RU2491601C1 - Method of generating digital/analogue adaptive aircraft control signal with variable structure and apparatus for realising said method - Google Patents

Abstract

FIELD: radio engineering, communication.

SUBSTANCE: digital/analogue control device with a variable structure for adaptive aircraft control systems includes a first reference signal setter 1 (1 ZOC), a divider 2, an impact pressure sensor 3, a multiplier unit 4, an amplifier 5, a second reference signal setter 6 (2 ZOC), a comparison unit 7, a controlled switch 8, a first scaling amplifier 9 (1 MU), an adder 10, a digital-to-analogue converter 11 and a second scaling amplifier 12 (2 MU).

EFFECT: high accuracy of control characteristics, broader functional capabilities and optimum design on achieving high values of transfer ratios.

2 cl, 2 dwg

Description

The invention relates to airborne digital-to-analog devices for automatic control systems of substantially unsteady unmanned aerial vehicles (LA).

A known method of automatic control of an aircraft, which consists in setting an exposure signal, measuring the angle and angular velocity signals, generating a mismatch signal with the signals of the targeting effect and angle, generating a control signal for the steering gear of the aircraft [1].

A device is known for automatic control systems of an aircraft, which contains a driving unit, a comparison unit, a summing amplifier, status sensors and steering drives [1].

A disadvantage of the known method and control device is the limited functionality in conditions of significant non-stationary parameters of the aircraft, caused by changes in the speed and altitude of the aircraft, as well as with technical limitations of gear ratios at maximum values, which is especially important for pitch control during intense vertical maneuvers of the aircraft.

Closest to the proposed solution is a method of generating an aircraft control signal, which consists in setting the reference signal of the adaptation function, measuring the current signal of the pressure head, generating a signal for dividing the reference signal of the adaptation function into a signal of the pressure head, setting the signal for the reference value of the pressure head, comparing the measured a pressure head signal with a speed head reference value signal, a preliminary control signal is generated by multiplying the input signal by a parametric signal and a cash output control signal is generated prior gain control signal [2].

The closest device that implements the proposed method is an aircraft control signal generating device comprising a first reference signal reference unit and a division unit, a pressure head sensor, the output of which is connected to a second input of the division unit, a multiplication unit connected in series, the input of which is the input of the device, and an amplifier whose output is the output of the device [2].

The disadvantages of the known method and device are limited functionality in the conditions of a significant change in flight conditions in speed and altitude, as well as in hardware limitations of gear ratios for the maximum value in digital-analog elements.

Solved in the proposed method and device, the technical task is to increase the accuracy of the control characteristics, expand the functionality and optimal construction for the implementation of large gear ratios. The proposed construction ensures the adaptation of stabilization parameters and a logical change in the parameters of the control structure, which ensures an increase in the stability and quality of the processes as a whole in a wide range of aircraft parameters.

, $${\alpha }_2=\frac{K_{3max}}{K{}_{1max}}$$

, K_max - максимальное расчетное значение сигнала деления опорного сигнала функции адаптации А на сигнал скоростного напора q, K_1max - максимальное значение технически реализуемого коэффициента параметрического сигнала, K_3max - требуемое максимальное значение коэффициента параметрического сигнала.The specified technical result is achieved by the fact that in the known method of generating a control signal with a variable structure for adaptive control systems of an aircraft, which consists in setting the reference signal of the adaptation function A, measuring the current signal of the pressure head q, generating a signal for dividing the reference signal of the adaptation function A by the pressure head signal q, the reference signal of the pressure head q _{0 is set} , the measured signal of the pressure head q is compared with the signal of the pressure head q ₀ , form a preliminary control signal by multiplying the input signal by a parametric signal, the output control signal is generated by amplification of the preliminary control signal, additionally, when q <q _{0, a} parametric signal is generated by amplifying the division signal by the value α ₁ · α ₂ , where $${\alpha }_{\mathrm{one}}=\frac{K_{\mathrm{one}max}}{K{}_{max}}$$

, $${\alpha }_2=\frac{K_{3max}}{K{}_{\mathrm{one}max}}$$

, K _max is the maximum calculated value of the signal for dividing the reference signal of the adaptation function A by the pressure signal q, K _1max is the maximum value of the technically feasible coefficient of the parametric signal, K _3max is the required maximum value of the coefficient of the parametric signal.

