Design method and system of aircraft wind tunnel virtual free flight lateral course stability augmentation control system

Abstract

The invention belongs to the technical field of aircraft wind tunnel virtual free flight tests, and particularly relates to an aircraft wind tunnel virtual free flight lateral course stability augmentation control system design method and system.The aircraft wind tunnel virtual free flight lateral course stability augmentation control system design method comprises the steps that 1, a scale model lateral course linearization dynamics mathematical model is established; step 2, calculating a scaling coefficient of the scaling model; 3, determining the design requirement of the transverse flight quality of the scaling model; step 4, establishing a scale model transverse course stability augmentation control law; 5, establishing a scaling model closed-loop control system; step 6, optimizing control law gain parameters in a scaling model closed-loop control system; and 7, verifying the scale model closed-loop control system.

Description

Technical Field

[0001] The present application belongs to the technical field of aircraft wind tunnel virtual free flight tests, and specifically relates to a design method and system for an aircraft wind tunnel virtual free flight lateral and heading stabilization control system. Background Art

[0002] Wind tunnel virtual free flight test can be used to verify the aircraft handling characteristics. It is a highly accurate, safe, economical and efficient testing method.

[0003] Since the wind tunnel virtual free flight test is constrained by the size of the wind tunnel, the scaled model used for the test is generally small in size and the scale factor K of the model is large. According to the dynamic similarity criterion, the rotation angular velocity of the scaled model of the virtual free flight test should be that of the prototype. If the stability augmentation control system is not designed properly, it will be difficult for the test personnel to control the posture of the scaled model. In view of this, this application is proposed. Summary of the invention

[0004] The purpose of the present application is to provide a design method and system for a lateral and directional stabilization control system for a virtual free flight in a wind tunnel of an aircraft, so as to meet the attitude control requirements of a scaled model in a virtual free flight test in a wind tunnel.

[0005] The technical solution of this application is:

[0006] On the one hand, a design method for a lateral and directional stabilization control system for a virtual free flight in a wind tunnel of an aircraft is provided, comprising:

[0007] Step 1: Establish a scaled-down model horizontal and heading linear dynamic mathematical model;

[0008] Step 2, calculating the reduction coefficient of the scaled model;

[0009] Step 3: Determine the design requirements for the scaled model's lateral and directional flight quality:

[0010] Based on the scale factor of the scaled model, the design requirements for the lateral and directional flight quality that the wind tunnel virtual free flight scaled model needs to meet are determined according to the flight quality specifications and the principle of dynamic similarity criteria.

[0011] Step 4: Establish the scaled model lateral and heading stabilization control law;

[0012] Step 5: Establish a scaled model closed-loop control system:

[0013] Combining the scaled-down model's lateral and heading linear dynamic mathematical model with the lateral and heading stabilization control law, a scaled-down model closed-loop control system is established.

[0014] Step 6: Optimize the control law gain parameters in the scaled model closed-loop control system;

[0015] Step 7: Verify the scaled model closed-loop control system:

[0016] Verify whether the scaled model closed-loop control system meets the scaled model lateral and heading flight quality design requirements. If not, repeat steps 6 to 7.

[0017] Furthermore, in the above-mentioned aircraft wind tunnel virtual free flight lateral and heading stabilization control system design method, in step 1, a scaled model lateral and heading linear dynamic mathematical model is established, specifically:

[0018]

[0019] in,

[0020] β, p, r, φ are the sideslip angle, roll rate, yaw rate, and roll angle;

[0021] α, θ are the trim angle of attack and pitch angle;

[0022] δ a ,δ r is the aileron deflection and rudder deflection;

[0023] L β 、N β , L p 、N p , L r 、N r , is the rolling moment and yaw moment on β, p, r, δ a ,δ r The derivative of .

[0024] Furthermore, in the above-mentioned aircraft wind tunnel virtual free flight lateral heading stabilization control system design method, in step 2, the scale factor of the scaled model is calculated, specifically:

[0025]

[0026] in:

[0027] K scale factor of the scale model;

[0028] l a is the linear size of the prototype;

[0029] l m is the linear size corresponding to the scaled model.

[0030] Furthermore, in the above-mentioned aircraft wind tunnel virtual free flight lateral and yaw stabilization control system design method, in step 3, the lateral and yaw flight quality design requirements of the scaled model are determined, specifically:

[0031]

[0032] in,

[0033] T rm , T sm , dm ,ω dm are the roll mode time constant, spiral mode doubling time, and Dutch roll mode damping ratio and frequency of the scaled model;

[0034] T ra , T sa , da ,ω da These are the roll mode time constant, spiral mode doubling time, and Dutch roll mode damping ratio and frequency of the prototype.

