RU2339990C1 - Method of generating signal for aircraft lateral guidance and device for implementing method - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: device has a apparatus for selecting the lateral guidance signal, two subtraction elements, two adder amplifiers, two signal limiters, piecewise linear function information transducer, aperiodic filter, inverting amplifier, sensors for course angle, course angular velocity, angle of bank and banking angular velocity. The lateral guidance output signal is generated through limiting the resultant course signal. There is additional generation of a modular function signal as a sum of relay and non-linear components of the lateral guidance signal. The reference roll guidance signal is set to be equal to the lateral guidance signal when the modular function signal exceeds the given value.

EFFECT: wider functional capabilities and increased accuracy of control.

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Description

The invention relates to the management of the spatial position of aircraft, in flight which are implemented modes of coordinated turns in the side channel with large roll angles.

Known methods and devices for controlling aircraft, in which control signals for the heading and roll channels are formed on the basis of the signals of the driving actions and the measured signals of the angular position and angular velocity of the aircraft in heading and roll.

Closest to the proposed invention is a method of generating a control signal for the lateral movement of the aircraft, which consists in setting the control signal in the direction, measuring the signals of the angular position and angular velocity in the direction of the aircraft, generating a misalignment signal in the direction equal to the difference between the control signals and the angular course position, amplify the mismatch and angular velocity signals along the course, summarize the amplified mismatch and angular velocity signals along the course, measure with ignals of the angular position and angular velocity along the roll, generate a roll mismatch signal equal to the difference between the control signals and the angular position of the roll, amplify the mismatch signals and the angular velocity of the roll, and summarize the amplified mismatch signals and the angular velocity of the roll [1].

The known device for generating a lateral motion control signal of an aircraft, selected as a prototype, comprises a heading control signal setter, a subtraction element and a summing amplifier, a roll channel subtracting element and a roll channel summing amplifier, heading angle sensors, and heading angular velocity , roll angle and roll angular velocity, the outputs of which are connected respectively to the second inputs of the subtraction element and the summing amplifier of the channel and rate and subtracting member and the summing amplifier bank [1].

The essential features of the prototype, which coincide with the essential features of the proposed technical solution — the method are as follows — in the method of generating the side-movement control signal of the aircraft, the control signal is set in the direction, the angular position and angular velocity signals are measured in the direction of the aircraft, and the inconsistency signal is generated in the direction equal to the difference between the control signals and the angular position along the course, amplify the mismatch signals and the angular velocity along the course, summarize the amplified mismatch and angular velocity signals along the course, measure signals of the angular position and angular velocity along the roll, generate a mismatch signal along the roll equal to the difference between the control signals and the angular position along the roll, amplify the mismatch signals and the angular velocity along the roll, and summarize the amplified mismatch signals and roll angular velocity.

The essential features of the prototype, which coincide with the essential features of the proposed technical solution — the device are as follows — the device for generating the lateral motion control signal of the aircraft contains a series-connected control signal adjuster, a first subtraction element and a first summing amplifier, a second subtraction element and a second summing element connected in series amplifier, heading angle sensors, heading angular velocity, roll angle and roll angular velocity, you odes are connected respectively to the second inputs of the first subtracting element, the first summing amplifier, and subtracting the second element of the second summing amplifier.

A disadvantage of the known solutions is limited functionality and low control accuracy, which leads to a decrease in the quality of transient control processes and can lead to a decrease in the accuracy characteristics of the aircraft.

Solved in the present invention, the technical task is to expand the functionality and improve the accuracy of control of the aircraft. In the proposed method and device, the functional ability to change the control intensity in the roll channel is achieved under conditions of sufficiently intensive control in the heading channel.

, суммируя усиленные сигналы рассогласования и угловой скорости по курсу, измеряют сигналы углового положения γ и угловой скорости по крену ω_x и формируют сигнал рассогласования по крену Δ_γ, равный разности сигналов управления γ_у и углового положения по крену γ , усиливают сигналы рассогласования и угловой скорости по крену и формируют суммарный сигнал по крену

, суммируя усиленные сигналы рассогласования и угловой скорости по крену, дополнительно формируют выходной сигнал управления по курсу σ_ψ посредством ограничения суммарного сигнала по курсу, формируют сигнал модульной функции как сумму релейной ψ_з1 и нелинейной ψ_з2 компонент сигнала управления по курсу ψ_зад, формируют базовый сигнал управления по крену γ_y0, равный сигналу управления по курсу при превышении сигналом модульной функции заданной величины зоны нечувствительности релейной и нелинейной компонентов и равный нулю в противном случае, фильтруют базовый сигнал управления по крену, инвертируют отфильтрованный сигнал

