 pitching to calculate the forecast.

In the extrapolator 18, equations for predicting the motion of the deck of a ship are solved, and signals from it are fed to a computer 24 of the vertical speed V _{y of the} ship. The V _y value of the ship is a critical landing parameter in terms of strength and safety in conditions of large hydraulic disturbances.

Further, these signals are fed to the logical device 25 ban landing, if the signals V _y are out of range. The same signals are sent to the calculator 19 software paths and the calculator 23 model of the aircraft and self-propelled guns, in which the equations of dynamics of this control loop are solved. Signals of short-periodic movement of aircraft and self-propelled guns 2 from LPSU 9, where they are compared and corrected, also come here.

 The adder 21 receives the path signals from the calculator 19 of the programmed paths and the calculator 13 of the PRLS, the other adder 22 receives the difference of the first adder and the calculator 23 of the dynamics model of the aircraft and self-propelled guns, and their difference in the form of signals of deviations from the landing path Δ Н and ΔZ (disturbances) arrives at the model of 14 disturbances and pitching of the ship.

From the output of the first adder signals N _ass. N _{ism is} fed to the second input of the logic device 25. If this difference exceeds the permissible value, then a landing inhibit signal is also issued due to large deviations from the given trajectory.

 The signals of the calculator of the disturbance and pitching model 14 are supplied as a reference signal to the pilot through the 10 timing calculator of control commands to simulate pitching during visual flight, to the OSB 8 stabilization system and to the PRLS 12 input to simulate tracking disruption modes of these means at large sea waves. The same signals of model 14 are fed to the calculator-extrapolator 18 pitching, which, together with the signals of the PRLS 12, model 14 of disturbances and pitching and the calculator 13 of the PRLS form a forecast of the landing trajectory on the deck of the ship.

Block 29 of the criteria calculator receives signals from the calculator 19 of the program paths, from the disturbance and pitch model 14, the calculator 24 of the vertical speed V _y, and the entire set of trajectory and short-period aircraft parameters from the calculator 23 of the aircraft dynamics model and ACS. Here, statistical characteristics of accuracy are determined, as well as the probabilities of flight paths.

 To display information on the display 27 receives signals from the corresponding outputs of the calculators of the perturbation and pitch models, the model of the aircraft and self-propelled guns, from the block of calculated criteria and the calculator ES 28, also associated with the block 29 of the calculated criteria.

Engineer operator via display information display device 27 compares the desired and actual values of parameters and criteria ( "corridors" in time) coming from LPSU and calculators LMK n _yzad, γ _backside, ν _backside H _backside, Z _ass? H _rev , ΔZ _ism , the amplitude of the perturbations of the pitching along three axes and makes decisions on conducting and continuing the experiments. Based on the available information, the operator makes a conclusion about the accuracy, probability of the modes, stability of the system circuits, documents test materials on blocks 5 and 31.

 PRLS is intended for instrumental approach control for this purpose the coordinates of the aircraft are determined: elevation angle from the horizon, heading angle relative to the zero axis, slant range to the PRLS 12 installation point.

 PRLS 12 is built on the principle of a single-channel tracking radar with conical scanning of the antenna beam, which creates an equal-signal zone in space. When the angular position of the aircraft in space changes, an error signal appears that provides automatic tracking of the antenna behind the aircraft. The basis of the creation of the radar 12 is based on the radar principles of a radar operating in the millimeter wave range.

 The parabolic mirror of the system forms a given radiation pattern. The conical viewing mechanism makes the radiation pattern rotate in space relative to the axis, as a result of which an equal-signal zone (RSZ) is formed. If the target is located on the RSZ, then the displayed pulses will be the same in magnitude. If the target is not on the RSZ, the pulses will be modulated in amplitude, the modulation depth will determine the degree of deviation from the equal-signal zone, and the phase shift relative to the reference voltage generator, with the frequency of which the viewing mechanism rotates, the angular direction of the antenna axis mismatch (coincides with the area of the equal-signal direction) .

 The generation of signals of the existing mismatch in proportion to the amplitude occurs in the tracking and angle measurement equipment.