[0035] Furthermore, in the above-mentioned aircraft wind tunnel virtual free flight lateral and heading stabilization control system design method, in step 4, a scaled model lateral and heading stabilization control law is established, specifically:

[0036]

[0037] in,

[0038] KPP and KPI are lateral proportional and integral gains; p c is the roll angular rate command value;

[0039] KBP, KBI, KBDOT are heading proportional, integral, and damping gains; β c is the sideslip angle command value, is the rate of change of sideslip angle.

[0040] Furthermore, in the above-mentioned aircraft wind tunnel virtual free flight lateral heading stabilization control system design method, in step 4,

[0041] Furthermore, in the above-mentioned aircraft wind tunnel virtual free flight lateral heading stabilization control system design method, in step 6, the control law gain parameters in the scaled model closed-loop control system are optimized, specifically:

[0042] According to the flight quality design requirements, the root locus method is used to determine the lateral proportional gain KPP, heading proportional gain KBP, and heading damping gain KBDOT. According to the lateral and heading control command tracking requirements, the lateral integral gain KPI and heading integral gain KBI are determined by time domain simulation method.

[0043] Furthermore, in the above-mentioned aircraft wind tunnel virtual free flight lateral and heading stabilization control system design method, in step seven, the scaled model closed-loop control system is verified, specifically:

[0044] Verify whether the scaled model closed-loop control system meets the scaled model lateral and heading flight quality design requirements. If not, repeat steps 6 to 7.

[0045] On the other hand, a system for designing a lateral and directional stabilization control system for a virtual free flight in a wind tunnel of an aircraft is provided, comprising:

[0046] Module for establishing the dynamic mathematical model of the horizontal and heading linearization of the scaled model: used to establish the dynamic mathematical model of the horizontal and heading linearization of the scaled model;

[0047] Scaled model scaling coefficient calculation module: used to calculate the scaled model scaling coefficient;

[0048] Module for determining the design requirements for the lateral and directional flight quality of the scaled model: used to determine the design requirements for the lateral and directional flight quality of the scaled model:

[0049] Based on the scale factor of the scaled model, the design requirements for the lateral and directional flight quality that the wind tunnel virtual free flight scaled model needs to meet are determined according to the flight quality specifications and the principle of dynamic similarity criteria.

[0050] Scaled model lateral and heading stabilization control law establishment module: used to establish the scaled model lateral and heading stabilization control law;

[0051] Scaled model closed-loop control system establishment module: used to establish a scaled model closed-loop control system:

[0052] Combining the scaled-down model's lateral and heading linear dynamic mathematical model with the lateral and heading stabilization control law, a scaled-down model closed-loop control system is established.

[0053] Optimization module for control law gain parameters in scaled model closed-loop control system: used to optimize control law gain parameters in scaled model closed-loop control system;

[0054] Scaled model closed-loop control system verification module: used to verify the scaled model closed-loop control system:

[0055] Verify whether the scaled model closed-loop control system meets the scaled model lateral and directional flight quality design requirements. If not, re-optimize the control law gain parameters in the scaled model closed-loop control system.

[0056] Furthermore, in the above-mentioned aircraft wind tunnel virtual free flight lateral and heading stabilization control system design system, in the scaled model lateral and heading linear dynamic mathematical model establishment module, a scaled model lateral and heading linear dynamic mathematical model is established, specifically:

[0057]

[0058] in,

[0059] β, p, r, φ are the sideslip angle, roll rate, yaw rate, and roll angle;

[0060] α, θ are the trim angle of attack and pitch angle;

[0061] δ a ,δ r is the aileron deflection and rudder deflection;

[0062] L β 、N β , L p 、N p , L r 、N r , is the rolling moment and yaw moment on β, p, r, δ a ,δ r The derivative of .

[0063] Furthermore, in the above-mentioned aircraft wind tunnel virtual free flight lateral heading stabilization control system design system, in the scaled model scaled coefficient calculation module, the scaled model scaled coefficient is calculated, specifically:

[0064]

[0065] in:

[0066] K scale factor of the scale model;

[0067] l a is the linear size of the prototype;

[0068] l m is the linear size corresponding to the scaled model.

