RU2367993C1 - Adaptive device of aircraft coordinated control - Google Patents

Abstract

FIELD: physics, control.

SUBSTANCE: invention is related to the field of instrument making and may find application in board systems of automatic control of aircrafts with realisation of coordinated turn modes. In order to achieve this result, control device comprises detector of heeling angle, detector of heeling angular speed, course angle detector, detector of angular speed by course, detector of dynamic head, the first and second summing amplifiers, setter of control signal by course, the first and second subtraction units, inverting amplifier, functional nonlinear element with controlled limitation and nonlinear element with limitation.

EFFECT: expansion of functional resources and high dynamic accuracy of control.

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Description

The invention relates to control devices for on-board automatic control systems for aircraft with the implementation of coordinated U-turns.

Known control devices for systems in which the roll and heading control channels contain subtraction elements and summing amplifiers that form control actions on the executive drives of the aircraft from the driving actions and signals of the state sensors [1].

The disadvantages of this implementation are the limited control capabilities and low dynamic accuracy.

Closest to the proposed invention is a coordinated control device for an aircraft, comprising an inverting amplifier, serially connected roll angular velocity sensor and a first summing amplifier, serially connected heading control signal adjuster, a first subtraction unit and a second summing amplifier, the second input of which is connected to the output heading angular velocity sensor, series-connected roll angle sensor and a second subtraction unit, the output of which is connected n with the first summing amplifier, a heading angle sensor, the output of which is connected to the second input of the first subtraction unit [2].

The disadvantages of the known device are limited functionality and low dynamic control accuracy in non-stationary conditions of use of the aircraft - at a variable speed and altitude.

The technical problem to be solved in the proposed control system is to expand the functionality and increase the dynamic control accuracy. The proposed construction of the control device achieves the functionality to achieve maximum control intensity and increase dynamic accuracy with varying speed and altitude of the aircraft.

The specified technical result is achieved by the fact that in a known device for coordinated control of an aircraft, comprising an inverting amplifier, serially connected roll angular velocity sensor and a first summing amplifier, serially connected heading signal control unit, the first subtraction unit and the second summing amplifier, the second input of which connected to the output of the angular velocity sensor in the direction, the roll angle sensor and the second subtraction unit are connected in series, the output of which connected to the first summing amplifier, the heading angle sensor, the output of which is connected to the second input of the first subtraction unit, is additionally introduced in series with a pressure head sensor and a functional nonlinear element with controlled limitation, the second input of which is connected to the output of the inverting amplifier, and the output is connected to the second the input of the second subtraction unit, a nonlinear element with a restriction, the input of which is connected to the output of the first summing amplifier, and the output is the output of the device, while the output the second summing amplifier is connected to the input of the inverting amplifier.

Indeed, this ensures maximum working out of the course angle by roll maneuvers under varying flight conditions of the aircraft in speed and height.

The drawing shows a structural diagram of an adaptive device for coordinated control of an aircraft.

The adaptive device for coordinated control of the aircraft contains an inverting amplifier 1 (DUT), a roll angle sensor 2 (DSCr) and a first totalizing amplifier 3 (1 DSC), a series-connected control signal setter in the course 4 (ZSUKur), the first subtraction unit 5 (1BV) and a second summing amplifier 6 (2СУ), the second input of which is connected to the output of the angular velocity sensor at the rate of 7 (ДУСКур), the roll angle sensor 8 (ДУКр) and the second subtraction block 9 (2БВ) are connected in series, the output to The head is connected to the second input of the first summing amplifier 3, the heading angle sensor 10 (DUKUR), the output of which is connected to the second input of the first subtraction unit 5. In addition, the device contains a speed sensor 11 (SDS) and a non-linear functional element with controlled limitation 12 (FNEUO), the second input of which is connected to the output of the inverting amplifier 1, and the output is connected to the second input of the second subtraction unit 9, a nonlinear element with restriction 13 (NESO), the input of which is connected to the output of the first summing th amplifier 3, and the output is the output device, the output of the second summing amplifier 6 is connected to the input of inverting amplifier 1.

An adaptive coordinated control device operates as follows.

