A speed control method for direct force landing control

Abstract

The present application belongs to the field of manned aircraft flight control technology, and particularly relates to a speed control method for direct force landing control. The method comprises: obtaining the flaperon deflection angle fed back by the flaperon sensor; obtaining the given target speed and the actual speed fed back by the speed sensor, and calculating the speed deviation according to the target speed and the actual speed; obtaining the gravity acceleration and the aircraft acceleration fed back by the acceleration sensor, and calculating the longitudinal overload according to the gravity acceleration and the aircraft acceleration; obtaining the speed fine-tuning amount fed back by the pilot; calculating the throttle lever control amount according to the flaperon deflection angle, the speed deviation, the longitudinal overload and the speed fine-tuning amount, and realizing the actual speed control according to the throttle lever control amount. The present application can realize automatic speed control in the process of direct force landing control, and can reduce the pilot's operating burden.

Description

Technical Field

[0001] The present application belongs to the field of manned aircraft flight control technology, and in particular relates to a speed control method for direct force landing control. Background Art

[0002] When performing certain special tasks, aircraft will encounter landing environments with many conditions, high operational difficulty and high risk. In such environments, the main problems faced are the difficulty of manual landing and the heavy burden on pilots. Direct force control technology can be used in manual landing scenarios. Its core is the decoupling control technology based on direct force, through the integrated design of pneumatic and control integration.

[0003] At present, most aircraft use traditional landing control, and there are few references to direct force landing control. Therefore, it is necessary to develop a new decoupling control law to realize the automatic speed holding function, which can greatly reduce the pilot's control burden, comprehensively improve landing accuracy, and improve the aircraft's mission execution capability.

[0004] Therefore, it is desired to have a technical solution to overcome or at least alleviate at least one of the above-mentioned defects of the prior art. Summary of the invention

[0005] The purpose of the present application is to provide a speed control method for direct force landing control to solve at least one problem existing in the prior art.

[0006] The technical solution of this application is:

[0007] A speed control method for direct force landing control, comprising:

[0008] Obtain the flaperon deflection angle fed back by the flaperon sensor;

[0009] Obtaining a given target speed and an actual speed fed back by a speed sensor, and calculating a speed deviation according to the target speed and the actual speed;

[0010] Obtaining gravity acceleration and aircraft acceleration fed back by an acceleration sensor, and calculating longitudinal overload according to the gravity acceleration and the aircraft acceleration;

[0011] Get pilot feedback on the speed adjustment amount;

[0012] A throttle lever control amount is calculated according to the flaperon deflection angle, the speed deviation, the longitudinal overload and the speed fine-tuning amount, and actual speed control is achieved according to the throttle lever control amount.

[0013] In at least one embodiment of the present application, the speed deviation is processed by a speed limiter.

[0014] In at least one embodiment of the present application, the longitudinal overload is processed by a low-pass filter.

[0015] In at least one embodiment of the present application, the longitudinal overload is processed by an overload limiter.

[0016] In at least one embodiment of the present application, the throttle lever control amount is calculated according to the flaperon deflection angle, the speed deviation, the longitudinal overload and the speed fine adjustment amount, including:

[0017] The flaperon deflection angle and the inertia link of the longitudinal overload are introduced, and the integral link of the speed deviation is introduced to calculate the throttle lever control amount:

[0018] ;

[0019] in, is the throttle lever control quantity, s is a complex variable, is the flaperon deflection angle, is the speed deviation, For longitudinal overload, Speed ​​fine-tuning amount, , is the time constant, , , , , For gain.

[0020] In at least one embodiment of the present application, the throttle lever control amount is processed by a throttle lever limiter.

[0021] The invention has at least the following beneficial technical effects:

[0022] The speed control method for direct force landing control of the present application can realize automatic control of speed during the direct force landing control process, which can reduce the pilot's operating burden, improve landing accuracy, and improve the aircraft's mission execution capability. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a flow chart of a speed control method for direct force landing control according to one embodiment of the present application;

[0024] Figure 2 It is a schematic diagram of the speed dynamic response result of an implementation method of the present application. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the implementation of this application clearer, the technical scheme in the embodiment of this application will be described in more detail below in conjunction with the drawings in the embodiment 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 embodiments are part of the embodiments of this application, not all of them. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain this application, and should not be construed as limitations on this application. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. The embodiments of this application are described in detail below in conjunction with the drawings.

[0026] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the scope of protection of the present application.

[0027] The following is combined with Figure 1 to Figure 2 This application is described in further detail.

[0028] The present application provides a speed control method for direct force landing control, which controls the following steps:

[0029] Obtain the flaperon deflection angle fed back by the flaperon sensor;

[0030] Get the given target speed and the actual speed fed back by the speed sensor, and calculate the speed deviation based on the target speed and the actual speed;

[0031] Obtain the gravity acceleration and the aircraft acceleration fed back by the acceleration sensor, and calculate the longitudinal overload based on the gravity acceleration and the aircraft acceleration;

[0032] Get pilot feedback on the speed adjustment amount;

[0033] The throttle lever control amount is calculated based on the flaperon deflection angle, speed deviation, longitudinal overload and speed fine-tuning amount, and the actual speed control is achieved based on the throttle lever control amount.

