RU2695474C1 - Automatic control system of bank angle with static autopilot and with limitation of angular speed of aircraft bank - Google Patents

Abstract

FIELD: control systems.SUBSTANCE: automatic control system of bank angle with static autopilot and with limitation of angular speed of aircraft bank comprises bank angle setting device, set of maximum angular speed of bank and calculator of bank angular speed limitation machine, aircraft bank angle sensor, angular speed transducer of aircraft, algebraic selector, calculator of static autopilot of bank angle, controlled integrator, static servo drive of ailerons of aircraft, first multiplier, logic device connected in certain manner. Controlled integrator contains the second, third and fourth multipliers, a comparison element, an integrator, an adder, two negation elements, a proportional link connected in a certain way.EFFECT: higher accuracy of limiting bank angle of aircraft.1 cl, 3 dwg

Description

The invention relates to the field of automatic control systems (ACS) roll angle of the aircraft (LA).

Known self-propelled guns, providing the development of a given angle of heel of the aircraft using autopilot, affecting the angle of deviation of the ailerons of the aircraft [Bodner V.A. Control systems for aircraft. - M.: Mechanical Engineering, 1973. - 506 p. Page 116, fig. 3.22], [Krasovsky A.A. Automatic flight control systems and their analytical design. - M .: Nauka, 1973. - 560 p. Page 184, fig. 5.5], [Mikhalev I.A., Okoyemov B.N., Chikulaev M.S. Automatic aircraft control systems. - M.: Mechanical Engineering, 1987. - p. 240. Page 212, fig. 15.2].

These self-propelled guns provide the necessary static and dynamic characteristics of the aircraft roll angle control channel. However, they do not allow to limit the maximum value of the angular velocity of the aircraft roll.

As you know, intense roll rotation (ω _x ≠ 0), due to the aeroinertial interaction of longitudinal and lateral movement, leads to a decrease in the degree of stability of the aircraft at small and moderate angles of attack. At sufficiently large, so-called critical angular roll velocities ω _xcr , stability is lost and movement develops with a sharp change in the angles of attack and slip, a large amplitude of the load acting on the aircraft, and an increase in the angular velocity ω _{x itself} . This form of movement is called aero-inertia rotation and is characteristic of high-speed aircraft. To prevent access to aero-inertial self-rotation in flight, allowable angular velocities ω _xd . [Aircraft mechanics: Flight dynamics / Ed. A.F. Bochkareva and V.V. Andrievsky. - M.: Mechanical Engineering, 1985. - 360 p. Page 343-344].

Closest to the achieved technical result, selected as a prototype, a system for automatically controlling the angle of roll and limiting the angular velocity of the roll of the aircraft is adopted, containing a series-connected roll angle adjuster and a calculator of autopilot roll angle, a servo drive whose output signal determines the angle of deviation of the ailerons of the aircraft, the roll angle sensor of the aircraft having an output connected to the second input of the roll angle calculator autopilot, the angle sensor second roll rate of the aircraft, having an output connected to a third input of the autopilot roll angle calculator. In addition, the system includes a serially connected maximum angular roll speed adjuster, a calculator of the automatic angular velocity limiting machine and an algebraic maximum signal selector, the output of which is connected to the servo input, and a second input of the automatic angular velocity limiting calculator, connected to the output of the angular roll speed sensor, output the calculator of the autopilot roll angle is connected to the second input of the algebraic selector of the maximum signal. [RF patent No. 2430858 for the invention: IPC 8 B64C 13/18, G05D 1/08. The system of automatic control of the roll angle and limitation of the angular velocity of the roll of the aircraft / V.I. Petunin, E.Yu. Abdullina, V.N. Efanov. - Application No. 201007596/11; Claim 03/02/2010; Zaregistr. in the State Register of Inventions of the Russian Federation 10.10.2011. Bull. No. 28].

This self-propelled guns due to the astatism of the control channels and restrictions provides good accuracy of maintaining a given value of the angle of heel and limiting the angular velocity of the heel. Moreover, the astatism of the angular velocity limiting channel is ensured by the astatic servo drive with high-speed feedback of the roll angle control channel. However, the control of the angular parameters of the aircraft is often carried out using static autopilots with hard feedback in the servo drive of the corresponding control wheel of the aircraft. This leads to the static law of the restriction channel, which is unacceptable from the point of view of ensuring the accuracy of limiting the angular roll velocity, since the control channels and restrictions have a common executive part.

The task to which the invention is directed is to ensure reliability of limiting the angular roll speed and maintaining the normal operation of the aircraft while controlling the roll angle of the aircraft with a static autopilot in the roll channel.

The technical result is to ensure the necessary accuracy of limiting the angular velocity of the roll due to the fact that a controlled integrator is introduced into the automatic angle control system with a static autopilot, which ensures the astatic law of limiting angular velocity when the limiting channel is switched on.