[0069] Furthermore, in the above-mentioned aircraft wind tunnel virtual free flight lateral and heading stabilization control system design system, in the scaled model lateral and heading flight quality design requirement determination module, the scaled model lateral and heading flight quality design requirements are determined, specifically:

[0070]

[0071] in,

[0072] T rm , T sm , dm ,ω dm are the roll mode time constant, spiral mode doubling time, and Dutch roll mode damping ratio and frequency of the scaled model;

[0073] T ra , T sa , da ,ω da These are the roll mode time constant, spiral mode doubling time, and Dutch roll mode damping ratio and frequency of the prototype.

[0074] Furthermore, in the above-mentioned aircraft wind tunnel virtual free flight lateral heading stabilization control system design system, in the scaled model lateral heading stabilization control law establishment module, the scaled model lateral heading stabilization control law is established, specifically:

[0075]

[0076] in,

[0077] KPP and KPI are lateral proportional and integral gains; p c is the roll angular rate command value;

[0078] KBP, KBI, KBDOT are heading proportional, integral, and damping gains; β c is the sideslip angle command value, is the rate of change of sideslip angle.

[0079] Furthermore, in the aircraft wind tunnel virtual free flight lateral and heading stabilization control system design system, in the scaled model lateral and heading stabilization control law establishment module,

[0080] Furthermore, in the above-mentioned aircraft wind tunnel virtual free flight lateral heading stabilization control system design system, in the control law gain parameter optimization module in the scaled model closed-loop control system, the control law gain parameters in the scaled model closed-loop control system are optimized, specifically:

[0081] According to the flight quality design requirements, the root locus method is used to determine the lateral proportional gain KPP, heading proportional gain KBP, and heading damping gain KBDOT. According to the lateral and heading control command tracking requirements, the lateral integral gain KPI and heading integral gain KBI are determined by the time domain simulation system.

[0082] Furthermore, in the above-mentioned aircraft wind tunnel virtual free flight lateral heading stabilization control system design system, in the scaled model closed-loop control system verification module, the scaled model closed-loop control system is verified, specifically:

[0083] Verify whether the scaled model closed-loop control system meets the scaled model lateral and heading flight quality design requirements. If not, repeat steps 6 to 7.

[0084] This application has at least the following beneficial technical effects:

[0085] The invention provides a design method and system for a lateral and yaw augmentation control system for a virtual free flight of an aircraft in a wind tunnel. The method has a rigorous theoretical basis. According to the characteristics of the wind tunnel virtual free flight test and the flight quality design requirements, the control law gain value that meets the flight quality design requirements and the virtual free flight control requirements is obtained through repeated iterations. The lateral and yaw augmentation control system that meets the test control requirements is designed, which can improve the control performance of the wind tunnel virtual free flight test and reduce the test cycle and cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] Figure 1 It is a schematic diagram of a design method for a lateral and directional stabilization control system for a virtual free flight in a wind tunnel of an aircraft provided in an embodiment of the present application;

[0087] Figure 2 It is a block diagram of the principle structure of the wind tunnel virtual free flight lateral heading stabilization control law provided in the embodiment of the present application;

[0088] Figure 3 It is a curve diagram of the simulated response of the sideslip angle of a wind tunnel virtual free flight scale model provided in an embodiment of the present application;

[0089] Figure 4 It is a roll angle rate simulation response curve diagram of a wind tunnel virtual free flight scale model provided in an embodiment of the present application;

[0090] Figure 5 It is a schematic diagram of an aircraft wind tunnel virtual free flight lateral and heading stabilization control system design system provided in an embodiment of the present application.

[0091] In order to better illustrate the present embodiment, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product. In addition, the drawings are only used for illustrative purposes and should not be construed as limitations on the present application. DETAILED DESCRIPTION

[0092] In order to make the technical solution and advantages of the present application clearer, the technical solution of the present application will be described in further detail in detail and in detail with reference to the accompanying drawings. It can be understood that the specific embodiments described here are only partial embodiments of the present application, which are only used to explain the present application, not to limit the present application. It should be noted that, for the convenience of description, only the parts related to the present application are shown in the accompanying drawings, and other related parts can refer to the general design.

[0093] In addition, unless otherwise defined, the technical terms or scientific terms used in the description of this application shall have the usual meanings understood by those of ordinary skill in the art to which this application belongs. The words used in the description of this application to indicate orientation are only used to indicate relative directions or positional relationships. When the absolute position of the described object changes, its relative positional relationship may also change accordingly. The word "include" used in the description of this application indicates that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, but does not exclude other elements or objects.

