A roll angle control law roll angle jump protection method and device with integrator

Abstract

The present application belongs to the field of flight control technology, and particularly relates to a roll angle jump protection method and device for a roll angle control law with an integrator. The method includes step S1, obtaining the roll angle at the current moment; step S2, determining whether the roll angle sign has jumped based on the pre-stored roll angle at the previous moment and the roll angle at the current moment; step S3, when the roll angle sign has jumped, obtaining the pre-stored comprehensive point output at the previous moment; step S4, subtracting the roll angle rate branch output and the roll angle branch output at the current moment from the comprehensive point output at the previous moment, to obtain the initial value of the integrator; step S5, initializing the integrator of the roll angle deviation product branch through the initial value of the integrator, and obtaining the corrected value of the roll angle deviation product branch output at the current moment. The present application can ensure that the lateral control amount does not jump when the roll angle jumps.

Description

Technical Field

[0001] The present application belongs to the field of flight control technology, and in particular relates to a roll angle jump protection method and device for a roll angle control law with an integrator. Background Art

[0002] As an important parameter for aircraft flight, the roll angle refers to the angle from the vertical plane to the symmetry plane around the aircraft body axis (generally, the right wing sinks and the left wing rises, which is defined as positive, and its range is ±180°). Since aircraft turn by rolling first and then pulling overload, the roll angle plays an important role in aircraft turning and is an important input for aircraft turning.

[0003] For small roll angle holding mode (generally within 90°), there is no problem of roll angle jumping between +180° and -180°. However, when the aircraft needs to automatically change to level flight when climbing at a large angle, it is generally necessary to fly the aircraft inverted, and then pull overload to lower the nose of the aircraft. At this time, there is a problem of roll angle jumping between +180° and -180°.

[0004] The roll angle of the aircraft is controlled by the automatic flight control system. In order to achieve zero static error control, an integrator is generally required. The integrator is usually set in the lateral self-flight control outer loop of the automatic flight control system. After the lateral self-flight control outer loop gives the lateral control amount, the lateral self-flight control inner loop of the automatic flight control system solves and controls the flight of the aircraft. The inner loop of the lateral self-flight control is a lateral control stabilization system or a damping system. Therefore, the outer loop only needs to design the corresponding roll angle maintenance control law, and then control the aircraft through the inner loop. However, due to the jump of the roll angle, the lateral control amount input to the inner loop will jump, which can easily lead to instability of the aircraft control. Summary of the invention

[0005] In order to solve the above problems, the present application provides a roll angle jump protection method and device for a roll angle control law with an integrator, which are used to protect the roll angle jump and prevent the lateral control amount input to the inner loop from jumping.

[0006] The first aspect of the present application provides a roll angle control law roll angle jump protection method with an integrator, mainly comprising:

[0007] Step S1, obtaining the current rolling angle;

[0008] Step S2, determining whether the sign of the roll angle changes based on the pre-stored roll angle at the previous moment and the roll angle at the current moment;

[0009] Step S3, when the sign of the roll angle changes, obtaining the pre-stored comprehensive point output of the previous moment, wherein the comprehensive point output is the sum of the output of the roll angle rate branch, the output of the roll angle branch, and the output of the roll angle deviation product branch;

[0010] Step S4, obtaining an integrator initial value by subtracting the roll angle rate branch output and the roll angle branch output at the current moment from the comprehensive point output at the previous moment;

[0011] Step S5, initializing the integrator of the roll angle deviation product branch by using the integrator initial value to obtain a roll angle deviation product branch output correction value at the current moment.

[0012] Preferably, step S2 further comprises:

[0013] A jump signal is determined. If the absolute value of the roll angle at the current moment is greater than 90°, and the product of the roll angle at the previous moment and the roll angle at the current moment is less than 0, a jump signal indicating that the sign of the roll angle jumps is given.

[0014] Preferably, step S5 further includes:

[0015] Step S6, calculating the integrated point output at the current moment based on the roll angle deviation product branch output correction value at the current moment, and obtaining the lateral control amount after gaining the integrated point output, and inputting the lateral control amount into the flight control inner loop to realize lateral control of the aircraft.

[0016] The second aspect of the present application provides a roll angle control law roll angle jump protection device with an integrator, mainly comprising:

[0017] A roll angle acquisition module is used to obtain the roll angle at the current moment;

[0018] A jump determination module, used to determine whether a roll angle sign jumps based on a pre-stored roll angle at a previous moment and a roll angle at a current moment;

[0019] A module for retrieving the comprehensive point output at the previous moment, used for obtaining the pre-stored comprehensive point output at the previous moment after the sign of the roll angle changes, wherein the comprehensive point output is the sum of the output of the roll angle rate branch, the output of the roll angle branch and the output of the roll angle deviation product branch;

[0020] An integrator initialization module is used to obtain an initial value of the integrator by subtracting the roll angle rate branch output and the roll angle branch output at the current moment from the comprehensive point output at the previous moment;

[0021] The product branch output correction module is used to initialize the integrator of the roll angle deviation product branch through the integrator initial value to obtain the roll angle deviation product branch output correction value at the current moment.