The problem is solved, and the technical result is achieved by the fact that in the automatic roll angle control system with a static autopilot and with a limitation of the roll angular velocity of the aircraft, comprising a roll angle adjuster, a roll angular velocity adjuster and a roll angle limiting computer calculator, a sensor the angle of the roll of the aircraft, the sensor of the angular velocity of the roll of the aircraft, the output of which is connected to the second input of the computer calculator about the angular velocity of the roll, the algebraic selector, in contrast to the prototype, a static autopilot calculator of the roll angle is additionally introduced, the first input of which is connected to the output of the roll angle adjuster, the second input is connected to the output of the roll angle sensor, and the third input is connected to the output of the roll angle sensor, and the output is connected to the inputs of the logic device and the algebraic selector, and the second inputs of the logic device and the algebraic selector are connected to the output of the computer at a speed of roll, a controlled integrator and a static servo aileron of the aircraft, connected in series, the input of a controlled integrator connected to the output of the algebraic selector, the first multiplier, the inputs of which are connected to the outputs of the logic device and the algebraic selector, and the output is connected to the input of the initial value of the controlled integrator, input the reset of the managed integrator is connected to the output of the logical device.

In addition, in the automatic roll angle control system with a static autopilot and with a limitation of the roll angular velocity of the aircraft, the controlled integrator can comprise a second multiplier, a comparison element, an integrator, a third multiplier and an adder connected in series, the integrator output through a proportional link and a fourth multiplier connected in series connected to the second input of the comparison element, the input of the controlled integrator is the first input of the second multiplier, and the output is you the adder stroke, the reset input of the controlled integrator is connected to the second input of the fourth multiplier and through the first and second negation elements, respectively, with the second inputs of the second and third multipliers, the input of the initial value of the controlled integrator is connected to the second input of the adder.

The invention is illustrated by drawings.

In FIG. 1 is a structural diagram of the inventive system of automatic control of the angle of heel with a static autopilot and limiting the angular velocity of the heel of the aircraft.

In FIG. 2 shows a block diagram of a managed integrator.

In FIG. 3 presents the results of the simulation of transients in the angle of heel γ and the angular velocity of the roll ω _x in the proposed self-propelled guns.

Automatic roll angle control system with a static autopilot and with a limitation of the roll angular velocity of the aircraft, comprising a roll angle adjuster 1, a roll angle maximum speed adjuster 2 and a roll angle calculator 3, roll angle sensor 4 of the aircraft 5, an angle sensor the roll speed 6 of the aircraft 5, the output of which is connected to the second input of the calculator of the automatic machine for limiting the angular velocity of the roll 3, an algebraic selector 7, different which further comprises a static autopilot calculator of roll angle 8, the first input of which is connected to the output of the roll angle adjuster 1, the second input is connected to the output of the roll angle sensor 4, the third input is connected to the output of the roll angle sensor 6, and the output is connected to the inputs logical device 9 and algebraic selector 7, and the second inputs of the logical device 9 and algebraic selector 7 are connected to the output of the calculator of the automatic machine for limiting the angular velocity of roll 3, connected in series the second integrator 10 and the static servo aileron 11 of the aircraft 5, the input of the controlled integrator connected to the output of the algebraic selector 7, the first multiplier 12, the inputs of which are connected to the outputs of the logic device 9 and the algebraic selector 7, and the output is connected to the input of the initial value of the controlled integrator 10 , the reset input of the controlled integrator 10 is connected to the output of the logical device 9.

The controlled integrator 10 comprises a second multiplier 13, a comparison element 14, an integrator 15, a third multiplier 16 and an adder 17 connected in series, the integrator output through a proportional link 18 connected in series and a fourth multiplier 19 connected to the second input of the comparison element 14, the input of the controlled integrator 10 is the first input of the second multiplier 13, and the output is the output of the adder 17, the reset input of the controlled integrator 10 is connected to the second input of the fourth multiplier 19 and through the first 20 and second 21 element denial, respectively, to second inputs of the second 13 and third multipliers 16, input managed initial value of the integrator 10 is connected to the second input of the adder 17.

The accuracy of limiting the angular roll velocity in the given system is achieved by introducing into its structure a logical device 9, a first multiplier 12, and a controlled integrator 10.

The system of automatic control of the angle of heel with a static autopilot and limiting the angular velocity of the roll of the aircraft operates as follows.

The signal of the set roll angle γ _ass from the output of the roll angle adjuster 1 is fed to the first input of the static autopilot calculator of roll angle 8, the second input of which receives the signal of the current roll angle γ from the output of the roll angle sensor 4, and the third input receives the signal of the current angle roll speed ω _x = pγ from the output of the roll angular velocity sensor 6.

