RU2587773C2 - Method for rough control by spatial movement of aircraft and system therefor - Google Patents

Abstract

FIELD: aviation.

SUBSTANCE: group of inventions relates to method and system of coarse control of spatial movement of aircraft. To control spatial movement of aircraft, signals of setting angle of roll and yaw are generated, angles of roll, yaw and pitch are measured, generating control signals on angle of roll and yaw, signals of difference between reference signals of roll and yaw and measured signals on angle of roll and yaw respectively, obtained difference signals are separately integrated, differentiated, scaled and first difference signal is summed with roll angle control signal, second difference signal with pitch angle control signal. Coarse control system comprises devices for setting angles of roll and yaw, two controllers, two actuators, sensors of roll, yaw and pitch angles, two reference models, six amplifiers, four adders, two differentiators, two integrators, connected in a certain manner.

EFFECT: providing stability of movement under non-stationary flight parameters and effect of adaptive noise.

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Description

The invention relates to the field of control systems, and in particular to systems for automatic control of a non-stationary object, in particular to methods and systems for controlling the spatial movement of an aircraft.

A known method of spatial control of the aircraft [1], which consists in the fact that they form the reference signal by the angle of heel, form the reference signal by the yaw angle, measure the angle of heel, measure the yaw angle, measure the pitch angle, generate control signals by the angle of heel and the yaw angle .

A known aircraft control system [1], comprising serially connected yaw angle adjuster, a first controller, a first actuator and a control object (airplane), serially connected roll angle adjuster, a second regulator and a second actuator, the output of which is connected to the second input of the control object, the first output of which is connected through the yaw angle sensor to the first inputs of the first and second controllers, the second output through the pitch angle sensor is connected to the second inputs of the first and second of the regulators, the third output through the roll angle sensor is connected to the third inputs of the first and second controllers, the yaw angle adjuster and the roll angle adjuster are respectively connected to the fourth inputs of them.

The disadvantages of the known method and system for controlling the spatial movement of the aircraft include a change in the quality of the transient process and the loss of stability of the control system with non-stationary parameters of the aircraft, which change during flight at different altitudes and under the influence of adaptive interference (for example, in the form of wind).

In order to ensure stability of motion and provide the desired desired type of transients under the action of coordinate f (t) and parametric F (t) interference, the control method is different in that they generate a reference signal by the angle of heel, form the reference signal by the yaw angle, determine the first difference signal between the reference signal for the angle of heel and the angle of heel, determine the second difference signal between the reference signal for the yaw angle and the yaw angle, the first difference signal is separately integrated, differentiated, scaled and they are summed with a roll angle control signal, the second difference signal is separately scaled, differentiated, integrated and summed with a pitch angle control signal, and the control system is characterized in that it additionally contains two reference models, six amplifiers, four adders, two differentiators and two integrators, the output of the yaw angle adjuster through series-connected first reference model, the first adder, the first amplifier, the first integrator and the second adder is connected to the fifth input of the first regulator a, the output of the roll angle adjuster through the second standard model, the third adder, the second amplifier, the second integrator and the fourth adder connected in series to the fifth input of the second controller, the output of the first adder is connected to the second input of the second adder through the third amplifier and the first differentiator, connected in series, and with the third input of the second adder through the fourth amplifier, the output of the third adder is connected to the second input of the fourth adder through the fifth force connected in series spruce and second differentiator, and the third entry - through the sixth power.

The invention is illustrated in the drawing, which adopted the following notation:

1 - the first reference model;

2 - the first adder;

3, 4, 5 - respectively, the first, third and fourth amplifiers;

6 - the first integrator;

7 - second differentiator;

8 - the second adder;

9 - the first regulator;

10 - the first actuator;

11 - control object (plane);

12 - yaw angle sensor;

13 - the second regulator;

14 - second actuator;

15 - pitch angle sensor;

16 - roll angle sensor;

17, 18 - respectively, the second and fifth amplifiers;

19 - second integrator;

20 - second differentiator;

21 - the sixth amplifier;

22 - the second reference model;

23 - the third adder;

24 - yaw angle adjuster;

25 - roll angle adjuster;

26 - the fourth adder.

We consider a linear control object 11 of the first order, actuators 10 and 14 of the first order, yaw angle sensors 12 and roll 16 inertialess.

In [1], it was shown how to form the controls δ ₁ (t) and δ ₂ (t), which allow one to independently control yaw angle ψ (t) and roll angle φ (t), respectively. However, under the action of coordinate f (t) and parametric F (t) interference, the values ψ (t) and φ (t) at the output of the control object 11 change and do not correspond, in the general case, to the corresponding ψ ₂ (t) and φ ₂ ( t). In this case, there may be a significant deviation of transients from the desired ones. Changing the parameters of the control object 11 under the influence of interference F (t) can lead to loss of stability with a wide range of changes in the parameters of the aircraft at different altitudes.

