A rapid verification test method and device for automatic throttle thrust control algorithm

Abstract

The present application belongs to the field of aircraft simulation technology, and particularly relates to a method and device for rapid verification test of an automatic throttle thrust control algorithm. The method comprises step S1, calculating the difference between the current throttle lever angle position and the target throttle lever position, and using the calculated difference as the input of the automatic throttle thrust control algorithm; step S2, delaying the throttle lever rate command output by the automatic throttle thrust control algorithm for a first time period, wherein the first time period is a delay in system communication; step S3, delaying the throttle lever rate command after the first time period delay for a second time period, wherein the second time period is a delay in the second-order inertia link of the actuation system; step S4, integrating the throttle lever rate command after the second time period delay to obtain the throttle lever angle, and repeating the above steps to implement a simulation cycle. The present application has the characteristics of simple structure, high simulation accuracy, and fast algorithm iteration verification.

Description

Technical Field

[0001] The present application belongs to the field of aircraft simulation technology, and in particular relates to a method and device for rapid verification test of an automatic throttle thrust control algorithm. Background Art

[0002] The thrust control mode of the autothrottle is commonly used in aircraft takeoff, go-around, and climb stages, including reduced thrust takeoff, reduced thrust climb, and reduced thrust go-around. The thrust control algorithm needs to be iteratively optimized in a closed-loop simulation environment before it can be applied in actual engineering. The traditional closed-loop simulation environment needs to include engine models, aircraft models, and other models. The constructed simulation environment is complex, and it takes a lot of time to troubleshoot problems when they occur, and the calculation running time is also long. The thrust control algorithm design mainly focuses on the response time and overshoot of the throttle lever angle, which can be separated from the aircraft model and engine model, so a simulation system can be built separately to test and verify it. Summary of the invention

[0003] In order to solve at least one of the above technical problems, the present application designs a rapid verification test method and device for an automatic throttle thrust control algorithm, which can speed up the iteration speed of the aircraft automatic throttle thrust control algorithm, reduce the time for maintaining the simulation environment, and improve work efficiency.

[0004] The first aspect of the present application provides a rapid verification test method for an automatic throttle thrust control algorithm, mainly comprising:

[0005] Step S1, calculating the difference between the current throttle lever angle position and the target throttle lever position, and using the calculated difference as the input of the automatic throttle thrust control algorithm;

[0006] Step S2, delaying the throttle lever rate command output by the automatic throttle thrust control algorithm for a first time period, where the first time period is a delay in system communication;

[0007] Step S3, delaying the throttle lever rate command after the first time period delay for a second time period, wherein the second time period is a delay in the second-order inertia link of the actuation system;

[0008] Step S4, integrating the throttle lever rate command after the delay in the second time period to obtain the throttle lever angle, and returning to step S1 as the current throttle lever angle, and repeating the above steps to realize the simulation cycle.

[0009] Preferably, the first time period is 0.2s to 0.5s.

[0010] Preferably, the second time period is: (1 / Ts+1) 2, where T ranges from 0.2 to 0.4, and s is the Laplace operator.

[0011] Preferably, in step S4, the throttle lever rate command is integrated by an integrator, and the initial output value of the integrator is a custom output value, which is set as a preset current throttle lever angle position value.

[0012] The second aspect of the present application provides a rapid verification test device for an automatic throttle thrust control algorithm, mainly comprising:

[0013] A difference calculation module, used for calculating the difference between the current throttle lever angle position and the target throttle lever position, and using the calculated difference as the input of the automatic throttle thrust control algorithm;

[0014] A first delay module, configured to delay the throttle lever rate command output by the automatic throttle thrust control algorithm for a first time period, wherein the first time period is a delay in system communication;

[0015] A second delay module, used for delaying the throttle lever rate command after the first time period delay for a second time period, wherein the second time period is a delay in a second-order inertia link of the actuation system;

[0016] The integration module is used to integrate the throttle lever rate instruction after the delay in the second time period to obtain the throttle lever angle, which is used as an input parameter of the difference calculation module.

[0017] Preferably, the first time period is 0.2s to 0.5s.

[0018] Preferably, the second time period is: (1 / Ts+1) 2 , where T ranges from 0.2 to 0.4, and s is the Laplace operator.

[0019] Preferably, the integration module comprises an integrator, and the integrator is an integrator with a self-defined initial value, and the initial value of the integrator is a preset current throttle lever angle position value.