[0094] In addition, it should be noted that, unless otherwise clearly specified and limited, the words "installation", "connection" and similar terms used in the description of this application should be understood in a broad sense. For example, the connection can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Technical personnel in the field can understand its specific meaning in this application according to the specific circumstances.

[0095] A design method for aircraft wind tunnel virtual free flight lateral and heading stabilization control system. Figure 1 shown.

[0096] Step 1: Establish a scaled-down model of the horizontal and heading linear dynamic mathematical model.

[0097] Since the linear motion of the scaled model is constrained in the wind tunnel virtual free flight test, the terms related to the lateral force will be ignored in the dynamic model, and only the terms related to the lateral heading angle motion will be retained. A linearized lateral heading dynamic model of the scaled model suitable for the three-degree-of-freedom wind tunnel virtual free flight test can be established, as shown in Formula 1:

[0098]

[0099] in,

[0100] β, p, r, φ are the sideslip angle, roll rate, yaw rate, and roll angle;

[0101] α, θ are the trim angle of attack and pitch angle;

[0102] δ a ,δ r is the aileron deflection and rudder deflection;

[0103] L β 、N β , L p 、N p , L r 、N r , is the rolling moment and yaw moment on β, p, r, δ a ,δr The derivative of .

[0104] Step 2: Calculate the reduction coefficient of the scaled model.

[0105] According to the ratio of the linear size of the scaled model to the linear size of the prototype, the scale factor of the scaled model is calculated, as shown in Formula 2:

[0106]

[0107] in:

[0108] K scale factor of the scale model;

[0109] l a is the linear size of the prototype;

[0110] l m is the linear size corresponding to the scaled model.

[0111] Step 3: Determine the design requirements for the lateral and directional flight qualities of the scaled model.

[0112] Based on the scale factor of the scaled model, the lateral and heading flight quality design requirements that the wind tunnel virtual free flight scaled model needs to meet are determined according to the flight quality specifications and the principle of dynamic similarity criteria, as shown in Formula 3:

[0113]

[0114] in,

[0115] T rm , T sm , dm ,ω dm are the roll mode time constant, spiral mode doubling time, and Dutch roll mode damping ratio and frequency of the scaled model;

[0116] T ra , T sa , da ,ω da These are the roll mode time constant, spiral mode doubling time, and Dutch roll mode damping ratio and frequency of the prototype.

[0117] Step 4: Establish the lateral and heading stabilization control law of the scaled model.

[0118] In the wind tunnel virtual free flight test, the lateral acceleration cannot be obtained due to the constraint on displacement, and the conventional use of lateral acceleration signal for heading stabilization cannot be achieved. Therefore, the sideslip angle signal is introduced for heading stabilization and control, and the roll angular velocity signal is used for control and stabilization in the lateral direction. The scaled model lateral heading stabilization control law is established, as shown in Equation 4:

[0119]

[0120] in,

[0121] KPP and KPI are lateral proportional and integral gains; p c is the roll angular rate command value;

[0122] KBP, KBI, KBDOT are heading proportional, integral, and damping gains; β c is the sideslip angle command value, is the rate of change of sideslip angle.

[0123] The slip angle change rate can be approximately calculated by formula 5:

[0124]

[0125] Step 5: Establish a closed-loop control system for the scaled model.

[0126] Combining the scaled-down model's lateral and heading linearized dynamic mathematical model with the lateral and heading augmentation control law, a scaled-down model closed-loop control system is established.

[0127] Step 6: Optimize the control law gain parameters in the scaled model closed-loop control system.

[0128] According to the flight quality design requirements, the root locus method is used to determine the lateral proportional gain KPP, heading proportional gain KBP, and heading damping gain KBDOT. According to the lateral and heading control command tracking requirements, the lateral integral gain KPI and heading integral gain KBI are determined by time domain simulation method.

[0129] Step 7: Verify the scaled model closed-loop control system.

[0130] Verify whether the scaled model closed-loop control system meets the scaled model lateral and heading flight quality design requirements. If not, repeat steps 6 to 7.