The specified technical result is achieved by the fact that in the known digital-analog device for adaptive control systems of an aircraft, containing a serially connected reference signal setter and a division unit, a pressure head sensor, the output of which is connected to the second input of the division unit, a multiplication unit connected in series, the input of which is an input devices, and an amplifier, the output of which is the output of the device, additionally connected in series are the second reference signal setter, a comparison unit , the second input of which is connected to the output of the pressure head sensor, a controlled switch, the input of which is connected to the output of the division unit, a first scale amplifier, an adder and a digital-to-analog converter, the output of which is connected to the second input of the multiplication unit, and a second scale amplifier, the input of which is connected to the second the output of the controlled switch, and the output with the second input of the adder.

Indeed, this ensures the development of control signals with maximum quality in a wide range of changes in aircraft altitude and flight speed and taking into account a wide range of transfer factors of the control channel.

Figure 1 presents a block diagram of a digital-to-analog control device with a variable structure for adaptive control systems of an aircraft; figure 2 - dependence of the coefficients K, K ₁ , K ₂ and K ₃ as a function of the pressure head q.

The digital-analogue control device with a variable structure for adaptive control systems of an aircraft (Fig. 1) contains a first reference signal setter 1 (1 ° C) and a division unit 2 (DB), a pressure head sensor 3 (SDS), the output of which is connected to the second input division unit 2, series-connected multiplication unit 4 (BU), the input of which is the input of the device, and an amplifier 5 (Y), the output of which is the output of the device, the second reference signal generator 6 (2 ° C) connected in series, comparison unit 7 (BS) WTO the input of which is connected to the output of the pressure sensor 3, a controlled switch 8 (UP), the input of which is connected to the output of the division unit 2, the first large-scale amplifier 9 (1 MU), the adder 10 (C) and the digital-to-analog converter 11 (DAC), output which is connected to the second input of the multiplication unit 4, and the second large-scale amplifier 12 (2 MU), the input of which is connected to the second output of the controlled switch 8, and the output to the second input of the adder 10.

A device for generating a digital-to-analog adaptive control signal for an aircraft with a variable structure that implements the proposed method works as follows.

и для других каналов ЛА формирование сигнала рассогласования осуществляется аналогично).Let us consider the formation of a pitch mismatch signal Δ для ЛА (for a pitch angle control channel $${\omega }_z=\dot{\vartheta }$$

and for other channels of the aircraft, the formation of the error signal is carried out similarly).

The most generalized characteristic that identifies the non-stationary parameters of aircraft in flight is the pressure signal q. The basic adaptation function rebuilds the transfer coefficient K of the aircraft control channel and is formed by the hyperbolic dependence for the range from q _min to q _max in the form

$$K=\frac{A}{q},(\mathrm{one})$$

where A = const is the reference signal of the adaptation function.

The input signal of the control channel for the mismatch Δϑ is supplied to the first input of the multiplication unit 4 and then through the amplifier 5 to the output of the device. The second input of block 4 receives a parametric signal for adaptive adjustment of the gear ratio.

Blocks 1, 2 and 3 form the basic law of adaptation of the gear ratio K in accordance with (1) (figure 2).

The implementation of the necessary gear ratio, consisting of curves K ₃ and K ₂ , K ₃ > K ₂ , is determined selectively: when q≤q _{0, the} gear ratio is maximum. The controlled switch 8 is closed by the output to the first large-scale amplifier 9 with a gain of α ₁ . The second input of the multiplication block 4 receives the signal K · α ₁ through blocks 10, 11. The coefficient K · α _{1 is} calculated by multiplying the base coefficient K by the coefficient α ₁ of the multiplication block 4 in order to achieve the maximum technically feasible value of the multiplication block K _1max at q = q _max :

$$K_{\mathrm{one}}={\alpha }_{\mathrm{one}}\cdot K,(2)$$

where α ₁ > 1,

$${\alpha }_{\mathrm{one}}=\frac{K_{\mathrm{one}max}}{K_{max}}.(3)$$

The missing gain limited by the value of K _1max of the multiplication block 4 and equal to

$$\frac{K_{3max}}{K_{\mathrm{one}max}},(\mathrm{four})$$

compensated by amplifier 5, i.e. its gain is

$${\alpha }_2=\frac{K_{3max}}{K{}_{\mathrm{one}max}}=const,(5)$$

For q> q ₀ , i.e. q = q ₀ ÷ q _max , the controlled switch 9 switches to the circuit of the second large-scale amplifier 12 with coefficient β for the multiplication block 4 through blocks 10 and 11, i.e.