[0020] The present application adds a delay link and an inertia link to the throttle rate command branch to accurately simulate the transmission characteristics of an actual automatic throttle system, and adopts a calculation method with an integrator as the core to build a closed-loop verification environment for the automatic throttle thrust control algorithm. The established algorithm verification environment does not rely on the aircraft model and the engine model, and has the characteristics of simple and easy use structure, high simulation accuracy, and fast algorithm iteration verification. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a flow chart of an implementation method of the automatic throttle thrust control algorithm rapid verification test method of the present application. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the implementation of this application clearer, the technical scheme in the implementation of this application will be described in more detail in combination with the drawings in the implementation of this application. In the drawings, the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The described implementation is a part of the implementation of this application, not all of the implementations. The implementation described below with reference to the drawings is exemplary and is intended to be used to explain this application, and cannot be understood as a limitation on this application. Based on the implementation in this application, all other implementations obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. The implementation of this application is described in detail below in combination with the drawings.

[0023] In a first aspect, the present application provides a rapid verification test method for an automatic throttle thrust control algorithm, wherein the automatic throttle thrust control algorithm takes the difference between a target throttle lever position and a current throttle lever position as input and takes a throttle lever rate instruction as output, wherein the verification test method comprises:

[0024] Step S1, calculating the difference between the current throttle lever angle position and the target throttle lever position, and using the calculated difference as the input of the automatic throttle thrust control algorithm;

[0025] Step S2, delaying the throttle lever rate command output by the automatic throttle thrust control algorithm for a first time period, where the first time period is a delay in system communication;

[0026] Step S3, delaying the throttle lever rate command after the first time period delay for a second time period, wherein the second time period is a delay in the second-order inertia link of the actuation system;

[0027] Step S4, integrating the throttle lever rate command after the delay in the second time period to obtain the throttle lever angle, and returning to step S1 as the current throttle lever angle, and repeating the above steps to realize the simulation cycle.

[0028] This application is based on the Simulink modeling and simulation environment. An integrator with a customized initial value is selected to simulate the automatic throttle system. The output of the thrust control algorithm enters the rate input port of the integrator after the delay link and the inertia link, simulating the transmission characteristics from the drive motor to the throttle lever angle in the automatic throttle system. The output of the integrator can be used as the current throttle lever angle to feed back to the throttle angle difference calculation module as the input of the thrust control algorithm.

[0029] refer to Figure 1, select the integrator with customized initial value to simulate the integration process from the throttle stick moving rate to the throttle stick angle. The initial value of the integrator is the initial value of the throttle stick TLA0. The delay link and the second-order inertia link are connected in series at the rate input port of the integrator. The time delay of the delay link is in the range of 0.2s to 0.5s according to experience. The form of the second-order inertia link is (1 / Ts+1) 2 , where the time constant T is in the range of 0.2 to 0.4 according to experience. Finally, the output of the integrator is used as the current throttle lever angle TLA, which is fed back to the throttle angle comparison module, compared with the target throttle lever angle TLA_C, and input to the thrust control algorithm. The throttle lever rate command output by the thrust control algorithm enters the integrator after passing through the above-mentioned delay link and the second-order inertia link, forming a closed-loop automatic throttle thrust control algorithm simulation verification link.

[0030] It should be noted that the design of the second-order inertia link is mainly based on the consideration that after the controller gives the throttle lever movement rate, the throttle lever is deflected by the motor. From the time the command is given to the throttle lever sensor output, multiple transmission system components such as motor gears are passed through, resulting in a certain time delay. In this regard, the present application constructs a second-order inertia link to accurately simulate the transmission characteristics of the actual automatic throttle system through time delay.

[0031] It should also be noted that the automatic throttle thrust control algorithm can be set as follows: first, the target throttle lever angle TLA_C is subtracted from the current throttle lever angle TLA to obtain the throttle lever angle difference D_TLA as the main control signal; then, after taking the absolute value |u| of the throttle lever angle difference D_TLA, a one-dimensional interpolation calculation is performed in the interpolation table to obtain the proportional gain Ktla. It should be noted here that the one-dimensional interpolation calculation means that both the input and output are single parameters. Here, the input is the throttle lever angle difference, and the output is the proportional gain. The interpolation table usually gives the upper and lower values ​​of the throttle lever angle difference. The upper and lower limits of the proportional gain are given at the same time. If the input throttle stick angle difference is between the upper and lower limits of the throttle stick angle difference in the interpolation table, the corresponding proportional gain can be interpolated between the upper and lower limits of the proportional gain according to the proportion. If the input throttle stick angle difference exceeds the upper limit of the throttle stick angle difference in the interpolation table, the output proportional gain can directly use the upper limit of the proportional gain in the interpolation table. Correspondingly, if the input throttle stick angle difference exceeds the lower limit of the throttle stick angle difference in the interpolation table, the output proportional gain can directly use the lower limit of the proportional gain in the interpolation table. After that, the throttle stick angle difference D_TLA is multiplied by the gain Ktla to obtain the throttle stick movement rate v_tla.