 The signals from the PRLS 12 are fed to the calculator 13 PRLS to perform calculations in real time. The radar transmitter 13 is designed to control the radar, calculate the current system parameters, generate control signals for the aircraft. The calculator determines the deviation of the aircraft from a given trajectory in height Δ N, lateral deviation ΔZ, current information about the range L and approach speed.

 In the radar calculator 13, information is prepared for controlling the aircraft: generating messages for the LPSU, controlling the antenna and range parameter, displaying information (PRLS-12 parameters), entering target designations and the programmed path.

In the calculator 13 of the radar system, spherical coordinates are transformed into rectangular (both systems relative to the position of the radar station) according to the formulas
Y ρ sinβ
X ρ cos β cos α
Z ρ cos β sin α where α is the course angle; β elevation; ρ slant range.

The rectangular coordinate system is transferred to the landing point using the formulas
X _o X + X _mp
Y _o Y + Y _mp
Z _o Z + Z _mp

Deviations are calculated at the heading and glide path from the program path
Δ ZZ _o Z _prog. ,
Δ N Y _{o Yprog.} ,
as well as hearing coefficients ε _k , ε _r.
For LPSU, an array of information of deviations ΔН, Δ Z, range X, approach speed V _sbs and N board number is formed.

 The signals from PRLS 12 through the computer 10 control commands are fed to the ground part of the LPSU 9. LPSU 9 landing is designed to receive information from the calculator 10 control commands about the position of the aircraft relative to the program path, converting this information into landing signals of the beacon systems and transmitting these signals from the converted binary computer signals in landing signals with pulse-width modulation over the air on board the aircraft.

 LPSU 9 transmits signals at the heading, glide path, range, and approach speed. In the "search" mode, the PRLS 12 LPSU is in standby mode. After the PRLS 12 enters the “tracking” mode, this signal is also fed to the LPSU, by which it is switched on in the operating mode. In this mode, information is received from the calculator of 10 control commands, information is converted and high-frequency signals are received through the LPSU antenna.

 The signals in the computer 10 control commands come from the model 14 disturbances and pitching and the logical device 25.

Control commands are generated as a result of the conversion of trajectory measurements into a control signal
n _{y, rear} Δ H _rev ^. K ₁
γ _ass Δ Z _rev ^. K ₂
Δ N _ISM F _{n ISM} (N N _prog ),
Δ Z _{zizm MOD} F (ZZ _f-cast), where F _nism, F _zizm gauges function;
K ₁ , K ₂ scales.

i_n+

1+

1+

, где ΔН_изм (Н Н_зад) F_л измеренное ПРЛС рассогласование по высоте;
F_л передаточная функция РЛС от Н к Н_изм;
W фильтр подавления высокочастотных шумов в узкой полосе частот ω;

i_n+

звено, преобразующее сигнал ΔН_изм в сигнал n_y;

1+

изодромное звено для описывания инструментальных ошибок датчика перегрузки, величина

ограничена;

звено для уменьшения перерегулирования по высоте в замкнутом контуре;

1+

звено для повышения быстродействия контура при отработке сигнала высоты.The control command n _{y back} in the calculator 10 control commands is formed in accordance with the law
n _{y back} = Δ H _ism W

i _n +

1+

1+

where ΔН _ISM (N N _ass ) F _l measured PRLS mismatch in height;
F _l the radar transfer function from N to N _ISM ;
W high-frequency noise suppression filter in a narrow frequency band ω;

i _n +

the link that converts the signal ΔH _ISM into a signal n _y ;

1+

isodromic link for describing instrumental errors of the overload sensor, value

limited;

link to reduce overshoot in a closed loop;

1+

link to increase the speed of the circuit when working out a height signal.

 The calculator 19 of the programmed paths receives signals from CRM 16, GRM 17, TIIS 15, extrapolator 18 pitching, calculator 24 vertical speed pitching.

 The calculator 19 software paths is implemented as a system of algorithms for paths in the longitudinal and lateral planes with different steepness of the radio signals. The structure of the computer 10 is formed in a vertical plane in the coordinates of the Earth’s coordinate system HOX (Fig. 2).