$$K_2=\beta \cdot K.(6)$$

The coefficient β determines, respectively, the required degree of reduction of the coefficient K

$$\beta <\mathrm{one}.(7)$$

Thus, the output signal σ is formed as

$$\sigma ={\alpha }_{\mathrm{one}}\cdot {\alpha }_2\cdot K\cdot \Delta \vartheta ,(8)$$

at q≤q ₀

and $$\sigma =\beta \cdot K\cdot {\alpha }_2\cdot \Delta \vartheta ,(9)$$

for q> q ₀ .

K _1max corresponds to the maximum realized value of the gain of the multiplication unit 4, K _3max determines the required value of the coefficient at q = q _min .

The switching mode of the controlled switch 8 is carried out by the comparison signal in the comparison unit 7 of the signals of the current value of the pressure head q from the sensor 3 and the calculated value q ₀ set in the second reference signal reference unit 6.

The signal at the output of comparator 7 is

$$\Delta q=q-{\mathrm{<figure-callout\; id="0"\; label="q"\; filenames="00000017.png"\; state="\{\{state\}\}">q</figure-callout>}}_0.(\mathrm{one}0)$$

and determines the logical control of switch 8 for signal σ according to equations (8) and (9).

The device is easily implemented on the elements of automation and computer technology, for example, according to [3, 4] and algorithmically.

The proposed digital-analog control device with a variable structure for adaptive control systems of the aircraft and the method of its implementation can improve control accuracy in a wide range of flight conditions of the aircraft.

Information sources

1. Aerodynamics, stability and controllability of supersonic aircraft. / Ed. G.S. Buesgens. M .: Science. Fizmatlit, 1998, p. 433.

2. RF patent No. 2338236, 11/10/2008, cl. G05D 1/08.

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

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

Claims (2)

1. The method of generating a digital-to-analog adaptive control signal for an aircraft with a variable structure, which consists in setting the reference signal of the adaptation function A, measuring the current signal of the pressure head q, generating the signal for dividing the reference signal of the adaptation function A by the signal of the pressure head q, and setting the reference signal values of the pressure head q ₀ , compare the measured signal of the pressure head q with the signal of the reference value of the pressure head q ₀ , form a preliminary control signal multiplication in the input signal to the parametric signal, the control output signal is formed by amplification of the preliminary control signal, characterized in that when q <q _{0 a} parametric signal is generated by amplification of the division signal by the value α ₁ · α ₂ , where $${\alpha }_{\mathrm{one}}=\frac{K_{\mathrm{one}max}}{K_{max}}$$

, $${\alpha }_2=\frac{K_{3max}}{K_{\mathrm{one}max}}$$

, K _max is the maximum calculated value of the signal for dividing the reference signal of the adaptation function A by the pressure signal q, K _1max is the maximum value of the technically feasible coefficient of the parametric signal, K _3max is the required maximum value of the coefficient of the parametric signal. 2. A device for generating a digital-to-analog adaptive control signal for an aircraft with a variable structure, comprising a first reference signal reference unit and a dividing unit, a pressure head sensor, the output of which is connected to the second input of the dividing unit, a multiplication unit in series, the input of which is the input of the device, and an amplifier, the output of which is the output of the device, characterized in that it contains a second reference signal set connected in series, by comparison, the second input of which is connected to the output of the high-pressure head sensor, a controlled switch, the input of which is connected to the output of the division unit, a first scale amplifier, an adder and a digital-to-analog converter, the output of which is connected to the second input of the multiplication unit, and a second scale amplifier, the input of which is connected with the second output of the controlled switch, and the output with the second input of the adder.

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