Here p = d / dt. A signal is generated at the output of the static autopilot calculator of roll angle 8

; -arriving at the first input of the algebraic selector 7. Here k _γ ;

; -

gear ratios of autopilot.

The signal of the set maximum angular velocity of the roll ω _{xm a x} from the output of the master unit of the maximum angular velocity of the roll 2 is fed to the first input of the calculator of the automatic machine for limiting the angular velocity of the roll 3, the second input of which receives the signal of the current value of the angular velocity of the roll ω _x from the output of the angular velocity sensor 6 . At the output of the calculator of the machine for limiting the angular velocity of the roll 3, a signal is generated

- передаточные числа автомата ограничения.arriving at the second input of the algebraic selector 7. Here k _ω ;

- gear ratios of the automatic restriction.

To build self-propelled guns with limitation of aircraft parameters, logical devices are used that implement algorithms for algebraic channel selection. Typically, the principle of selection is applied, according to which the parameter of the multidimensional control object is regulated, which is closest to the value determined by the control program [V. Petunin Synthesis of automatic control systems for aircraft with automatic machines for limiting the limiting parameters // Izv. universities. Instrument making. 2010. Volume 53. No. 10. - S. 18-24.].

In order for the adjustable parameters not to exceed the maximum permissible values (upper limit), the selector must skip the control signal corresponding to the minimum value of the control signal. Such selection is called minimum selection, and the selector is called the minimum control signal selector.

If the minimum parameter values are limited (lower limit), preference is given to the parameter regulator, which requires the highest control signal to be maintained, i.e. selection is carried out to the maximum. In this case, the maximum control signal selector is used.

Selectors are introduced into the self-propelled guns for smooth switching of control channels and provide in all operating conditions the control action of only one of several control channels that are included in the work depending on the operating mode of the control object. Moreover, each of the control channels operates autonomously and its parameters are usually selected without regard to interaction with other channels. This allows you to maintain the static accuracy and stability margins inherent in individual control channels.

Therefore, the algebraic selector provides a smooth switching from one channel to another, for example, from autopilot to automatic control and back to autopilot.

In the system under consideration, a minimum control signal selector is used. Unlike the prototype, the sign of the transmission coefficient of the control object - aircraft 5 is not taken into account here.

Algebraic Selector 7 Output

U = min (U ₁ , U ₂ )

arrives at the input of a managed integrator 10.

The inclusion of a controlled integrator 10 in the channel limiting the angular velocity allows you to make it astatic and, accordingly, increase the accuracy of maintaining the maximum angular velocity of the roll.

However, when the self-propelled guns operate in roll angle control mode, the controlled integrator 10 must be turned off, since it violates the required dynamic characteristics of this channel.

For this, a logical device 9 is introduced into the ACS, issuing a logical signal L, which determines which of the channels at the input of the algebraic selector 7 is included in the operation

During operation of the roll angle control channel, the output signal L of the logic device 9 is supplied to the reset input of the controlled integrator 10, resetting its input and output signals. At the same time, the logical signal L is used to set the initial value of the controlled integrator 10, changing the transmission coefficient of the first multiplier 12, through which the output signal of the algebraic selector 7 is fed to the input of the initial value of the controlled integrator 10. As a result, if L = 0, the controlled integrator 10 is switched on without impact in ACS, if L = 1, then the controlled integrator 10 is turned off from the ACS and the output signal of the algebraic selector 7 is connected to the input of the static servo ailerons 11.

Managed integrator 10 operates as follows.

The output signal of the controlled integrator 10 is determined in the adder 17 as the sum of the output signal of the integrator 15 and the signal supplied to the input of the initial value of the controlled integrator 10.

Integrator Transfer Function 15

The input signal of the controlled integrator 10 is fed to the input of the integrator 15 through a series-connected second multiplier 13 and the comparison element 14.

If L = 0, then the reset signal of the controlled integrator 10 is zero, while the control inputs of the second 13 and third 16 multipliers through the negation elements 20 and 21 receive signals equal to unity, and the signal input of the fourth multiplier 19 receives a signal equal to zero. In this case, the input signal of the controlled integrator 10 is fed to the input of the integrator 15, the output signal of which is fed to the output of the controlled integrator 10, since at the second input of the adder 17 the signal of the initial value of the controlled integrator 10 is zero. Thus, the integrator 15 is included in the ACS.

If L = 1, then the reset signal of the controlled integrator 10 is equal to unity, while the control inputs of the second 13 and third 16 multipliers through the negation elements 20 and 21 receive signals equal to zero, and to the control input of the fourth multiplier 19 - a signal equal to unity. In this case, the integrator 15 is covered through a series-connected proportional link 18 and the fourth multiplier 19 with hard negative feedback, that is, it becomes a static inertial link W _sz (p) and is disconnected from the input and output of the controlled integrator 10

where W _pz (p) = K _pz is the transfer function of the proportional link 18. This avoids uncontrolled changes in the output signal of the integrator 15. Thus, the integrator 15 is turned off from the ACS, and the output of the controlled integrator 10 becomes equal to the output signal of the algebraic selector 7 due to passing the signal of the algebraic selector 7 through the first multiplier 12 and the input of the initial value of the controlled integrator 10.