где Δ Н_о компенсирующая поправка;
D расстояние до цели;
θ траекторный угол.H _ass =

where Δ N _about compensating correction;
D distance to the target;
θ path angle.

In memory are several types of software paths. The selected or set glide path of descent is a programmed path: Y programmed in the plane of UOX _o and Z programmed in the ZOX plane. In the calculator 19, an array of the displayed information is formed on the operator display 27. In the calculator 19, the spherical coordinate system is converted to a cylindrical one to display the position of the aircraft in it on the display screen 27.

 All these signals and conversions are fed to KZA 31.

 The signals to the disturbance and pitching model 14 are received from the meteorological parameter meter 11 and the adder block 20 in the form of deviations from a given trajectory.

=

S_вых(ω)dω.It is possible to evaluate the work of self-propelled guns under signals of external influences in the form of stationary random processes using the correlation functions and the spectral planes R (τ) and S (ω). In case of random influences, we are talking about determining the mean values of the error and the output variable of the system. Such an average value is the mean square value of a random output variable of the system

=

S _O (ω) dω.

To model the pitching of ships, a model of plane or two-dimensional irregular waves propagating in one direction is used. The spectral density S (ω) is used as an estimate of the wave process. This estimate is approximated by an expression of the form
S (ω) Aω ^-K exp (-βω ^-n ), where A, B are parameters determined by the average values of the elements of visible waves on the sea surface;
k, n are parameters depending on the shape of the spectrum associated with the conditions of wave formation.

The simulators of pitching and wind disturbances are generators of random disturbances of signals passed through second-order electric filters of the form W (p) K / (T ² P ² + ζ2Tp + 1). Generators for generating pulsed random sequences have independently adjustable values of the mathematical expectation and variance of the duration of the intervals, as well as a predetermined nature of the probability density distribution.

 The signals to the pitching extrapolator 18 are received from the PRLS 12 of the transmitter 13 of the PRLS model 14 disturbances and pitching.

 During the processing of information coming from the aircraft, the developed control actions are inadequate to the current state. Therefore, the LMK control system must have the ability to predict. The control algorithm takes into account the prehistory and tendency of aircraft behavior, and environmental changes. Therefore, the control actions are formed taking into account the delay for the time Δ t of information processing. In addition, the prediction unit extrapolator 18 facilitates the pilot's work on the control of the aircraft, as it compensates for the delay of the pilot and the aircraft, improves the quality of control processes.

H _prog Dsin θ _o + H _rotten
Z _prog Dsin Ψ + Z _rotten wherein D range to the estimated point;
N _f-cast forecast ship traffic.

(t_i)=[E+T

(t_i)]^k-i

(t_i),

(t_i)=h(t_k), где

(t_i) оценка вектора, компоненты которого производные;
h_прогн h'_прогн, h''_прогн, h'''_прогн прогнозируемые значения вертикальной качки и ее производных h', h'', h'''; h'(t_i) оценка координат качки;
F(t_i) оценка матрицы коэффициентов модели;
Т дискретность вычислений.Prediction of the ship’s pitching is reduced to an accelerated miscalculation of the future time t _k according to the well-known model of movement of the landing pad and measurements at the current time t _i

(t _i ) = [E + T

(t _i )] ^ki

(t _i ),

(t _i ) = h (t _k ), where

(t _i ) an estimate of a vector whose components are derivatives;
h _prog h ' _prog , h'' _prog , h'''_prog; predicted values of vertical roll and its derivatives h ', h'',h'''; h '(t _i ) estimation of the pitching coordinates;
F (t _i ) estimate the matrix of coefficients of the model;
T discreteness of calculations.

 VTI 6 is used to register the approach paths, the signals from it are fed to the VTI calculator 7. The probe signal is formed by the laser in the form of a beam of coherent radiation; to increase the directivity of its radiation, it is collimated by the transmitting system. The radiation reflected from the mirror mounted on the aircraft is collected by the receiving optical system, passed through a narrow-band interference optical filter to reduce the background illumination, and is converted by the photosensitive element into an electrical signal. The amplified signals from the output of the receiving unit enter the processing unit, into which the reference signal is also supplied. The received and reference signals make it possible to measure the range of the propagation time of the signal to the aircraft and vice versa. The VTI calculator simultaneously determines the angular and linear coordinates of the aircraft.