[0022] Preferably, the jump determination module includes a jump signal generating unit for providing a jump signal. If the absolute value of the roll angle at the current moment is greater than 90° and the product of the roll angle at the previous moment and the roll angle at the current moment is less than 0, a jump signal indicating that the sign of the roll angle jumps is provided.

[0023] Preferably, the device further comprises:

[0024] The lateral control amount generation module is used to calculate the comprehensive point output at the current moment based on the roll angle deviation product branch output correction value at the current moment, and obtain the lateral control amount after gaining the comprehensive point output, and input the lateral control amount into the flight control inner loop to realize lateral control of the aircraft.

[0025] This application can ensure that the lateral control amount does not jump when the roll angle jumps. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a flow chart of a preferred embodiment of the roll angle jump protection method of the roll angle control law with an integrator of the present application.

[0027] Figure 2 It is the structural principle diagram of the roll angle control law.

[0028] Figure 3 This is a comparison chart of the control effect with jump protection and the control effect without jump protection. DETAILED DESCRIPTION

[0029] 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.

[0030] The first aspect of the present application provides a roll angle control law roll angle jump protection method with an integrator, such as Figure 1 As shown, it mainly includes:

[0031] Step S1, obtaining the current rolling angle;

[0032] Step S2, determining whether the sign of the roll angle changes based on the pre-stored roll angle at the previous moment and the roll angle at the current moment;

[0033] Step S3, when the sign of the roll angle changes, obtaining the pre-stored comprehensive point output of the previous moment, wherein the comprehensive point output is the sum of the output of the roll angle rate branch, the output of the roll angle branch, and the output of the roll angle deviation product branch;

[0034] Step S4, obtaining an integrator initial value by subtracting the roll angle rate branch output and the roll angle branch output at the current moment from the comprehensive point output at the previous moment;

[0035] Step S5, initializing the integrator of the roll angle deviation product branch by using the integrator initial value to obtain a roll angle deviation product branch output correction value at the current moment.

[0036] refer to Figure 2 For the lateral self-flight control inner loop of the automatic flight control system, the roll angle control law consists of three branches, namely the roll angle rate branch, the roll angle branch and the roll angle deviation (roll angle command minus the actual roll angle) product branch. The output of the roll angle rate branch is x, and the roll angle branch may jump, and its output is y. The output of the roll angle deviation after passing through the integrator is z. Once the roll angle sign jumps, the integrator is reset, and the initial value a0 of the integrator is reset to:

[0037] a0 = all_pre-xy;

[0038] Among them, all_pre is the value of the three-way addition comprehensive point all at the previous moment, and x and y are the output values ​​of the roll angle rate branch and the roll angle branch at the current moment respectively. After the roll angle jumps, normal control can be performed without special operation.

[0039] In some optional implementations, step S2 further includes:

[0040] Determine the jump signal. The jump in this application means that the absolute value of the actual roll angle is greater than 90° and the previous beat and the current beat have different signs. Specifically, if the absolute value of the roll angle at the current moment is greater than 90°, and the product of the roll angle at the previous moment and the roll angle at the current moment is less than 0, a jump signal of the roll angle sign jump is given, and its mathematical expression is:

[0041] γ×γ pre <0 and |γ|>90°;

[0042] Among them, γ and γ pre are the roll angles at the current moment and the previous moment respectively.

[0043] In some optional embodiments, reference Figure 2, after step S5, further comprising:

[0044] Step S6, calculating the integrated point output at the current moment based on the roll angle deviation product branch output correction value at the current moment, and obtaining the lateral control amount after gaining the integrated point output, and inputting the lateral control amount into the flight control inner loop to realize lateral control of the aircraft.

[0045] This implementation scheme takes the inverted flight with an initial roll angle of zero as an example, that is, the aircraft first rolls to ±180°, and then rolls back after the overload pitch angle is reduced. Figure 3 ,From the simulation results, it can be seen that when the roll angle jumps, the responses of the roll angle are similar for the two cases with / without jump protection, but in the case without jump protection, the lateral ,control amount jumps (solid line), while in the case with jump protection, the lateral ,control amount does not jump (dashed line).

[0046] The present application is mainly used in automatic flight control laws that have control requirements for the roll angle, and can ensure that the lateral control amount does not jump when the roll angle jumps.

