RU2454693C1 - Method of generating director control based on reference signals of object model - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: in the method, hand-wheel turning is measured; based on signals of these measurements and the model of the motion of the object, reference signals are generated, based on which director signals are generated; differential signals of deviations of signals of coordinates of the object from corresponding reference signals of the model are generated and then used to generate signals for stabilising coordinates of the object relative corresponding reference signals of the model and signals for stabilising coordinates of the object are summed up with control signals of the object from the hand-wheel, turned by a human operator when the marks are brought into a given position.

EFFECT: faster operation, high accuracy and easier control for a human operator due to elimination of noise and disturbance for director control.

3 dwg

Description

The invention relates to methods for generating control of dynamic objects by a director’s device, when the human operator rejects the control wheel of the object, trying to bring the marks (arrows) of this device to a predetermined position at which the controlled coordinate of the object corresponds to a predetermined value. An object can be, for example, an aircraft, when the pilot needs to control the trajectory of the aircraft using the director’s instrument by deviating the helm.

There is a known [1] method (prototype) for the formation of director’s management, which consists in setting the required values of the output coordinates of the object, measuring the coordinates of the object, generating the signals of the director’s device, converting them into deviations of the marks (arrows) of the director’s device, moving the marks by deflecting the steering wheel (lever) ) control of the object in a predetermined position.

The disadvantage of the prototype is the difficulty of director control in the presence of interference from sensors measuring the coordinates of the object, as well as disturbances acting on the object, which lead to significant fluctuations and jitter of the labels, extremely unpleasant for the perception of the useful component by the human operator, which leads to hard work and inaccurate control . Filtration of these interferences and disturbances by traditional methods leads to an increase in the inertia of the internal control loop, where there is a human operator deflecting the helm, which in turn leads to a sharp deterioration in the dynamics of the system and, accordingly, to inaccurate control.

The difference from the prototype is that the helm deviations (or efforts on it) are measured, reference signals are generated based on the signals of these measurements and the object’s motion model, on the basis of which the director’s signals are generated, differential signals of deviations of the object coordinate signals from the corresponding reference signals are generated models, based on them form the stabilization signals of the coordinates of the object relative to the corresponding reference signals of the model and summarize the signals of stabilization of the coordinates of the object with the control signals Nia object from the helm, deflected by a human operator, when activated tags to the preset position.

Such a sequence of actions on signals makes it possible to exclude interference and perturbed values of the object’s coordinates on the director’s device, actually providing a reference director’s control of a virtual object (its model) for a human operator without interference and disturbance. The stabilization of the perturbed coordinates of the object relative to the reference motion of the virtual object (its model) specified by the human operator is carried out automatically due to the difference signals.

The essence of the invention is illustrated in figure 1, which shows the General scheme of the proposed method of forming director's office; figure 2 presents a specific diagram of the director's control of the flight altitude of the aircraft; figure 3 presents the processes of changing all coordinates during bench modeling of director control of the flight altitude of the aircraft.

Accepted designations:

1 - object (control object with actuators or subsystems);

2 - control signal calculator;

3 - steering wheel;

4 - human operator;

5 - director device (DP)

6 - model of the movement of the object (virtual object);

7 - block corrective devices;

8, 9, 10, - the first, second and third corrective devices of differential signals (n _y _n _mind ), (V _y -V _mind ), (HH _m ), respectively;

11 - steering control system (SSHU);

12 - transfer function of the object from normal overload to vertical speed W ₀ (s) = V _y (s) / n _y (s) = 9.81 / s, where s is the Laplace transform operator;

13 - transfer function of the object from vertical speed to a height of W ₁ (s) = 1 / s;

14 - model of the helm control system (IMS);

15, 16 - transfer functions as in blocks 12, 13, respectively;

Y _s - set values of the output coordinates of the object 1;

Y - coordinates of the object 1;

X _W - deviations of the helm 3;

X _C - set values of the deviations of the helm 3;

U _DP - the signals of the director device 4;

U _stub - stabilization signals of the object 1;