 The signals to the criterion calculating unit 29 are received from the program path calculator 19, the vertical speed calculator 24, the disturbance and pitch model 14.

 In the process of conducting flight tests in block 29 of the calculation of the criteria, an assessment of the quality of self-propelled guns is obtained. The process of optimizing the laws of self-propelled guns begins with the arrival of data on the trajectory of the aircraft, obtained from blocks 14, 19, 23.

 Having chosen the extreme values of the functionals, the test engineer includes a calculator 19 software paths, in which the dependencies H back, Z back are formed.

 Evaluation of the quality of the LMK, as well as any complex system, is carried out using performance indicators of the numerical characteristics of the system. They evaluate the degree of fitness of the LMK to fulfill the tasks.

 These criteria are calculated under disturbance conditions at various initial conditions (Н, V, Z Ψ) and various operational scatter of parameters (gear ratios of the internal and path contours).

When carrying out LI self-propelled guns using LMK, performance indicators are used that mainly take into account the accuracy and quality of access to a given trajectory ΔH, Δε, ΔZ, Δε _k , t (ε _k ), t (ε _t ) the quality of movement along the trajectory V _max , γ _max , σ _γ , σ (ω _y ), σ (ω _z ), σ (n _y ); accuracy of approach σ _n , σ _z , σ _v ; accuracy of landing on the “quasi deck” σ _ntk , σl _, σ _z ; landing quality V _ymax , V _zmax , Δ L _max , V _max ; quality of working out given control commands n _yab , γ _zab .

,
где Y_i фактические;

расчетные величины; (n 1) число степеней свободы.The calculation of the standard deviations of the errors in the sample is performed according to the formula
σ

,
where Y _{i are} actual;

calculated values; (n 1) the number of degrees of freedom.

Block 29 calculating the criteria is implemented in the form of a meter indications of variances D _i .

KPM 16 uses the principles of double amplitude modulation, emits two types of signals. One of them is a carrier frequency signal modulated in amplitude by a low frequency, for example, f 60 Hz. The directivity characteristic of this radiation is such that two petals are formed, separated by the plane of the landing course. At the same time, the modulating voltages in both lobes are in antiphase, and the modulation depth coefficient is a function of the angular coordinate counted from the runway axis. Phase modulating the voltage of the radiation on passing through the plane of the final course is changed to 180 ^of the variable light phase.

 The second type of weakly directed radiation also has a voltage of frequency f, in which its phase is constant at any point in the field, the radiation of a constant phase. The voltage f of the constant phase signal is in phase with the modulating voltage of the variable phase signal in one of the lobes.

By its principle of operation, the timing 17 is similar to the KRM 16. It uses the principle of double amplitude modulation. The timing radiation forms two intersecting fields in space, the RSZ lies in a predetermined plane of descent, forming an angle ε _r , and the signal enters the calculator 19 program paths.

 The signals from TIIS are fed to the computer 19 software paths. With the help of TIIS, the coordinates of the aircraft needed to register the approach paths are measured. TIIS can use a Vidicon-type transmitting tube. For example, TIIS can automatically measure the coordinates of the aircraft along the axes that coincide with the directions of personnel and horizontal scanning.

 If the image of the aircraft on the television screen turned out to be offset by an amount X on the horizontal axis and a value Y on the vertical axis, then with the focal length of the lens F, shifting the image by a distance X will mean that the aircraft has shifted in the horizontal plane relative to the longitudinal axis of the transmitting tube by an angle α, which is found from the condition tan α x / F. Similarly, the image is shifted by Y in the vertical plane with a small deviation of the object by an angle β, for which tan β Y / F.

 If the aircraft displacement along the X and Y axes is automatically measured, then the angular deviations of this object relative to the axis of the television camera are determined. This data using the control device rotates the television camera so that the image of the aircraft is continuously held in the field of view of the transmitting camera.