, формируют сигнал управления по крену γ_у как усиленный инвертированный сигнал и формируют выходной сигнал управления по крену σ_γ посредством ограничения суммарного сигнала по крену

.The specified technical result is achieved by the fact that in the known method of generating a control signal for lateral movement of the aircraft, which consists in setting the control signal at the heading ψ _rear , measuring signals of the angular position ψ and angular velocity according to the heading of the aircraft ω _y , generating a mismatch signal according to Δ _ψ equal to the difference between the control signals and the angular position along the course, amplify the mismatch signals and the angular velocity along the course, form the total signal at the rate

Summing the amplified mismatch signals and the angular velocity along the heading, measure the signals of the angular position γ and the angular velocity along the roll ω _x and generate the mismatch signal along the roll Δ _γ equal to the difference between the control signals γ _y and the angular position along the roll γ, amplify the mismatch and angular signals roll speed and form a total roll signal

Summing the amplified error signals and the angular velocity along the roll, they additionally generate the control signal at the heading σ _ψ by limiting the total signal at the heading, generate a signal of the modular function as the sum of the relay ψ _З1 and non-linear ψ _З2 components of the control signal at the heading ψ _back , form the base the roll control signal γ _y0 , equal to the heading control signal when the signal of the modular function exceeds the specified value of the deadband of the relay and nonlinear components and is equal to zero in the opposite m case, filter the basic roll control signal, invert the filtered signal

, form a roll control signal γ _y as an amplified inverted signal and generate a roll control signal σ _γ by limiting the total roll signal

.

The specified technical result is achieved by the fact that in the known device for generating a lateral motion control signal of an aircraft, comprising a series-connected control signal adjuster, a first subtraction element and a first summing amplifier, a second subtraction element and a second summing amplifier, a heading angle sensor, angularly connected heading speed, roll angle and roll angular velocity, the outputs of which are connected respectively to the second inputs of the first subtraction element of the first summing amplifier, the second subtraction element and the second summing amplifier, the first and second signal limiters are additionally introduced, the inputs of which are connected respectively to the outputs of the first and second summing amplifiers, and the outputs are the first and second outputs of the device, respectively, connected in series with a piecewise linear functional an information converter, an aperiodic filter and an inverting amplifier, the output of which is connected to the first input of the second subtraction element, while m the output of the control signal setter in the course is connected to the input of a piecewise linear functional information converter.

The distinguishing features of the proposed technical solution — the method of generating the lateral motion control signal of the aircraft are the following — they form the heading control signal by limiting the total heading signal, form the modular function signal as the sum of the relay and nonlinear components of the heading control signal, and form the basic control signal according to roll equal to the control signal in the direction when the signal exceeds the modular function of the specified zone value is insensitive STI relay and nonlinear components and equal to zero otherwise, filtered base signal for roll control, invert the filtered signal, generating a control signal on a roll as the inverted amplified signal and generating an output roll control signal by limiting the total roll signal.

The distinguishing features of the proposed technical solution — the device for generating the lateral motion control signal of the aircraft are the following — it contains the first and second signal limiters, the inputs of which are connected respectively to the outputs of the first and second summing amplifiers, and the outputs are the first and second outputs of the device, respectively, connected in series -linear functional information converter, aperiodic filter and inverting amplifier, the output of which connected to the first input of the second subtraction element, while the output of the control signal setter is connected to the input of the piecewise linear functional information converter.

Moreover, as the results of mathematical modeling show, the proposed method and device for generating the lateral motion control signal of the aircraft allows expanding the functionality and increasing the control accuracy in the heading and roll channels, which leads to an improvement in the quality of transient control processes and an increase in the accuracy characteristics of the aircraft.

The proposed method and control device are most effective when applied to aircraft that are designed to perform maneuvers on the course by coordinated roll-over (i.e., for aircraft with a flat aerodynamic design), especially if there are requirements for accuracy and speed of maneuvers.

Figure 1 presents a structural diagram of a device that implements the method, figure 2 is a structural diagram of a piecewise linear functional information converter, figure 3 and 4 show, respectively, the characteristics of the relay and nonlinear elements with the dead zone of the piecewise linear functional information converter.