[0131] The above-mentioned embodiment discloses a design method for a lateral heading augmentation control system for a wind tunnel virtual free flight of an aircraft. First, a lateral heading linearized dynamic model of a scaled model suitable for a three-degree-of-freedom wind tunnel virtual free flight test is established. Then, based on the scale factor of the scaled model and in accordance with the flight quality specification and the principle of dynamic similarity criterion, the lateral heading flight quality design requirements that the wind tunnel virtual free flight scaled model needs to meet are determined. Then, according to the characteristics of the wind tunnel virtual free flight, a lateral heading augmentation control law of the scaled model is designed and established. A lateral heading linearized dynamic mathematical model is used to establish a scaled model closed-loop control system. Then, according to the lateral heading flight quality design requirements and the virtual free flight command tracking requirements, the root locus method and the time domain simulation method are used to determine the lateral heading augmentation control law gain parameters. Finally, the low-order equivalent principle is used to evaluate whether the scaled model closed-loop control system meets the lateral heading flight quality design requirements, and a lateral heading augmentation control system that meets the test control requirements is designed.

[0132] The aircraft wind tunnel virtual free flight lateral and heading stabilization control system design method disclosed in the above embodiment has a rigorous theoretical basis. According to the wind tunnel virtual free flight test characteristics and the flight quality design requirements, the control law gain value that meets the flight quality design requirements and the virtual free flight control requirements is obtained through an iterative method, and a lateral and heading stabilization control system that meets the test control requirements is designed, which can improve the control performance of the wind tunnel virtual free flight test and reduce the test cycle and cost.

[0133] In a specific example, the basic parameters of the aircraft wind tunnel virtual free flight scale model are shown in the following table: Serial number Parameter name unit Numeric 1 Scale factor — 15 2 span m 3 3 Wing area <![CDATA[m 2 ]]> 1.15 3 weight kg 38.5 4 Test wind speed m / s 20

[0134] The aircraft wind tunnel virtual free flight lateral and heading stabilization control system design method disclosed in the above embodiment is implemented as follows.

[0135] S1. Establish a scaled-down model of the horizontal and heading linear dynamic mathematical model:

[0136]

[0137] S2. Calculate the scale factor of the scaled model and take it as 15.

[0138] S3. Determine the design requirements for the lateral and directional flight quality of the scaled model:

[0139]

[0140] S4. Establish the scaled model lateral and heading stabilization control law, the principle structure diagram, such as Figure 2 shown.

[0141] S5. Combine the scaled-down model's lateral and heading linear dynamic mathematical model with the lateral and heading stabilization control law to establish a scaled-down model closed-loop control system.

[0142] S6. According to the flight quality design requirements, the root locus method is used to determine the lateral proportional gain KPP, the heading proportional gain KBP, and the heading damping gain KBDOT. According to the lateral and heading control command tracking requirements, the lateral integral gain KPI and the heading integral gain KBI are determined by the time domain simulation method.

[0143] S7. Calculate the lateral and yaw flight quality of the scaled model closed-loop control system and compare it with the scaled model lateral and yaw flight quality design requirements. The table is as follows: Serial number name Design requirements Actual value 1 <![CDATA[T rm ]]> <0.25 0.057 2 <![CDATA[ζ dm ]]> >0.5 0.55 3 <![CDATA[ω dm ]]> >3.8 4.46

[0144] It can be seen that the designed lateral and azimuth stability augmentation control system meets the flight quality design requirements.

[0145] According to the scaled model closed-loop control system and its lateral and directional stabilization control law, lateral and directional simulation calculations are carried out. Figure 3 , Figure 4 It is the time domain response curve of the sideslip angle and roll angular rate step command of the scaled model. It can be seen that the sideslip angle and roll angular rate command tracking is fast, the overshoot is small, the steady-state error is small, and the control effect on the wind tunnel virtual free flight scaled model is good.

[0146] A design system for aircraft wind tunnel virtual free flight lateral and heading stabilization control system, such as Figure 5 As shown, including:

[0147] Module for establishing the dynamic mathematical model of the horizontal and heading linearization of the scaled model: used to establish the dynamic mathematical model of the horizontal and heading linearization of the scaled model;

[0148] Scaled model scaling coefficient calculation module: used to calculate the scaled model scaling coefficient;

[0149] Module for determining the design requirements for the lateral and directional flight quality of the scaled model: used to determine the design requirements for the lateral and directional flight quality of the scaled model:

[0150] Based on the scale factor of the scaled model, the design requirements for the lateral and directional flight quality that the wind tunnel virtual free flight scaled model needs to meet are determined according to the flight quality specifications and the principle of dynamic similarity criteria.

[0151] Scaled model lateral and heading stabilization control law establishment module: used to establish the scaled model lateral and heading stabilization control law;

[0152] Scaled model closed-loop control system establishment module: used to establish a scaled model closed-loop control system:

[0153] Combining the scaled-down model's lateral and heading linear dynamic mathematical model with the lateral and heading stabilization control law, a scaled-down model closed-loop control system is established.