 Since the aircraft is small in size, when you scan its image, you will get a short video pulse, shifted in time from the beginning of the line. When the aircraft is displaced along the X axis, the magnitude of the shift will change. The scheme for measuring the time shift (on the triggers) will be the scheme for measuring the X coordinate of the aircraft image. Similarly, knowing the time interval between the beginning of the frame scan and the video pulse of the observed aircraft, the Y coordinate is determined.

 The signals to the OSB 8 come from the computer 10 control commands and the logical device "ban" 25.

 OSB 8 provides the pilot with coded color information about the position of the aircraft when approaching the ship.

 The optical unit of the system consists of five lens cells located one above the other. Each emits a light beam in the azimuthal and vertical planes, with the three middle cells giving yellow light (along the glide path), the upper constant white, and the lower red flashing. On both sides of the middle cell are flashing green lights of landing permission and vertical red prohibitions. To the right and to the left of the latter at the same level with the central cell of the optical unit are placed constant green (reference) lights. OSB stabilized by pitching helps the pilot determine the speed of the aircraft in three planes. OSB shows the pilot the location of the aircraft relative to the optimal glide path of planning for colored signal, base, indicator lights. If the pilot enters the zone of operation of the lights below the given glide path, then he will see a red constant or flashing light, if he rises above the glide path, then he will see a yellow or flashing red light, when flying exactly along the given glide path, the green light. The pilot seeks to keep the aircraft on this glide path, preventing it from failing or leaving the optimal glide path of planning, while controlling the vertical speed.

Z B

,
Y B

,
φ₁= B

, где R радиус земли в данной местности.The goniometric method for determining the location of an aircraft is based on the simultaneous measurement of viewing angles of aircraft from two different points. The implementation of this method is provided on the optical principle by the cinema theodolite method. The measured parameters are azimuth angles α and places β, measurements are taken from two points with measuring base B. Then the coordinates of the aircraft
Xb

Zb

,
Yb

,
φ ₁ = B

where R is the radius of the earth in a given area.

 The signals from the VTI calculator 7 are fed to the AFA 5 photorecorder and to the VTI 6 equipment itself.

 AFA 5 is used to register the trajectories of an aircraft landing approach. The method of registration and photography includes daytime and nighttime surveying of the contours of a site, measuring the reference coordinates on the terrain and the image, referencing the image in the Gauss-Krueger coordinate system, shooting the starry sky and registering lighting lights, communicating with reference points of the corresponding geophysical network.

 Meter 11 of the meteorological parameters gives the value of temperature T, pressure P, meteorological range of visibility Sm on the strip, etc. The signals from meter 11 are sent to the LMK system and disturbance and pitching model 14.

 KZA 31, connected to the display 27, includes equipment for recording the state parameters of airborne equipment LAC, ship equipment and the LMK complex itself, oscilloscopes, magnetic recording, plotters.

+ R

, где R расстояние от точки экстраполяции качки до точки ожидаемой встречи ЛА с палубой;

прогнозируемое значение скорости вертикальных перемещений (качки);

прогнозируемое значение угловой скорости дифферента.The signals from the pitching extrapolator 18 are fed to a pitching computer 24 of the pitching speed V _y , which is an analog or digital device that implements the algorithm,
V _y =

+ R

where R is the distance from the extrapolation point of the pitching to the point of the expected meeting of the aircraft with the deck;

the predicted value of the speed of vertical movements (pitching);

the predicted value of the angular velocity of the trim.

где

_ла прогнозируемое значение вертикальной скорости самолета в ожидаемой точке касания;

прогнозируемое значение высоты пролета самолетом условного кормового среза (КС);
Н_доп.ух. допустимая граница высоты безопасного ухода на второй круг;
Z_доп допустимая граница предельных боковых отклонений самолета.The signals from the calculator 24 of the vertical pitching speed and the adder (logic device) 25, constructed on the basis of comparators and triggers and implementing the algorithm, are described

Where

_{la the} predicted value of the vertical speed of the aircraft at the expected point of contact;

the predicted value of the flight height of the aircraft conventional feed cut (CS);
N _additional permissible height limit of safe leaving to the second circle;
Z _additional permissible exposure limit lateral deviations of the aircraft.