The device for generating the lateral motion control signal of the aircraft (FIG. 1) contains a control signal setter connected in series 1, a first subtraction element 2, a first summing amplifier 3, and a first signal limiter 4, the output of which is the first output of the device, connected in series with a piecewise linear functional information converter 5, aperiodic filter 6, inverting amplifier 7, second subtraction element 8, second summing amplifier 9 and second signal limiter 10, the output of which is the second output of the device, as well as sensors for heading 11, heading 12, heading 13 and heading 14, the outputs of which are connected respectively to the second inputs of the first subtraction element 2, the first summing amplifier 3, and the second a subtraction element 8 and a second summing amplifier 9, while the output of the control signal setter at the rate 1 is connected to the input of the piecewise-linear functional information converter 5. The piecewise-linear functional information converter 5 (fi d.2) contains a series-connected relay element with a dead zone 15 and an adder 16, as well as a non-linear element 17, the input of which is connected to the input of the information converter 5, and the output is connected to the second input of the adder 16.

A device for generating a signal for controlling the lateral movement of an aircraft operates as follows.

и крена

формируются, соответственно, блоками 1, 2, 3, 11, 12 канала курса и 7, 8, 9, 13, 14 канала крена:Basic, basic control signals in the course channels

and roll

formed, respectively, by blocks 1, 2, 3, 11, 12 of the channel of the course and 7, 8, 9, 13, 14 of the roll channel:

where K _1ψ , K _2ψ are the transfer coefficients of the first summing amplifier 3, which determine the amplification of the error signals and the angular velocity in the direction, respectively;

Δ _ψ is the mismatch signal at the output of the first element of subtraction 2;

ψ is the signal of the heading angle sensor 11;

ψ _ass - a reference signal at the heading at the output of the control signal setter at heading 1;

ω _y is the signal of the angular velocity sensor at the rate of 12;

To _1γ , To _2γ - gear ratios of the second summing amplifier 9, which determine the amplification of the error signals and the angular velocity along the roll, respectively;

Δγ is the roll error signal at the output of the second subtraction element 8;

γ — roll angle sensor 13 signal;

γ _y - control signal along the roll at the output of the inverting amplifier 7;

ω _x - the signal of the angular velocity sensor roll 14.

по (1) и

по (2) формируются суммирующими усилителями 3 и 9, а сигналы рассогласования Δψ по (3) и Δγ по (4) формируются первым 2 и вторым 8 элементами вычитания соответственно.Control signals

by (1) and

according to (2) are formed by summing amplifiers 3 and 9, and the mismatch signals Δψ according to (3) and Δγ according to (4) are formed by the first 2 and second 8 subtraction elements, respectively.

по (1) и

по (2) ограничиваются ограничителями сигналов 4 и 10 соответственно При этом выходные сигналы управления в каналах курса и крена формируются в виде:Signals

by (1) and

by (2) are limited by signal limiters 4 and 10, respectively. In this case, the control output signals in the heading and roll channels are formed in the form:

and

where A _ψ and A _γ are the restriction levels of the limiters 4 and 10, respectively. The choice of parameters A _ψ and A _γ ensures the deviation of the steering gears of the aircraft in the heading and roll channels, corresponding to the optimal maneuver of the aircraft in heading and roll.

The control signal along the roll γ _y is generated by the coordinated control channel, containing a piecewise-linear functional information converter 5, an aperiodic filter 6, and an inverting amplifier 7. The output signal ψ of the _{rear of} the control signal setter in direction 1 is connected to the input of the piecewise-linear functional converter information 5, and the output signal of the inverting amplifier 7 γ _{y is} supplied to the first input of the second subtraction element 8.

Piecewise linear functional information converter 5 can be performed in a known manner - according to [3], and also, in particular, on even simpler nonlinear elements (figure 2). It includes a relay element 15 with a dead zone, a nonlinear element 17 with a dead zone and a linear part, and an adder 16.

и

от величины задающего сигнала ψ_зад по курсу; на схемах обозначено: ρ - зона нечувствительности релейного элемента 15 и нелинейного элемента 17 и уровень сигнала на выходе релейного элемента. Выходной сигнал с сумматора 16

равен:The characteristics of the relay element 15 and the nonlinear element 17 are shown in FIGS. 3 and 4, respectively, which show the dependences of their output signals.

and

from the value of the driving signal ψ _ass at the rate; the diagrams indicate: ρ - deadband of the relay element 15 and the nonlinear element 17 and the signal level at the output of the relay element. The output signal from the adder 16

is equal to:

и

- выходные сигналы релейного 15 и нелинейного 17 элементов.Where

and

- output signals of relay 15 and nonlinear 17 elements.