[0154] Optimization module for control law gain parameters in scaled model closed-loop control system: used to optimize control law gain parameters in scaled model closed-loop control system;

[0155] Scaled model closed-loop control system verification module: used to verify the scaled model closed-loop control system:

[0156] Verify whether the scaled model closed-loop control system meets the scaled model lateral and directional flight quality design requirements. If not, re-optimize the control law gain parameters in the scaled model closed-loop control system.

[0157] Optionally, in the aircraft wind tunnel virtual free flight lateral and heading stabilization control system design system, in the scaled model lateral and heading linear dynamic mathematical model establishment module, a scaled model lateral and heading linear dynamic mathematical model is established, specifically:

[0158]

[0159] in,

[0160] β, p, r, φ are the sideslip angle, roll rate, yaw rate, and roll angle;

[0161] α, θ are the trim angle of attack and pitch angle;

[0162] δ a ,δ r is the aileron deflection and rudder deflection;

[0163] L β 、N β , L p 、N p , L r 、N r , is the rolling moment and yaw moment on β, p, r, δ a ,δ r The derivative of .

[0164] Optionally, in the aircraft wind tunnel virtual free flight lateral and heading stabilization control system design system, in the scaled model scaled coefficient calculation module, the scaled model scaled coefficient is calculated as follows:

[0165]

[0166] in:

[0167] K scale factor of the scale model;

[0168] l a is the linear size of the prototype;

[0169] l m is the linear size corresponding to the scaled model.

[0170] Optionally, in the aircraft wind tunnel virtual free flight lateral and yaw stabilization control system design system, in the scaled model lateral and yaw flight quality design requirement determination module, the scaled model lateral and yaw flight quality design requirements are determined, specifically:

[0171]

[0172] in,

[0173] T rm , T sm , dm ,ω dm are the roll mode time constant, spiral mode doubling time, and Dutch roll mode damping ratio and frequency of the scaled model;

[0174] T ra , T sa , da ,ω da These are the roll mode time constant, spiral mode doubling time, and Dutch roll mode damping ratio and frequency of the prototype.

[0175] Optionally, in the aircraft wind tunnel virtual free flight lateral and heading stabilization control system design system, in the scaled model lateral and heading stabilization control law establishment module, a scaled model lateral and heading stabilization control law is established, specifically:

[0176]

[0177] in,

[0178] KPP and KPI are lateral proportional and integral gains; p c is the roll angular rate command value;

[0179] KBP, KBI, KBDOT are heading proportional, integral, and damping gains; β c is the sideslip angle command value, is the rate of change of sideslip angle.

[0180] Optionally, in the aircraft wind tunnel virtual free flight lateral and heading stabilization control system design system, in the scaled model lateral and heading stabilization control law establishment module,

[0181] Optionally, in the above-mentioned aircraft wind tunnel virtual free flight lateral heading stabilization control system design system, in the control law gain parameter optimization module in the scaled model closed-loop control system, the control law gain parameter in the scaled model closed-loop control system is optimized, specifically:

[0182] According to the flight quality design requirements, the root locus method is used to determine the lateral proportional gain KPP, heading proportional gain KBP, and heading damping gain KBDOT. According to the lateral and heading control command tracking requirements, the lateral integral gain KPI and heading integral gain KBI are determined by the time domain simulation system.

[0183] Optionally, in the above-mentioned aircraft wind tunnel virtual free flight lateral and heading stabilization control system design system, in the scaled model closed-loop control system verification module, the scaled model closed-loop control system is verified, specifically:

[0184] Verify whether the scaled model closed-loop control system meets the scaled model lateral and heading flight quality design requirements. If not, repeat steps 6 to 7.

[0185] With regard to the aircraft wind tunnel virtual free flight lateral and heading stabilization control system design system disclosed in the above-mentioned embodiment, since it corresponds to the aircraft wind tunnel virtual free flight lateral and heading stabilization control system design method disclosed in the above-mentioned embodiment, the description is relatively simple. For specific related matters, please refer to the relevant description of the aircraft wind tunnel virtual free flight lateral and heading stabilization control system design method. Its technical effects can also refer to the technical effects of the relevant parts of the aircraft wind tunnel virtual free flight lateral and heading stabilization control system design method, which will not be repeated here.