 The signals from the calculator 19 program paths, models 14 perturbations and pitching are shown on the display 27. The user dialog interface provides communication in a limited natural language, speech output, as well as visual representation (graphics, Fig. 3).

 The signals from the on-board radio 4 are fed to the self-propelled guns 2. The directional radio installed on board the aircraft, using the constant frequency radiation frequency f as the reference signal, determines the phase of the modulating radiation voltage of the variable phase and the modulation depth coefficient. In the plane of the landing course, the variable phase signal is zero and there is no current at the output of the receiver. When the aircraft deviates from the runway axis, a variable phase signal appears, and the modulation depth coefficient increases linearly. Characterization of the modulation depth coefficient of a variable phase signal: each angular deviation of the aircraft from the axis of the runway corresponds to a certain deviation of the arrow of the null instrument.

 The KPM 16 signals received by the antenna enter the high-frequency channels, where they are amplified at a high frequency, converted, and then, after amplification at an intermediate frequency, they are transmitted to an amplitude detector. After amplification and limitation, a constant phase voltage is released on the frequency detector.

 The signal from the airborne self-propelled guns 2 arrive at the airborne part of the LPSU 3.

=

, где Т_пр постоянная времени запаздывания приемника сигнала ЛПСУ, радиопомехи фильтруются апериодическим фильтром W(p)

.On board the aircraft in ACS 2, the algorithm for generating the control command n _y is implemented as

=

where T _{pr the} delay time constant of the receiver of the LPSU signal, the radio noise is filtered by an aperiodic filter W (p)

.

+

+ i

n_y, где ω_z угловая скорость по тангажу для ЛА;
n_y текущая перегрузка;
μ_ω2 передаточное число сигнала угловой скорости к рулю;
ν, i_hy передаточные числа;
Т постоянная времени.ACS servo rod movement control is obtained in the form
Φ _RAU =

+

+ i

n _y , where ω _z is the pitch angular velocity for the aircraft;
n _y current overload;
μ _ω2 gear ratio of the signal of the angular velocity to the steering wheel;
ν, i _hy gear ratios;
T is the time constant.

 Data on the parameters of self-propelled guns and aircraft through the equipment for collecting information on board are transmitted to the transmitting station LPSU 3. The channels LPSU 3 transmit analog and digital information. Information from sensors is grouped and processed for input into LPSU. The polling speed is determined by the nature of the expected information in order to provide the necessary accuracy of tracking the amplitude, frequency and phase of the signal. Calibration of each sensor taking into account the calibration of the entire system is carried out without interrupting information. The channel capacity is ensured by the choice of the required number of channels, the intensity of the radio signals does not change from the distance to the receiver.

 Block 28 is a computer with an ES of the operator and approach manager implemented in it, which solves the problem of controlling the aircraft approach in the stream with a given landing interval. ES, based on the knowledge contained in its database and including the generalized experience of approach managers and special knowledge about the dynamics of the aircraft, possible situations resulting from equipment failures, etc., collects information and analyzes the readiness of the ground landing equipment and aircraft to perform landing, controls the safety of flight of aircraft in the stream and forms its conclusion on the quality of the regime for each aircraft. In the case of predicting a dangerous situation, it develops a decision on how to manage conflicting aircraft, recommends its approach to the leader and explains, if necessary, why she “came to” such a decision. For this, the ES, in accordance with knowledge and depending on the situation, provides information in a certain form on the manager’s display and provides an effective dialogue between a person and a computer, requiring a minimum of time to assess the situation from the incoming information.

 The impossibility of ensuring full compliance of mathematical models and the real characteristics of the systems of a set of landing models of human activity (operator) in the general control and safety control circuit of a landing does not guarantee the necessary reliability at the stages of mathematical and semi-natural modeling. All this makes it necessary to conduct flight tests of experimental and prototypes of both the systems themselves (ACS) and the complex as a whole with the use of flying laboratories and pilot ship-based aircraft.

 The methodology of work at LMK is as follows.