[0032] The second aspect of the present application provides a rapid verification test device for an automatic throttle thrust control algorithm corresponding to the above method, mainly comprising:

[0033] A difference calculation module, used for calculating the difference between the current throttle lever angle position and the target throttle lever position, and using the calculated difference as the input of the automatic throttle thrust control algorithm;

[0034] A first delay module, configured to delay the throttle lever rate command output by the automatic throttle thrust control algorithm for a first time period, wherein the first time period is a delay in system communication;

[0035] A second delay module, used for delaying the throttle lever rate command after the first time period delay for a second time period, wherein the second time period is a delay in a second-order inertia link of the actuation system;

[0036] The integration module is used to integrate the throttle lever rate instruction after the delay in the second time period to obtain the throttle lever angle, which is used as an input parameter of the difference calculation module.

[0037] In some optional implementations, the first time period is 0.2s to 0.5s.

[0038] In some optional implementations, the second time period is: (1 / Ts+1) 2 , where T ranges from 0.2 to 0.4, and s is the Laplace operator.

[0039] In some optional implementations, the integration module includes an integrator, and the integrator is an integrator with a self-defined initial value, and the initial value of the integrator is a preset current throttle lever angle position value.

[0040] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A rapid verification test method for an automatic throttle thrust control algorithm, wherein the automatic throttle thrust control algorithm takes the difference between the target throttle lever position and the current throttle lever position as input and takes the throttle lever rate instruction as output, characterized in that: The verification test method comprises: Step S1, calculating the difference between the current throttle lever angle position and the target throttle lever position, and using the calculated difference as the input of the automatic throttle thrust control algorithm; Step S2, delaying the throttle lever rate command output by the automatic throttle thrust control algorithm for a first time period, where the first time period is a delay in system communication; Step S3, delaying the throttle lever rate command after the first time period delay for a second time period, wherein the second time period is a delay in the second-order inertia link of the actuation system; Step S4, integrating the throttle lever rate command after the delay in the second time period to obtain the throttle lever angle, and returning to step S1 as the current throttle lever angle, and repeating the above steps to realize the simulation cycle.

2. The automatic throttle thrust control algorithm rapid verification test method according to claim 1, characterized in that: The first time period is 0.2s to 0.5s.

3. The automatic throttle thrust control algorithm rapid verification test method according to claim 1, characterized in that: The second time period is: (1 / Ts+1) 2 , where T ranges from 0.2 to 0.4, and s is the Laplace operator.

4. The automatic throttle thrust control algorithm rapid verification test method according to claim 1, characterized in that: In step S4, the throttle lever rate command is integrated by an integrator, the initial output value of the integrator is a custom output value, and the custom output value is set as a preset current throttle lever angle position value.

5. A rapid verification test device for automatic throttle thrust control algorithm, characterized in that: include: A difference calculation module, used for calculating the difference between the current throttle lever angle position and the target throttle lever position, and using the calculated difference as the input of the automatic throttle thrust control algorithm; A first delay module, configured to delay the throttle lever rate command output by the automatic throttle thrust control algorithm for a first time period, wherein the first time period is a delay in system communication; A second delay module, used for delaying the throttle lever rate command after the first time period delay for a second time period, wherein the second time period is a delay in a second-order inertia link of the actuation system; The integration module is used to integrate the throttle lever rate instruction after the delay in the second time period to obtain the throttle lever angle, which is used as an input parameter of the difference calculation module.

6. The automatic throttle thrust control algorithm rapid verification test device according to claim 5, characterized in that: The first time period is 0.2s to 0.5s.

7. The automatic throttle thrust control algorithm rapid verification test device according to claim 5, characterized in that: The second time period is: (1 / Ts+1) 2 , where T ranges from 0.2 to 0.4, and s is the Laplace operator.

8. The automatic throttle thrust control algorithm rapid verification test device according to claim 5, characterized in that: The integration module comprises an integrator, wherein the integrator is an integrator with a self-defined initial value, and the initial value of the integrator is a preset current throttle lever angle position value.

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