[0186] In addition, technicians in the field should also be able to realize that the various modules and units of the aircraft wind tunnel virtual free flight lateral and heading stabilization control system design system disclosed in the embodiments of the present application can be implemented by electronic hardware, computer software or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, this application generally describes them according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Technicians in the field can choose to adopt different methods to implement the described functions for each specific application and its actual constraints, but such implementation should not be considered to be beyond the scope of this application.

[0187] So far, the technical solution of the present application has been described in conjunction with the preferred embodiments shown in the accompanying drawings. Those skilled in the art should understand that the scope of protection of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the scope of protection of the present application.

Claims

1. A design method for a lateral and directional stabilization control system for a virtual free flight in a wind tunnel of an aircraft, characterized in that: include: Step 1: Establish a scaled-down model horizontal and heading linear dynamic mathematical model; Step 2, calculating the reduction coefficient of the scaled model; Step 3: Determine the design requirements for the scaled model's lateral and directional flight quality: Based on the scale factor of the scaled model, the design requirements for the lateral and directional flight quality that the wind tunnel virtual free flight scaled model needs to meet are determined according to the flight quality specifications and the principle of dynamic similarity criteria. Step 4: Establish the scaled model lateral and heading stabilization control law; Step 5: Establish a scaled model closed-loop control system: Combining the scaled-down model's lateral and heading linear dynamic mathematical model with the lateral and heading stabilization control law, a scaled-down model closed-loop control system is established. Step 6: Optimize the control law gain parameters in the scaled model closed-loop control system; Step 7: Verify the scaled model closed-loop control system: Verify whether the scaled model closed-loop control system meets the scaled model lateral and heading flight quality design requirements. If not, repeat steps 6 to 7.

2. The design method of an aircraft wind tunnel virtual free flight lateral and heading stabilization control system according to claim 1 is characterized in that: In step 1, a scaled model lateral and heading linear dynamic mathematical model is established, specifically: in, β 、p , r, φ are sideslip angle, roll angle rate, yaw angle rate, and roll angle; α, θ are the trim angle of attack and pitch angle; δ a ,δ r is the aileron deflection and rudder deflection; L β 、N β , L p 、N p , L r 、N r , is the rolling moment and yaw moment on β, p, r, δ a ,δ r The derivative of .

3. The design method of an aircraft wind tunnel virtual free flight lateral and heading stabilization control system according to claim 2 is characterized in that: In step 2, the scaling coefficient of the scaled model is calculated, specifically: in: K scale factor of the scale model; l a is the linear size of the prototype; l m is the linear size corresponding to the scaled model.

4. The design method of an aircraft wind tunnel virtual free flight lateral and heading stabilization control system according to claim 3 is characterized in that: In step 3, determine the design requirements for the scaled model's lateral and directional flight quality, specifically: in, T rm , T sm , dm ,ω dm are the roll mode time constant, spiral mode doubling time, and Dutch roll mode damping ratio and frequency of the scaled model; T ra , T sa , da ,ω da These are the roll mode time constant, spiral mode doubling time, and Dutch roll mode damping ratio and frequency of the prototype.

5. The design method of an aircraft wind tunnel virtual free flight lateral and heading stabilization control system according to claim 4 is characterized in that: In step 4, the scaled model lateral and heading stabilization control law is established, specifically: in, KPP and KPI are lateral proportional and integral gains; p c is the roll angular rate command value; KBP, KBI, KBDOT are heading proportional, integral, and damping gains; β c is the sideslip angle command value, is the rate of change of sideslip angle.

6. The design method of an aircraft wind tunnel virtual free flight lateral and heading stabilization control system according to claim 5, characterized in that: In step four, 7. The design method of an aircraft wind tunnel virtual free flight lateral and heading stabilization control system according to claim 6, characterized in that: In step six, the control law gain parameters in the scaled model closed-loop control system are optimized, specifically: According to the flight quality design requirements, the root locus method is used to determine the lateral proportional gain KPP, heading proportional gain KBP, and heading damping gain KBDOT. According to the lateral and heading control command tracking requirements, the lateral integral gain KPI and heading integral gain KBI are determined by time domain simulation method.

8. The design method of an aircraft wind tunnel virtual free flight lateral and heading stabilization control system according to claim 7, characterized in that: In step 7, the scaled model closed-loop control system is verified, specifically: Verify whether the scaled model closed-loop control system meets the scaled model lateral and heading flight quality design requirements. If not, repeat steps 6 to 7.