The output signal of the controlled integrator 10 is fed to the input of a static servo aileron 11 with a transfer function

W _sp (p) = 1,

changing aileron deflection angle δ _e of the aircraft 5.

In this case, the roll angle of the aircraft γ changes and the required limitation of the roll angular velocity ω _x occurs.

Therefore, in the inventive automatic control system, the control law of the roll angle static autopilot is implemented

у

at

and control law of an astatic roll angular velocity limiting machine

.

.

Here is the synthesis of the automatic control system of the roll angle and the limitation of the angular velocity of the roll of the aircraft.

Analytical synthesis of the gear ratios of the autopilot and automatic control based on the specified quality of self-propelled guns is conveniently carried out using the standard transient response method [V. Petunin Synthesis of autopilot pitch control channel laws // Vestnik of Ufa State Aviation Technical University, series "Control, computer engineering and computer science". 2007. Volume 9, No 2 (20). S. 25-31]. In this case, the equality of the transfer functions of the original Φ (p) and the desired systems Φ * (p) should be satisfied:

Φ (p) = Φ * (p).

The transfer function of the aircraft along the angle of heel γ when controlling ailerons δ _e [V. Bodner Control systems for aircraft. - M.: Mechanical Engineering, 1973. - 506 p. Page 115]:

The law of control of static autopilot roll angle with rigid feedback:

•

•

Transfer function of a closed system in roll angle:

Desired transfer function of a closed system in roll angle:

Then the autopilot gear ratios:

.

.

The transfer function of the aircraft in angular roll velocity ω _x when controlling ailerons δ _e :

The control law of the roll angular velocity limiting machine:

The transfer function of a closed system in angular roll speed:

Desired transfer function of a closed system according to the angular roll speed:

Then the gear ratios of the automatic restriction:

.

.

The synthesis results are confirmed by the results of simulations of transients in the inventive automatic roll angle control system with a static autopilot and with limitation of the roll angular velocity of the aircraft, shown in FIG. 3, where the specifying effects of the channels: γ _ass = 1; ω _{xm a x} = 0.5; L is the logical signal at the output of the logical device 9. Transients obtained in the self-propelled guns with a roll angle using a static autopilot and with an automatic roll speed limiter are satisfactory because they show the necessary accuracy of the limitation ω≤ω _{xm a x} = 0.5 and good quality control on the channel switching modes of the system.

Thus, the claimed invention allows, due to the introduction into the structure of the automatic roll angle control system with a static autopilot and with a limitation of the roll angular velocity of the aircraft, the logical device, the first multiplier and the controlled integrator, to provide the necessary accuracy of the roll angular velocity limitation and smooth transition processes when switching channels.

Claims (2)

1. Automatic roll angle control system with a static autopilot and with a limitation of the roll angular velocity of the aircraft, comprising a roll angle adjuster, series-connected roll angular velocity adjuster and a calculator of the roll angular velocity limiting machine, roll angle sensor, roll angular velocity sensor apparatus, the output of which is connected to the second input of the calculator of the automatic machine for limiting the angular roll speed, an algebraic selector, different t it contains a static autopilot calculator of the roll angle, the first input of which is connected to the output of the roll angle adjuster, the second input is connected to the output of the roll angle sensor, the third input is connected to the output of the roll angle sensor, and the output is connected to the inputs of the logic device and algebraic selector moreover, the second inputs of the logical device and the algebraic selector are connected to the output of the calculator of the automatic machine for limiting the angular roll speed, connected in series by a controlled integrator and an aerial servo aileron of the aircraft, with the input of the controlled integrator connected to the output of the algebraic selector, the first multiplier whose inputs are connected to the outputs of the logical device and the algebraic selector, and the output is connected to the input of the initial value of the controlled integrator, the reset input of the controlled integrator is connected to the output of the logical device. 2. The automatic control system according to claim 1, characterized in that the controlled integrator comprises a second multiplier, a comparison element, an integrator, a third multiplier and an adder connected in series, the integrator output through a proportional link and a fourth multiplier connected in series with the second input of the comparison element, the input of the controlled integrator is the first input of the second multiplier, and the output is the output of the adder, the reset input of the controlled integrator is connected to the second input of the fourth mind ozhitelya and through the first and second members, respectively, to the second negation inputs of the second and third multipliers, the entrance managed initial value of the integrator is connected to the second input of the adder.

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