RU56663U1 - DEVICE FORMING THE CONTROL SIGNAL AND STABILIZING THE LONGITUDINAL-BALANCING MOVEMENT OF THE AIRCRAFT - Google Patents

Abstract

The utility model relates to airborne automatic control systems for aircraft. Solved in the proposed device, the technical task is to expand the functionality of the device and improve control accuracy. To solve this technical problem, in a known device for generating a control signal and stabilizing the longitudinally balancing movement of the aircraft, comprising an aircraft angular position meter, an angular velocity meter, serially connected control signal adjuster, a comparison unit, the second input of which is connected to the output of the angular position meter, the first a summing amplifier, the second input of which is connected to the output of the angular velocity meter, and the first signal limiter, They are connected in series by an integrating amplifier, the input of which is connected to the output of the comparison unit, a second signal limiter and a second summing amplifier, the second input of which is connected to the output of the first limiter, and the output is the output of the device.

Description

The utility model relates to devices on-board systems for automatic control of aircraft (LA).

Known control system and stabilization of the angular position of the aircraft. Closest to the proposed technical solution is the control device for the pitch channel of the aircraft, which is part of the "Angular motion control system of an unmanned aerial vehicle" (RF patent No. 2234117 CL G 05 D 1/08, 2004).

The aircraft’s pitch channel control device comprises an aircraft angular position meter, an angular velocity meter, serially connected control signal adjuster, a comparison unit, the second input of which is connected to the output of the angular position meter, a summing amplifier, the second input of which is connected to the output of the angular velocity meter, a controlled switch , the first and second signal limiters, an adder, the first input of which is connected to the output of the first signal limiter, and the second input is connected to the output of the second signal limiter, and the actuator of the control object.

The essential features of the prototype, coinciding with the essential features of the proposed technical solution, are the following features. A device for generating a control signal and stabilizing the longitudinally balancing movement of the aircraft comprises an aircraft angular position meter, an angular velocity meter, serially connected control signal adjuster, a comparison unit, the second input of which is connected to the output of the angular position meter, a summing amplifier, and a second

the input of which is connected to the output of the angular velocity meter, and the limiter of the total signal.

The disadvantage of the device adopted for the prototype is the limited control capabilities and low accuracy at large angles of attack, since the main part of the control signal is spent on maintaining the balancing angle of attack of the aircraft, and for the implementation of evolution during the turns of the aircraft, an insignificant part of the limited control signal remains.

This drawback is especially noticeable in real conditions when controlling an aircraft, the steering surfaces of which are activated simultaneously in all three control channels (i.e., not only in pitch, but also in heading and roll).

Solved in the proposed device, the technical task is to expand the functionality of the device and improve control accuracy.

To solve this technical problem, in a known device for generating a control signal and stabilizing the longitudinally balancing movement of the aircraft, comprising an aircraft angular position meter, an angular velocity meter, serially connected control signal adjuster, a comparison unit, the second input of which is connected to the output of the angular position meter, the first a summing amplifier, the second input of which is connected to the output of the angular velocity meter, and the first signal limiter, They are connected in series by an integrating amplifier, the input of which is connected to the output of the comparison unit, a second signal limiter and a second summing amplifier, the second input of which is connected to the output of the first limiter, and the output is the output of the device.

Distinctive features of the proposed technical solution - a device for generating a control signal and stabilization of the longitudinally balancing

The movement of the aircraft is that a series-connected integrating amplifier is introduced into it, the input of which is connected to the output of the comparison unit, the second signal limiter and the second summing amplifier, the second input of which is connected to the output of the first signal limiter, and the output is the output of the device.

The introduction of a signal restriction of the integral component allows to reduce the oscillation in a closed loop control and emissions (overshoot) in transients.

The proposed device for generating a control signal and stabilizing the longitudinally balanced movement of the aircraft, as shown by mathematical modeling, allows you to expand the control capabilities of the aircraft and increase the accuracy of control. Essentially, two interconnected channels are formed, combining overall control of the slow balancing and fast maneuverable aircraft movement.

The device for generating a control signal and stabilizing the longitudinally balanced movement of the aircraft can be used in control systems for maneuverable aircraft, which have rather high requirements for control accuracy with limited energy or dynamic resources of the executive bodies of control systems.

The proposed technical solution is illustrated by a block diagram, which shows a structural diagram of a device for generating a control signal and stabilization of the longitudinally-balanced movement of the aircraft.

The device comprises an angular position meter LA 1, an angular velocity meter 2, serially connected control signal adjuster 3, a comparison unit 4, the second input of which is connected to

the output of the angular position meter 1, the first summing amplifier 5, the second input of which is connected to the output of the angular velocity meter 2, the first signal limiter 6, the integrating amplifier 7 connected in series, the input of which is connected to the output of the comparison unit 4, the second signal limiter 8 and the second summing amplifier 9, the second input of which is connected to the output of the first signal limiter 6, and the output is the output of the device.