[0047] The second aspect of the present application provides a roll angle control law roll angle jump protection device with an integrator corresponding to the above method, mainly comprising:

[0048] A roll angle acquisition module is used to obtain the roll angle at the current moment;

[0049] A jump determination module, used to determine whether a roll angle sign jumps based on a pre-stored roll angle at a previous moment and a roll angle at a current moment;

[0050] A module for retrieving the comprehensive point output at the previous moment, used for obtaining the pre-stored comprehensive point output at the previous moment after the sign of the roll angle changes, wherein the comprehensive point output is the sum of the output of the roll angle rate branch, the output of the roll angle branch and the output of the roll angle deviation product branch;

[0051] An integrator initialization module is used to obtain an initial value of the integrator by subtracting the roll angle rate branch output and the roll angle branch output at the current moment from the comprehensive point output at the previous moment;

[0052] The product branch output correction module is used to initialize the integrator of the roll angle deviation product branch through the integrator initial value to obtain the roll angle deviation product branch output correction value at the current moment.

[0053] In some optional embodiments, the jump determination module includes a jump signal generating unit, which is used to provide a jump signal. If the absolute value of the roll angle at the current moment is greater than 90°, and the product of the roll angle at the previous moment and the roll angle at the current moment is less than 0, a jump signal indicating that the sign of the roll angle jumps is provided.

[0054] In some optional embodiments, the device further comprises:

[0055] The lateral control amount generation module is used to calculate the comprehensive point output at the current moment based on the roll angle deviation product branch output correction value at the current moment, and obtain the lateral control amount after gaining the comprehensive point output, and input the lateral control amount into the flight control inner loop to realize the lateral control of the aircraft.

[0056] 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 roll angle jump protection method for a roll angle control law with an integrator, characterized in that: include: Step S1, obtaining the current rolling angle; Step S2, determining whether the sign of the roll angle changes based on the pre-stored roll angle at the previous moment and the roll angle at the current moment; Step S3, when the sign of the roll angle changes, obtaining the pre-stored comprehensive point output of the previous moment, wherein the comprehensive point output is the sum of the output of the roll angle rate branch, the output of the roll angle branch, and the output of the roll angle deviation product branch; Step S4, obtaining an integrator initial value by subtracting the roll angle rate branch output and the roll angle branch output at the current moment from the comprehensive point output at the previous moment; Step S5, initializing the integrator of the roll angle deviation product branch by the integrator initial value, and obtaining a roll angle deviation product branch output correction value at the current moment; Step S6, calculating the integrated point output at the current moment based on the roll angle deviation product branch output correction value at the current moment, and obtaining the lateral control amount after gaining the integrated point output, and inputting the lateral control amount into the flight control inner loop to realize lateral control of the aircraft.

2. The roll angle control law roll angle jump protection method with an integrator as claimed in claim 1, characterized in that: Step S2 further comprises: A jump signal is determined. If the absolute value of the roll angle at the current moment is greater than 90°, and the product of the roll angle at the previous moment and the roll angle at the current moment is less than 0, a jump signal indicating that the sign of the roll angle jumps is given.

3. A roll angle control law roll angle jump protection device with an integrator, characterized in that: include: A roll angle acquisition module is used to obtain the roll angle at the current moment; A jump determination module, used to determine whether a roll angle sign jumps based on a pre-stored roll angle at a previous moment and a roll angle at a current moment; A module for retrieving the comprehensive point output at the previous moment, used for obtaining the pre-stored comprehensive point output at the previous moment after the sign of the roll angle changes, wherein the comprehensive point output is the sum of the output of the roll angle rate branch, the output of the roll angle branch and the output of the roll angle deviation product branch; An integrator initialization module is used to obtain an initial value of the integrator by subtracting the roll angle rate branch output and the roll angle branch output at the current moment from the comprehensive point output at the previous moment; An integration branch output correction module is used to initialize the integrator of the roll angle deviation integration branch through the integrator initial value to obtain a roll angle deviation integration branch output correction value at the current moment; The lateral control amount generation module is used to calculate the comprehensive point output at the current moment based on the roll angle deviation product branch output correction value at the current moment, and obtain the lateral control amount after gaining the comprehensive point output, and input the lateral control amount into the flight control inner loop to realize lateral control of the aircraft.

4. The roll angle control law roll angle jump protection device with an integrator as claimed in claim 3, characterized in that: The jump determination module includes a jump signal generating unit, which is used to provide a jump signal. If the absolute value of the roll angle at the current moment is greater than 90° and the product of the roll angle at the previous moment and the roll angle at the current moment is less than 0, a jump signal indicating that the sign of the roll angle jumps is provided.

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