The main control signals in the channels of the course σ _Ψ and roll σ _γ are formed respectively by blocks 4, 5, 6, 7, 10 of the channel of the course and 1, 2, 3, 9 of the roll channel:

where K _1Ψ , K _2Ψ - gear ratios of the second summing amplifier 6;

Δψ is the error signal at the output of the first block of subtraction 5;

ψ is the signal of the angle sensor 10;

Δψ _ass - a reference signal at the heading at the output of the control signal setter at heading 4;

ω _y - the signal of the angular velocity sensor at the rate of 7;

To _1γ , To _2γ - gear ratios of the first summing amplifier 3;

Δγ is the roll mismatch signal at the output of the second subtraction block 9;

γ is the signal of the roll angle sensor 8;

γ _control - roll signal at the output of the functional nonlinear element with controlled restriction 12;

ω _x - the signal of the angular velocity sensor roll 2.

In this case, the signal γ _control is generated by a special coordinated control channel connected by the input of the signal σ _ψ to the output of the second summing amplifier 6, and by the output to the input of the second subtraction unit 9. This channel contains blocks 1 and 12 connected in series. The signal is formed by γ _control of the course σ _ψ makes it possible, on the whole, to achieve the required damping properties of roll processes.

The adaptive coordinated control device operates in the mode of stabilization and control of ψ _ass values _. through the roll channel. Namely, when processing large signals ψ, the _back channel channel generates a signal σ _ψ , and the roll channel - in the mode of coordinated control with signal processing γ _exercise. ≠ 0 and with inversion and limitation of the signal σ _ψ .

The inverting amplifier 1 of this channel of the device allows you to realize the principle of coordinated control by inverting the input signal and choosing the optimal value of the degree of amplification. Functional non-linear element with a limit of 12 provides the required signal limitation γ _exercise. for the roll channel in accordance with technical restrictions on the aircraft in terms of roll angle and in direct proportion to the pressure head q coming from the sensor 11. A nonlinear element with a restriction of 13 ensures the restriction of the roll channel signal σ _γ for feeding to the steering gears of the aircraft in roll.

Indeed, in accordance with, for example, [3], the angle ψ of the aircraft in a coordinated movement is related to the angle of heel γ by the integral dependence:

where the coefficient K _γ has the form:

where g is the acceleration of gravity;

m is the mass of the aircraft;

s is the characteristic area of the aircraft;

υ is the pitch angle;

q - velocity head.

Thus, equation (6) can be written:

.Where

.

Then equation (5) takes the form:

Accepting up to the dynamics of γ≈γ _control , we obtain:

The change in height and speed is determined for this analysis and the construction of a device for controlling the value of the pressure head q.

To maintain the stability of the ratio:

in block 12, a directly proportional change in the level of restriction γ _control is introduced as a function of q.

All blocks of the control device are standard and can be implemented on the elements of automation and computer technology, for example, according to [4, 5].

Thus, the proposed control device allows you to expand the functionality of the system and increase the dynamic accuracy of control.

Information sources

1. I. A. Mikhalev and other systems of automatic control of the aircraft. M .: Engineering, 1987, p. 174.

2. RF patent No. 2237269, dated 03.04.2003, G05D 1/08.

3. V.A. Bodner. Theory of automatic flight control. M .: Nauka, 1964, pp. 113 ÷ 117 and p. 42.

4. V. B. Smolov. Functional information converters. L .: Energy Publishing House, Leningrad Branch, 1981, p. 22, 41.

5. A.U. Yalyshev, O. I. Razorenov. Multifunctional analog control devices for automation. M.: Mechanical Engineering, 1981, p. 107, 126.

Claims (1)

An adaptive device for coordinated control of an aircraft, comprising an inverting amplifier, a roll angular velocity sensor connected in series and a first summing amplifier, a heading control signal sequentially connected, a first subtraction unit and a second summing amplifier, the second input of which is connected to the heading serially connected roll angle sensor and a second subtraction unit, the output of which is connected to the first summing amplifier, the angle sensor A course, the output of which is connected to the second input of the first subtraction unit, characterized in that it contains a series-connected velocity head sensor and a functional nonlinear element with controlled limitation, the second input of which is connected to the output of the inverting amplifier, and the output is connected to the second input of the second subtraction unit , a nonlinear element with a restriction, the input of which is connected to the output of the first summing amplifier, and the output is the output of the device, while the output of the second summing amplifier is connected of inverting amplifier input.

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