Y _m - reference signals of the model of motion of the object (virtual object) 6;

f - disturbing effects;

ν _Y - interference measurements;

H is the aircraft altitude;

H _s - set value of the flight altitude of the aircraft;

H _m = H _m - reference signal of flight altitude;

V _y - the vertical speed of the aircraft;

V _mind - a reference signal of vertical speed;

V _knots - signal of a given value of vertical speed;

dV _у / dt - vertical acceleration;

n _y - normal airplane overload;

n _mind is a reference signal of normal overload;

δ is the deviation of the elevators;

ω _z is the angular velocity of the aircraft;

(α + α _w ) is the angle of attack;

α _w - disturbing wind component of the angle of attack;

M _{z woz} / J _z - angular acceleration of the aircraft from the disturbing moment;

ν _n , ν _v , ν _H - interference in the object coordinate signals.

The sequence of steps according to the method is as follows.

The deviations _{Xw of the} helm 3 (or the forces exerted by the human operator 4) [4] are measured and the signals of these deviations are fed to the model of movement of the object 6 (calculator of reference signals of the object’s coordinates under the assumption that there are no disturbances and disturbances).

The coordinate signals of the motion model of the object 6 (as reference signals of the coordinates of the object) and the deviation signals X _{W of the} steering wheel 3 are supplied to the calculator 2 together with the signals of the set values of the output coordinates of the object Y ₃ .

In the calculator 2, the signals are amplified, summed, the signals of the director device U _dp are generated and fed to the director device (DP) 5, where they are converted into mark deviations.

The gain of the input signals of the calculator 2 is selected from the requirements for the quality of the processes of controlling the model of movement of the object (virtual object) 6, taking into account the inertia of the human operator 4.

These devices, together with the human operator 4 and the helm 3, form a reference control loop for the object 6 motion model [5], in which there are no disturbances, disturbances and inertia of the meters, which greatly facilitates the work of the human operator 4, and improves the speed and accuracy of director control.

When managing the director's deviation of the helm 3 by the human operator 4, they create control of the object according to the open principle [5].

For closed-loop control (which is necessary due to interference and disturbances), differential signals of deviations of the coordinates of the object 1 from the corresponding coordinates of model 6 are generated. Based on the difference signals, using the block of correcting devices 7, they form the signals of stabilization of the object 1 U _stub , which are additionally fed to object 1, summing up with the steering wheel deviation signal 3, which ensures stabilization of the coordinates of object 1 relative to the coordinates of model 6 as reference created by the human operator 4 while holding marks DP 5 in position. Corrective devices of block 7 are selected based on the possibility of compensating for the influence of interference and disturbances, taking into account the dynamics of the stabilization system.

As a result, a rational separation of the functions of the human operator 4 and automation occurs: the human operator sets the command (reference) vector of the required current state of the object, and the automation processes this command.

Consider the proposed method on the example of director control the flight altitude of the aircraft.

We take the linearized equations of the longitudinal motion of the aircraft (in deviations of coordinates from unperturbed values) with the helm control system (SSH) at a constant flight speed in the following form

where ω _z is the angular velocity of the aircraft, (α + α _w ) is the angle of attack, α _w is the wind component of the angle of attack, δ is the deviation of the elevators, V _у is the vertical speed, H is the flight altitude, M _{z prob} / J _z - angular acceleration caused by a disturbing moment.

Equations (1) - (3) describe approximately the helm control system (SSH) 11 by normal overload n _y , which in the diagram of FIG. 2 is a subsystem in the director's control system for the flight altitude H of an airplane by a human operator (pilot) 4.

The transfer function of the secondary school 11 from signals X _W or U _stub to overload n _y according to equations (1) - (3) has the form

W _LSS (s) = - 0.8 / (s ² + 8s + 8).

Transfer functions of the SSH model (ISS) 14 (from signals X _W to n _mind ) and corrective devices 8, 9, 10 of the corresponding difference signals (n _y -n _mind ), (V _y -V _mind ), (H-N _m ) have the form

W _LSS (s) = - 1 / (s + 10);

W _KU1 (s) = (6s + 12) / s;

W _KU2 (s) = 0.6 (s + 1) / s;

W _KU3 (s) = 0.18 (s + 1) / s.