The presence of block 5 — a piecewise linear functional information converter — makes it possible to implement selective connection of a coordinated control channel. When signals | ψ _back | <ρ coordinated control channel is not connected. The course channel works in the mode of stabilization of small values of ψ _ass . The roll channel operates in the stabilization mode of the zero roll angle γ, since γ _у = 0.

When processing large signals ψ _back , which determine the dynamics of | ψ _back | ≥ρ, the heading channel works in the control mode for working out ψ _back , and the roll channel works in the control mode with working out the signal γ _y ≠ 0. At the end of the transition process, the heading channel switches to the stabilization mode of the set value ψ _ass , and for the heeling channel, upon reaching | ψ _ass | <ρ, the control signal γ _y = 0, i.e. stabilization of the zero value of the roll angle is in progress.

Thus, in a piecewise linear functional information converter 5, the formation of a basic roll control signal is realized that is equal to a given control signal in the direction when the control signal in the direction (modulo) exceeds the deadband value.

The inverting amplifier 7 of the device allows you to implement the principle of coordinated control in accordance with the required heading due to inverting the input signal and choosing the optimal value of the gain of this block. Aperiodic filter 7 is a low-pass filter and allows you to correctly, according to dynamics, combine control signals along the heading and roll, as well as provide shock-free connection of the coordination channel.

и

для каналов курса и крена в соответствии с динамическими ограничениями по маневренности летательного аппарата и определяют корректное сочетание разворотов по курсу с учетом необходимости отработки угла крена.Signal limiters 4 and 10 provide the required signal limitation

and

for heading and roll channels in accordance with the dynamic restrictions on the maneuverability of the aircraft and determine the correct combination of headland turns taking into account the need to work out the roll angle.

All blocks of the control device are standard and can be implemented on the elements of automation and computer technology [2, 3].

Thus, the proposed method and device for generating a signal for controlling the lateral movement of the aircraft allows to expand the functionality and improve the accuracy of control.

Information sources

1. V. A. Bodner "Theory of automatic flight control." M .: Nauka, 1964, p. 100 ... 110.

2. A.U. Yalyshev, O. I. Razorenov "Multifunctional analog control devices for automation." M .: Mechanical Engineering, 1981, p. 103.

3. VB Smolov "Functional information converters". L .: Energy Publishing House, Leningrad Branch, 1981.

Claims (2)

1. A method of generating a lateral motion control signal of an aircraft, including setting a directional control signal, measuring an angular position and angular velocity signal at a course of an aircraft, generating a misalignment signal at a heading equal to the difference in control signals and an angular position along a heading, amplifying the misalignment signals, and heading angular velocity, summing amplified error signals and heading angular velocity, measuring angular position and angular velocity signals along the head well, the formation of a roll error signal equal to the difference between the control signals and the roll angle, amplification of the roll error signals and the roll angular velocity, and summing the amplified roll error signals and the roll roll angular velocity, characterized in that they form the control output signal along the course by limiting the total the course signal, form the signal of the modular function as the sum of the relay and non-linear components of the course control signal, form the base roll control signal, p the same as the control signal in the direction when the signal of the modular function exceeds the specified deadband of the relay and nonlinear components and is equal to zero otherwise, filter the basic control signal along the roll, invert the filtered signal, form the control signal along the roll as an amplified inverted signal and form the control output signal roll by limiting the total roll signal. 2. A device for generating a lateral motion control signal of an aircraft, comprising a heading control signal setter, a first subtraction element and a first summing amplifier, a second subtraction element and a second summing amplifier connected in series, heading angle sensors, heading angular velocity, roll angle and roll angular velocity, the outputs of which are connected respectively to the second inputs of the first subtraction element, the first summing amplifier, the second element is subtracted I and the second summing amplifier, characterized in that it contains the first and second signal limiters, the inputs of which are connected respectively to the outputs of the first and second summing amplifiers, and the outputs are the first and second outputs of the device, respectively, connected in series with a piecewise-linear functional information converter, an aperiodic filter and an inverting amplifier, the output of which is connected to the first input of the second subtraction element, while the output of the control signal setter in the direction is connected entrance piecewise linear function converter information.

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