Civil aircraft man-in-loop system, and active side stick servo tracking control system and method

Abstract

The present invention provides an active side stick servo tracking control system. The active side stick servo tracking control system comprises a stick force sensor and cross channel transmission part, a stick force and stick displacement regulator, an active side stick displacement servo system, and a stick displacement sensor. The active side stick displacement servo system comprises a motor rotation speed feedback loop, a motor flux linkage and torque feedback loop, a holding rod angular speed feedback loop and a position feedback loop. The present invention provides a civil aircraft man-in-loop system with an active side stick and a servo control method of the active side stick servo tracking control system. Through integration of sliding-mode control and self-adaptation control, thecivil aircraft man-in-loop system, and the active side stick servo tracking control system and method can effectively achieve high-dynamic tracking performance of the side stick displacement and adaptive performance of spring variable stiffness so as to have active reference meaning for the large civil aircraft active side stick control.

Description

technical field

[0001] The invention relates to the technical field of pilot control platforms, in particular to a civil aircraft man-in-the-loop system with an active side stick and its corresponding active side stick servo tracking control system and servo control method. Background technique

[0002] Active Side Stick Control System (ASSCS) is a new pilot control platform. As a new type of driving system to make up for the shortcomings of the passive sidestick, the active sidestick control system can provide the pilot with tactile and visual feedback about the flight status of the aircraft, so that the pilot can better perceive the flight status of the aircraft.

[0003] Civil aircraft sidestick control is usually divided into passive sidestick and active sidestick. The human sensor system of the passive side stick can only provide an electrical signal output proportional to the stick displacement, and the stick force and stick displacement characteristics are provided b...

Examples

Embodiment 1

[0062] This embodiment provides a civil aircraft man-in-the-loop system, including: an active sidestick servo tracking control system, a flight mission module, a pilot and co-pilot control model, a civil aircraft motion model and its flight control system; wherein:

[0063] The rod displacement sensor of the active side rod servo tracking control system of the civil aircraft measures the displacement of the active side rod and transmits it to the civil aircraft motion model and its flight control system;

[0064] The flight task input module part generates corresponding flight instructions according to the current flight requirements, and outputs the flight instructions to the pilot and co-pilot manipulation models;

[0065] The control model of the pilot and co-pilot forms the stick force movement relationship between the neuromuscular and the active side stick when the pilot is manipulating according to the flight instructions, and obtains the current driver's output force; ...

Embodiment 2

[0071] This embodiment provides an active sidestick servo tracking control system, including: a lever force sensor and a cross-channel transmission component, a lever force and lever displacement regulator, an active sidestick lever displacement servo system, and a lever displacement sensor; wherein:

[0072] The rod force sensor and the cross channel transmission part collect the current driver output force and transmit it to the corresponding rod force and rod displacement regulator;

[0073] The rod force and rod displacement regulator forms the driver's desired rod displacement according to the current driver's output force, and outputs the rod displacement input command to the active side rod rod displacement servo system;

[0074] The active side rod displacement servo system outputs the rod displacement of the active side rod to the rod displacement sensor according to the rod displacement input command;

[0075] The lever force and lever displacement regulator synthesi...

example

[0185] A simulation example is given below. The selection of sidestick and motor must take into account the space occupancy rate of the cockpit and the pilot's control characteristics. The motor actuator should not be too large and can meet the needs of servo actuation. The travel range of the grip satisfies the pilot's control comfort. Therefore, the physical parameters of the experimental simulation of the active sidestick servo control system are selected as shown in Table 1 and Table 2:

[0186] Table 1. PMSM physical parameters:

[0187] Phase

3

Stator phase resistance

5.6Ω

Armature inductance

8.5mH

Magnetic link

0.023V·s

Moment of inertia

0.41×10 -4 kg·m 2

Number of pole pairs

12

voltage

60V

[0188] Table 2. Physical parameters of the active sidestick:

[0189] Moment of inertia

6.67×10 -2 kg·m 2

Gearbox reduction ratio

1 / 180

coefficient of friction ...

technical field

[0001] The invention relates to the technical field of pilot control platforms, in particular to a civil aircraft man-in-the-loop system with an active side stick and its corresponding active side stick servo tracking control system and servo control method. Background technique

[0002] Active Side Stick Control System (ASSCS) is a new pilot control platform. As a new type of driving system to make up for the shortcomings of the passive sidestick, the active sidestick control system can provide the pilot with tactile and visual feedback about the flight status of the aircraft, so that the pilot can better perceive the flight status of the aircraft.

[0003] Civil aircraft sidestick control is usually divided into passive sidestick and active sidestick. The human sensor system of the passive side stick can only provide an electrical signal output proportional to the stick displacement, and the stick force and stick displacement characteristics are provided b...

Examples

Embodiment 1

[0062] This embodiment provides a civil aircraft man-in-the-loop system, including: an active sidestick servo tracking control system, a flight mission module, a pilot and co-pilot control model, a civil aircraft motion model and its flight control system; wherein:

[0063] The rod displacement sensor of the active side rod servo tracking control system of the civil aircraft measures the displacement of the active side rod and transmits it to the civil aircraft motion model and its flight control system;

[0064] The flight task input module part generates corresponding flight instructions according to the current flight requirements, and outputs the flight instructions to the pilot and co-pilot manipulation models;

[0065] The control model of the pilot and co-pilot forms the stick force movement relationship between the neuromuscular and the active side stick when the pilot is manipulating according to the flight instructions, and obtains the current driver's output force; ...

Embodiment 2

[0071] This embodiment provides an active sidestick servo tracking control system, including: a lever force sensor and a cross-channel transmission component, a lever force and lever displacement regulator, an active sidestick lever displacement servo system, and a lever displacement sensor; wherein:

[0072] The rod force sensor and the cross channel transmission part collect the current driver output force and transmit it to the corresponding rod force and rod displacement regulator;

[0073] The rod force and rod displacement regulator forms the driver's desired rod displacement according to the current driver's output force, and outputs the rod displacement input command to the active side rod rod displacement servo system;

[0074] The active side rod displacement servo system outputs the rod displacement of the active side rod to the rod displacement sensor according to the rod displacement input command;

[0075] The lever force and lever displacement regulator synthesi...

example

[0185] A simulation example is given below. The selection of sidestick and motor must take into account the space occupancy rate of the cockpit and the pilot's control characteristics. The motor actuator should not be too large and can meet the needs of servo actuation. The travel range of the grip satisfies the pilot's control comfort. Therefore, the physical parameters of the experimental simulation of the active sidestick servo control system are selected as shown in Table 1 and Table 2:

[0186] Table 1. PMSM physical parameters:

[0187] Phase

3

Stator phase resistance

5.6Ω

Armature inductance

8.5mH

Magnetic link

0.023V·s

Moment of inertia

0.41×10 -4 kg·m 2

Number of pole pairs

12

voltage

60V

[0188] Table 2. Physical parameters of the active sidestick:

[0189] Moment of inertia

6.67×10 -2 kg·m 2

Gearbox reduction ratio

1 / 180

coefficient of friction ...

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