The output signal of the calculator 2, arriving at the director device 5 according to the scheme of figure 2, is equal to

U _dp = 0.3 (HH _s ) + V _y -1.5 X _w ,

or U _dn = 1.5 (X _s -X _w ),

where 1.5X _s = 0.3 (HH _s ) + V _y .

In this case, the predetermined position of the mark is zero, since it is required that the helm deviation X _{w be} equal to the set value X _z when the signal U _dn is zero.

Figure 3 presents the transient processes of bench modeling director's control of flight altitude, which shows the changes in the increments of the main coordinates: H _s , H, H _m = Hm, V _y , dV _y / dt, X _w , U _dp with random jump increments of a given height flight H _z , as well as when disturbing angular acceleration M _{z prob} / J _z = 8 deg / s ² occurs at the 15th second and wind exposure with α _w = 5 degrees at the 50th second of the experiment.

As can be seen, the disturbing influences do not affect the signal U _dp and, accordingly, the behavior of the marks of DP 5, which facilitates the director-operator 4 to the human operator 4 and allows to obtain the fastest transients lasting less than 10 s.

Similarly, the interference of the sensors of normal overloads, vertical speed and altitude also does not affect the behavior of the tags DP 5, since these signals are not used when the calculator 2 forms signals DP 5 U DP _. Experiments also show that these processes are little dependent on a particular human operator.

The technical result from the use of the invention lies in the fact that the method allows to eliminate the disadvantages of the prototype, preserve its advantages and significantly increase the speed, accuracy and ease of control for a human operator, since the harmful effect of interference and disturbance on the quality of director management is eliminated.

The inventive step of the proposed method is confirmed by the distinctive part of the claims, namely by adding to the prototype a model of the movement of the object and the method of its connection, which was not previously known.

Literature

1. Mikhalev I.A., Okoyemov B.N., Chikulaev M.S. Automatic landing systems. - M.: Mechanical Engineering, 1975.

2. Krasovsky A.A. Automatic flight control systems and their analytical design. - M .: Main editorship of the phys.-mat. literature of the publishing house "Science", 1973.

3. Silvestrov M.M., Begichev Yu.I., Varochko A.G., Koziorov L.M., Lukanichev V.Yu., Naumov A.I., Chernyshov V.A. Ergatic integrated aircraft systems. Edited by M.M.Silvestrov. - M .: Branch of the Military Publishing House, 2007.

4. Eliseev V.D., Pokhvalensky V.L., Klyuev E.D. About the methods of director control of a dynamic object // Modern technologies in the tasks of management, automation and information processing: Proceedings of the XVIII International scientific and technical seminar. Alushta, September 2009. - M .: Publishing House. MGIREA, 2009.

5. Eliseev V.D., Komarov A.K. Modal-invariant control systems. Uch. allowance. - M.: Publishing. MAI, 1983.

List of figures

Figure 1. Director management scheme for the reference signals of the object model.

Figure 2. The scheme of director control the flight altitude of the aircraft.

Figure 3. Transient processes of bench modeling.

Claims (1)

The method of forming director's control by reference signals of the object model, which consists in setting the required values of the output coordinates of the object, measuring the coordinates of the object, generating the signals of the director’s device, converting them into deviations of the marks (arrows) of the director’s device, moving the marks by deflecting the control wheel (lever) an object in a predetermined position, characterized in that the helm deviations (or efforts on it) are measured, and reference signals are generated based on the signals of these measurements and the object’s motion model the channels on the basis of which the director instrument signals are generated, the differential signals of deviations of the object coordinate signals from the corresponding model reference signals are generated, the signals of the object coordinate stabilization with respect to the corresponding model reference signals are generated and the signals of the object coordinate stabilization with the object control signals from the helm deviated human operator, when bringing labels to a given position.

Images