The device operates as follows.

The control signal generator 3 generates (sets) the control signal ϑ _back. (t), the main components of which are:

- the slow component ϑ _ass.m (t) corresponding to the slow turns of the aircraft with balancing angles of attack α _ball. , and balancing angles of deviation of the rudders δ _ball. ;

- fast component ϑ _ass.b (t), corresponding to maneuverable turns of the aircraft.

In this way,

The law of regulation (control and stabilization) is formed by the control signal ϑ _ass. (t), the signal of the angular position of the aircraft ϑ (t) and the angular velocity of the aircraft ω _z (t). The main, basic component of the control signal σ _b (t) is formed in the summing amplifier 5 in the form:

where Δϑ (t) is the error signal,

generated by the comparison unit 4 by the signals ϑ _back (t) from the setter 3 and ϑ (t) from the angle meter 1;

K _ϑ , , - gear ratios;

ω _z (t) is the signal of the angular velocity of the aircraft coming from the angular velocity meter 2,

The signal σ _b (t) is limited in level by the first limiter of signal 6, and the limited signal σ ^ogre _b (t) is supplied to the second summing amplifier 9. The level of restriction installed on the first limiter 6 determines the magnitude of the signals of the control channel under consideration, necessary for processing them appropriate steering surfaces, taking into account the lack of deficiencies in the development of the same rudder signals of adjacent channels (heading and heel, not considered here).

The signal generated in accordance with the basic control law (2) is supplemented by the signal of the integral component σ _and (t), which is generated by the integrating amplifier 7 according to the mismatch signal (3)

where K _and is the scaled transfer coefficient of the integrating amplifier 7. The value of this coefficient is assigned in proportion to the transfer coefficient for the mismatch K _ϑ :

K _and = (0.05 ... 0.3) K _ϑ .

The signal σ _and (t) is limited by the second signal limiter 8, the level of restriction of which corresponds to the calculated value of the steering wheel balancing deviation δ _ball . The limited signal of the integral component σ ^ogre _and (t) from the second limiter 8 is fed to the adder 9, the output signal of which is equal to:

and is the output signal of the device.

The introduction of the channel of the integral component - blocks 7, 8, 9 - ensures the development of a balancing, slow signal component

control ϑ _back.m (t). Indeed, let ϑ _ass . _B = 0; ϑ _ass. ≠ 0. Then, due to the fact that the law of formation of the output signal of the presented device is an astatic law of zero order, the steady-state value of the error signal for this mode

Therefore, in accordance with (3), the established value of ϑ _mouth :

It’s also obvious that for this mode Consequently, the steady-state value of the integral component corresponds to the balancing value of the angle of deviation of the steering surfaces of the aircraft:

Since for the considered mode Δϑ _set = 0, = 0, then and .

When a direct component of the device (blocks 4, 5, 6, 9) arrives at the input of the fast component of the control signal ϑ _{rear b} (t) to control the maneuver of the aircraft, it will be _processed relative to the balancing motion of the aircraft and will be symmetrical for signals ϑ _{rear b} ( t) different signs, i.e. the characteristics of the first limiter 6 (the limiter of the direct control signal generating circuit σ _o (t)) will be produced relative to zero, which increases the accuracy of testing control actions on the aircraft as a whole.

The introduction of a signal restriction of the integral component allows to reduce the oscillation in a closed loop control and emissions (overshoot) in transients.

Thus, the proposed device for generating a control signal and stabilizing the longitudinally-balanced movement of the aircraft allows you to expand the control capabilities of the aircraft and increase accuracy

management. Two interconnected channels have been formed, combining overall control of the slow balancing and fast maneuverable aircraft movement.

The positive effect of the proposal is confirmed by the results of analysis and mathematical modeling.

All the components and blocks of the control device can be performed on modern elements of automation and computer technology, as well as software and algorithm in on-board computers of the aircraft.

Claims (1)

A device for generating a control signal and stabilizing the longitudinally-balanced movement of the aircraft, comprising an angular position meter, an angular velocity meter, serially connected control signal adjuster, a comparison unit, the second input of which is connected to the output of the angular position meter, the first summing amplifier, the second input of which is connected to the output of the angular velocity meter, and the first signal limiter, characterized in that it contains serially connected integrating the first amplifier, the input of which is connected to the output of the comparison unit, the second signal limiter and the second summing amplifier, the second input of which is connected to the output of the first signal limiter, and the output is the output of the device.