[0034] The speed control method for direct force landing control of the present application collects the input signal of the control surface, and uses the flaperon deflection angle as the input of the direct force landing speed automatic control, which can improve the rapidity of the speed response. The difference between the actual speed of the aircraft and the target speed is calculated to obtain the speed deviation. The speed deviation is used as the input of the direct force landing speed automatic control, which can realize the tracking control of the speed and then realize the precise control of the track. The ratio of the aircraft acceleration to the gravity acceleration is calculated to obtain the longitudinal overload. The longitudinal overload is used as the input of the direct force landing speed automatic control, which can increase the damping of the control system and obtain a good dynamic response. In order to fine-tune the given target speed, a fine-tuning switch of the target speed is designed, and the pilot can manually modify the given value of the target speed. After obtaining multiple inputs of the direct force landing speed automatic control, the throttle lever control amount is calculated through each input, and the actual speed control is realized according to the throttle lever control amount, so that the actual speed of the aircraft is close to the target speed.

[0035] In the preferred implementation of the present application, according to actual needs, the speed deviation can be processed by a speed limiter to avoid speed deviation exceeding the limit and realize system protection. In this embodiment, the longitudinal overload is processed by a low-pass filter to filter out the vibration frequency of the aircraft; the longitudinal overload can also be processed by an overload limiter to avoid overload exceeding the limit and realize system protection.

[0036] In the preferred embodiment of the present application, inertia and integration are introduced when calculating the throttle lever control amount. Specifically, the inertia of the flaperon deflection angle is introduced. , introducing the inertia link of longitudinal overload , introduce the integral link of speed deviation , the throttle lever control amount is calculated as:

[0037] ;

[0038] in, is the throttle lever control quantity, s is a complex variable, is the flaperon deflection angle, is the speed deviation, For longitudinal overload, Speed ​​fine-tuning amount, , is the time constant, , , , , For gain.

[0039] By introducing the inertia link of the flaperon deflection angle and the longitudinal overload, it helps to reduce the system's overreaction to rapidly changing input signals, thereby enhancing the stability of the system and reducing the fluctuation of the output signal.

[0040] By introducing the integral link of the speed deviation, the static error is eliminated and a steady-state filter is provided to achieve the purpose of maintaining the speed approximately constant. The speed deviation feedback tends to increase the frequency of the long-period mode and reduce the damping of the mode.

[0041] In this embodiment, the calculated throttle lever control amount is processed by the throttle lever limiter, so that the safety and stability of the aircraft landing process can be ensured.

[0042] In one embodiment of the present application, a certain type of aircraft control system is taken as an example. The aircraft control system adopts inner loop control, combines the speed control method in the technical solution of the present application, inputs wind disturbance amount to examine the control trajectory of the aircraft, and the various control parameters used in this embodiment are shown in Table 1. Figure 2 As shown, by adopting the speed control method in the technical solution of the present application, during the direct force landing control process, the actual speed (indicated speed) of the aircraft can be controlled near the target speed of 250km / h.

[0043] Table 1

[0044]

[0045] Add wind disturbances, observe the response of the aircraft's angle of attack, pitch angle and trajectory, and test the aircraft control system's ability to resist normal winds.

[0046] The speed control method for direct force landing control of the present application is simple to adjust parameters and easy to design. It can realize automatic speed control during direct force landing control, which can reduce the pilot's operating burden, allowing the pilot to focus on controlling the flight attitude and track, improve landing accuracy, and improve the aircraft's mission execution capability. The technical solution of this application has been verified by the demonstration and verification project, greatly reducing the pilot's operating burden; it has a wide range of applications and has broad application prospects in the field of military aircraft design.

[0047] 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 speed control method for direct force landing control, characterized in that: include: Obtain the flaperon deflection angle fed back by the flaperon sensor; Obtaining a given target speed and an actual speed fed back by a speed sensor, and calculating a speed deviation according to the target speed and the actual speed; Obtaining gravity acceleration and aircraft acceleration fed back by an acceleration sensor, and calculating longitudinal overload according to the gravity acceleration and the aircraft acceleration; Get pilot feedback on the speed adjustment amount; Calculating a throttle lever control amount according to the flaperon deflection angle, the speed deviation, the longitudinal overload, and the speed fine-tuning amount, and implementing actual speed control according to the throttle lever control amount; The throttle lever control amount is calculated according to the flaperon deflection angle, the speed deviation, the longitudinal overload and the speed fine adjustment amount, including: The flaperon deflection angle and the inertia link of the longitudinal overload are introduced, and the integral link of the speed deviation is introduced to calculate the throttle lever control amount: Among them, Δδ T is the throttle lever control quantity, s is a complex variable, δ Df is the flaperon deflection angle, ΔV b is the speed deviation, n x is the longitudinal overload, ΔV bc Speed ​​fine-tuning amount, τ1 and τ2 are time constants, K1, K2, K3, K4, and K5 are gains.

2. The speed control method for direct force landing control according to claim 1, characterized in that: The speed deviation is processed by a speed limiter.

3. The speed control method for direct force landing control according to claim 1, characterized in that: The longitudinal overload is processed by means of a low-pass filter.

4. The speed control method for direct force landing control according to claim 3, characterized in that: The longitudinal overload is handled by an overload limiter.

5. The speed control method for direct force landing control according to claim 1, characterized in that: The throttle lever control amount is processed by a throttle lever limiter.

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