ν

γ _задпо перегрузке, по тангажу, по крену в вычислителях 13, 23.The operation of computer-implemented algorithms begins after the “Landing” button is pressed on board, provided that the aircraft is in an acceptable “window” in height and lateral deviation from the runway axis. The leading engineer of the LMK complex sets the necessary categories of visibility (H x L) (hydrometeorological minimums) under the condition L> L _la on blocks 19, 8, 14. The pilot begins to execute landing modes on the “ship” from a distance L _la . When the runway is lowered, he sees the lights of OSB 8. At the same time, the pilot maintains the necessary altitude, course and speed of the aircraft until the glide path is recognized and captured by the OSP landmarks. The identification of these landmarks takes into account the categories of visibility of the state of transparency of the atmosphere, illumination. Upon receipt of the signal from the computer 19 to the computer at this time, criteria are determined for the accuracy of following a given path. The operator operator on the display 27 compares the set and current values of the parameters and criteria (tolerances) coming from LPSU 9 and calculated in the LMC (h

ν

γ _ass on overload, pitch, roll in calculators 13, 23.

The requirements for the aircraft trajectory are formed for the control sections (windows) 32-32 (Fig. 3), when the norms of deviation from the nominal trajectory are formed for certain moments of time and certain distances to the flight target. The equation of deviations from the trajectory for each section
(X X _c ) ² + (HH _c ) ² + (ZZ _c ) ² D _c ² 0.

Claims (1)

 FLIGHT-MODELING COMPLEX OF RESEARCH OF LANDING SYSTEMS OF AIRCRAFT OF SHIP BASIS, including an airborne part containing an automatic control system with information sensors of the angular and linear position of the aircraft and servos, interconnected with the control signal transmission line, and the ground part, containing the control signal transmission line, and the ground part, information display, calculator of the dynamics of flight of the aircraft and control and recording equipment, distinguishing the fact that a directional glide radio receiver connected to the automatic control system is introduced into the airborne part, and a landing radar station connected to the corresponding computer, a control command calculator interconnected with the control signal line, and a disturbance and pitch model calculator are connected in series to the ground part, calculator extrapolator pitching, calculator of the vertical pitching speed of the ship and the logical device of the ban landing, the output of which is connected to the second input by the control computer calculator and the optical landing system, the quality criterion calculation unit and the expert system calculation unit connected in series, the output of which is connected to the first input of the information display device, the programmed path calculator connected in series, the first input of which is connected to the second output of the ship pitch extrapolator calculator, the computer external trajectory optical meter and external trajectory optical meter associated with the optical landing system and, directional and glide path beacons, a television information-measuring system, respectively connected to three inputs of a program path calculator, a meteorological parameter meter, the output of which is connected to the first input of a perturbation model and a ship’s pitch calculator, recording an aircraft’s camera equipment and two adders, the first and the second outputs of the transmitter of the landing radar system are connected respectively to the third input of the calculator of control commands, the fourth input which is combined with the input of the optical landing system and connected to the second output of the perturbation and pitching model calculator and the first input of the first adder, the second input of which is combined with the first input of the trajectory criteria calculator and the third input of the information display device and connected to the output of the program trajectory calculator, outputs the first adder are connected respectively to the first input of the second adder and the second input of the logical device of the ban landing, the third input of which is connected to a third the output of the calculator of the pitching extrapolator of the ship, the second and third inputs of which are connected respectively to the outputs of the landing radar system and its calculator, the output of the second adder is connected to the second input of the calculator of the perturbation model and pitching of the ship, the third output of which is connected to the landing radar system, the second input of the second adder connected to the first output of the computer model of the dynamics of the aircraft, the second and third outputs of which are connected respectively with the second inputs of the device display of information and the block for calculating the path criteria, the first input is connected to the output of the transmission line of the control signals, and the second input is combined with the fifth input of the calculator of the program paths and the second input of the block for calculating the path criteria and is connected to the second output of the calculator for vertical rolling speed, the third input of the block for calculating the path criteria is combined with the fourth input of the information display device and connected to the first output of the calculator of the model of disturbances and pitching of the ship, and the second output with connected to the fifth input of the information display device, the output of which is connected to the control and recording equipment.

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