9. A design system for a lateral and directional stabilization control system for an aircraft wind tunnel virtual free flight, characterized in that: include: Module for establishing the dynamic mathematical model of the horizontal and heading linearization of the scaled model: used to establish the dynamic mathematical model of the horizontal and heading linearization of the scaled model; Scaled model scaling coefficient calculation module: used to calculate the scaled model scaling coefficient; Module for determining the design requirements for the lateral and directional flight quality of the scaled model: used to determine the design requirements for the lateral and directional flight quality of the scaled model: Based on the scale factor of the scaled model, the design requirements for the lateral and directional flight quality that the wind tunnel virtual free flight scaled model needs to meet are determined according to the flight quality specifications and the principle of dynamic similarity criteria. Scaled model lateral and heading stabilization control law establishment module: used to establish the scaled model lateral and heading stabilization control law; Scaled model closed-loop control system establishment module: used to establish a scaled model closed-loop control system: Combining the scaled-down model's lateral and heading linear dynamic mathematical model with the lateral and heading stabilization control law, a scaled-down model closed-loop control system is established. Optimization module for control law gain parameters in scaled model closed-loop control system: used to optimize control law gain parameters in scaled model closed-loop control system; Scaled model closed-loop control system verification module: used to verify the scaled model closed-loop control system: Verify whether the scaled model closed-loop control system meets the scaled model lateral and directional flight quality design requirements. If not, re-optimize the control law gain parameters in the scaled model closed-loop control system.

10. The aircraft wind tunnel virtual free flight lateral and heading stabilization control system design system according to claim 9, characterized in that: In the scaled model lateral and heading linear dynamic mathematical model establishment module, the scaled model lateral and heading linear dynamic mathematical model is established, specifically: in, β, p, r, φ are the sideslip angle, roll rate, yaw rate, and roll angle; α, θ are the trim angle of attack and pitch angle; δ a ,δ r is the aileron deflection and rudder deflection; L β 、N β , L p 、N p , L r 、N r , is the rolling moment and yaw moment on β, p, r, δ a ,δ r The derivative of .

11. The aircraft wind tunnel virtual free flight lateral and heading stabilization control system design system according to claim 10, characterized in that: In the scaled model scale factor calculation module, the scaled model scale factor is calculated, specifically: in: K scale factor of the scale model; l a is the linear size of the prototype; l m is the linear size corresponding to the scaled model.

12. The aircraft wind tunnel virtual free flight lateral and heading stabilization control system design system according to claim 11, characterized in that: In the module for determining the design requirements for the lateral and tack flight quality of the scaled model, the design requirements for the lateral and tack flight quality of the scaled model are determined, specifically: in, T rm , T sm , dm ,ω dm are the roll mode time constant, spiral mode doubling time, and Dutch roll mode damping ratio and frequency of the scaled model; T ra , T sa , da ,ω da These are the roll mode time constant, spiral mode doubling time, and Dutch roll mode damping ratio and frequency of the prototype.

13. The aircraft wind tunnel virtual free flight lateral and heading stabilization control system design system according to claim 12, characterized in that: In the scaled model lateral and heading stabilization control law establishment module, the scaled model lateral and heading stabilization control law is established, specifically: in, KPP and KPI are lateral proportional and integral gains; p c is the roll angular rate command value; KBP, KBI, KBDOT are heading proportional, integral, and damping gains; β c is the sideslip angle command value, is the rate of change of sideslip angle.

14. The aircraft wind tunnel virtual free flight lateral and heading stabilization control system design system according to claim 13, characterized in that: In the module for establishing the lateral and directional stabilization control law of the scaled model, 15. The aircraft wind tunnel virtual free flight lateral and heading stabilization control system design system according to claim 14, characterized in that: In the control law gain parameter optimization module in the scaled model closed-loop control system, the control law gain parameters in the scaled model closed-loop control system are optimized, specifically: According to the flight quality design requirements, the root locus method is used to determine the lateral proportional gain. KPP , heading proportional gain KBP, heading damping gain KBDOT, and according to the lateral heading control command tracking requirements, the lateral integral gain is determined by the time domain simulation system KPI , Heading integral gain KBI .

16. The aircraft wind tunnel virtual free flight lateral and heading stabilization control system design system according to claim 15, characterized in that: In the scaled model closed-loop control system verification module, the scaled model closed-loop control system is verified, specifically: Verify whether the scaled model closed-loop control system meets the scaled model lateral and heading flight quality design requirements. If not, repeat steps 6 to 7.

Images