The functioning of the system through two identical aircraft control channels along the yaw angle ψ (t) and roll angle φ (t) is presented in [1].

The yaw angle control channel consists of serially connected yaw angle adjuster 24, the first controller 9, the first actuator 10, the control 11 and the yaw angle sensor 12, the output of which is connected by the first inputs of the first 9 and second 11 regulators.

In terms of the angle of heel φ (t) of the control object 11, similarly to the control channel for the yaw angle ψ (t), control is performed using a closed loop, including a roll angle adjuster 25, a second regulator 13, a control object 11, and a roll angle sensor 16 connected to the third the inputs of the first 9 and second 13 regulators.

Reference models 1 and 22 have such parameters that they are stable and provide specified transient processes along the control channels, respectively, in yaw ψ (t) and roll.

поступает в качестве корректирующего сигнала на вход первого регулятора 9. В результате при εε₁(t)=0 значение ψ(t) будет равно желаемому значению сигнала ψ₃(t).The deviation of the output ψ (t) of the control object 11 from the given ψ ₃ (t) at the output of the first reference model 1 leads to an error εε ₁ = ψ ₃ (t) -ψ (t) at the output of the first adder 2. Then the error signal is amplified by amplifiers 3 , 4 and 5, integrates (the first integrator 6), differentiates (the first differentiator 7). The sum of the obtained proportional, integral and differential components at the output of the second adder 8 $$k_{\mathrm{one}}{\epsilon }_{\mathrm{one}}+k_{\mathrm{one}}{\dot{\epsilon }}_{\mathrm{one}}+{\mathrm{<figure-callout\; id="3"\; label="k"\; filenames="00000003.png"\; state="\{\{state\}\}">k</figure-callout>}}_3{\displaystyle \underset{0}{\overset{t}{\int }}\epsilon {\epsilon }_{\mathrm{one}}\left(t\right)}$$

comes as a correction signal to the input of the first controller 9. As a result, when εε ₁ (t) = 0, the value of ψ (t) will be equal to the desired value of the signal ψ ₃ (t).

The correction of the error signal εε ₁ = φ ₃ (t) -φ (t) is carried out similarly to the correction of the error signal εε ₁ (t) using the connection (as shown in the drawing) of the second reference model 22, third 23 and fourth adders, fourth 17, fifth 18 and the sixth 21 amplifiers, the second integrator 19 and the second differentiator.

In fact, the regulators 9 and 13 are adders [1].

As a result, under the action of interference F (t) and f (t), the values of ψ (t) and φ (t) will be close to ψ ₂ (t) and φ ₂ (t), respectively.

Thus, the technical result from the use of the invention allows to improve the quality of transients and increase the stability margin of the rough control system.

The inventive step of the proposed technical solution is confirmed by the distinctive parts of the claims on the method of coarse control and systems for its implementation.

Literature

1. V.D. Eliseev, A.K. Komarov "Multidimensional modally invariant control systems." M .: MAI Publishing House, 1989, p. 2-10.

Claims (2)

 1. The method of coarse control of the spatial movement of the aircraft, which consists in generating a reference signal by the angle of heel, generating a reference signal by the yaw angle, measuring the angle of heel, measuring the yaw angle, measuring the pitch angle, and generating control signals by the angle of heel and the yaw angle characterized in that the reference signal is generated according to the yaw angle, the first difference signal between the reference signal according to the angle of heel and the angle of heel is determined, the second signal of the difference between the reference signal according to the yaw angle and the angle is determined yskaniya, the first difference signal is integrated separately, differentiated, scaled, and summed with the angle tilt control signal, the second difference signal are scaled separately, differentiated, integrated and summed with the angle of pitch control signal.  2. The system of coarse control of the spatial movement of the aircraft, comprising serially connected yaw angle adjuster, a first controller, a first actuator and a control object (airplane), serially connected roll angle adjuster, a second regulator and a second actuator, the output of which is connected to the second input of the control object the first output of which is connected through the yaw angle sensor to the first inputs of the first and second controllers, the second output through the pitch angle sensor is connected to the second with the inputs of the first and second controllers, the third output through the roll angle sensor is connected to the third inputs of the first and second controllers, the yaw angle adjuster and the roll angle adjuster are connected to the fourth inputs of the regulator, characterized in that it additionally contains two reference models, six amplifiers, four the adder, two differentiators and two integrators, the output of the yaw angle adjuster through the first standard model, the first adder, the first amplifier, the first integrator and the second adder connected to the fifth input of the first controller, the output of the roll angle adjuster through the second standard model, the third adder, the second amplifier, the second integrator and the fourth adder is connected to the fifth input of the second controller, the output of the first adder is connected to the second input of the second adder through the third amplifier in series and the first differentiator, and with the third input of the second adder through the fourth amplifier, the output of the third adder is connected to the second input of the fourth adder through the fifth amplifier and the second differentiator connected in series, and to the third input through the sixth amplifier.

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