A flight simulation model and modeling method for variable stability flight simulator

Abstract

The application discloses a flight simulation model and a modeling method for a variable stability flight simulator, and belongs to the technical field of flight simulation. The flight simulation model comprises an interface control module, a variable aerodynamic simulation module, a variable flight control simulation module, a physical property simulation module and a six-degree-of-freedom motion simulation module. The interface control module defines external data to be received. The variable aerodynamic simulation module establishes an aerodynamic derivative interpolation table and an aerodynamic coefficient expression according to a nonlinear aerodynamic data package, and superimposes the influence of externally configured aerodynamic parameters on the aerodynamic coefficients as an increment by reconstructing the aerodynamic coefficient expression. The physical property simulation module outputs the weight and inertia of an airplane. The six-degree-of-freedom motion simulation module calculates the motion state of the airplane. The variable flight control simulation module constructs flight control laws under different instruction types, and switches corresponding control laws and control gains in real time according to external configuration. The flight simulation model realizes double adjustment of aerodynamic parameters and flight control laws in the same flight simulation model.

Description

Technical Field

[0001] This invention relates to the field of flight simulation technology, specifically to a flight simulation model and modeling method for a variable stability flight simulator, which supports adjusting aerodynamic parameters and flight control laws in the model to change the flight quality characteristics of the simulated aircraft and achieve variable stability flight simulation. Background Technology

[0002] A flight simulator is a simulation system that simulates aircraft flight. It is widely used in the design and development of aircraft aerodynamics and flight control systems, as well as in training scenarios such as aircraft operating procedures, handling of malfunctions and special situations, and flight quality evaluation.

[0003] However, most flight simulators are designed and developed for specific aircraft models and can only simulate the flight characteristics of that specific model. Since different aircraft models have completely different flight stability and handling characteristics, pilots need to train on different simulators to operate multiple aircraft models. To enable pilots to train for different flight stability and handling characteristics on the same flight simulator, variable stability flight simulators are needed to provide simulations of different flight characteristics.

[0004] The flight simulation model is the core of a flight simulator, receiving control commands from the simulator's control equipment and calculating and outputting flight parameters that drive the simulator's response. The variable stability function of a variable stability flight simulator is achieved by changing the parameters of the flight simulation model. Existing variable stability flight simulation models can be divided into two types: one achieves stability by changing aerodynamic parameters and adjusting the linear aerodynamic coefficient expression. However, linear aerodynamic models cannot utilize existing nonlinear aerodynamic data packages and only have good control effects at the aircraft's trim point; when the aircraft deviates from the equilibrium point, it is difficult to produce the desired control response. The other type utilizes the feedback principle, adjusting the flight control law gain to change flight stability. However, during variable stability flight training, pilots need to experience both the changes in flight quality caused by different aerodynamic characteristics and the impact of different flight control laws and control gains on flight performance. Therefore, a flight simulation model that can encompass both aerodynamic parameter adjustment and flight control law adjustment functions is needed. Summary of the Invention

[0005] The purpose of this invention is to provide a flight simulation model and modeling method for a variable stability flight simulator. It incorporates a variable aerodynamic simulation module and a variable flight control simulation module into a traditional flight simulation model. The variable aerodynamic simulation module adjusts aerodynamic parameters based on a nonlinear aerodynamic data package by reconstructing the aerodynamic coefficient expressions. The variable flight control simulation module adjusts the flight control law by switching command types and control gains. This invention fully utilizes existing nonlinear aerodynamic data packages for various aircraft models, enabling the adjustment of different aerodynamic characteristics and flight control laws within the same flight simulation model. The technical solution of this invention is as follows.

[0006] A flight simulation model for a variable stability flight simulator includes: an interface control module, a variable aerodynamic simulation module, a variable flight control simulation module, a physical characteristic simulation module, and a six-degree-of-freedom motion simulation module;

[0007] The interface control module interacts with the variable aerodynamic simulation module, the variable flight control simulation module, and the six-degree-of-freedom motion simulation module. It is used to receive external initialization data, control commands, and configuration parameters, and output variable aerodynamic identifiers and configured aerodynamic parameters to the variable aerodynamic simulation module; output trim rudder deflection, stick and rudder control amounts, command type identifiers, and configured flight control gains to the variable flight control simulation module; and output trim thrust and initial flight parameters such as initial velocity, attitude, and position to the six-degree-of-freedom motion simulation module.

[0008] The variable aerodynamic simulation module interacts with the six-degree-of-freedom motion simulation module to calculate and output the aerodynamic forces and torques experienced by the aircraft under different motion states and aerodynamic parameter configurations.

[0009] The variable flight control simulation module interacts with the variable aerodynamic simulation module to calculate and output the control surface deflection under different stick and rudder control inputs, flight control command types, and control gains.

[0010] The physical property simulation module interacts with the six-degree-of-freedom motion simulation module to calculate and output the aircraft's weight, inertia, and other physical properties.

[0011] The six-degree-of-freedom motion module interacts with the variable aerodynamic simulation module and the variable flight control simulation module to calculate and output flight motion parameters such as aircraft speed, attitude, and position.

[0012] Preferably, the variable aerodynamic simulation module includes an aerodynamic derivative interpolation submodule, an aerodynamic coefficient reconstruction calculation submodule, and an aerodynamic force and torque calculation submodule. Specifically, the aerodynamic derivative interpolation submodule can interpolate aerodynamic derivatives using existing nonlinear aerodynamic data packages for existing aircraft models; the aerodynamic coefficient reconstruction calculation submodule reconstructs the aerodynamic coefficient expressions and calculates the aerodynamic coefficients after variable aerodynamic settings; and the aerodynamic force and torque calculation submodule calculates the aerodynamic forces and torques acting on the aircraft.

[0013] Preferably, the variable flight control simulation module includes a flight control law switching submodule and a control surface response submodule. The flight control law switching submodule can switch the flight control law and control gain under different command types in real time and calculate the desired control surface deflection angle, while the control surface response submodule calculates the actual control surface deflection angle.

[0014] A flight simulation model for a variable stability flight simulator, the modeling method of which includes the following steps:

[0015] Step 1: Establish the interface control module and define the external data to be received, including initial flight parameters, stick and rudder trim amount, stick and rudder control amount, variable aerodynamic identifier, flight control command type identifier, configured aerodynamic parameters, and configured flight control gain.

[0016] Step 2: Establish a variable aerodynamic simulation module. Based on the nonlinear aerodynamic data package, create an aerodynamic derivative interpolation table and aerodynamic coefficient expressions. Determine whether to perform variable aerodynamic settings based on the variable aerodynamic flag. If variable aerodynamic settings are performed, reconstruct the aerodynamic coefficient expressions, adding the influence of externally configured aerodynamic parameters as increments to the aerodynamic coefficients; otherwise, use only the basic nonlinear aerodynamic data package. Calculate the aerodynamic forces and moments acting on the aircraft using the aerodynamic force and moment formulas.

[0017] Step 3: Establish a physical property simulation module to output the aircraft weight, moment of inertia, and product of inertia;

[0018] Step 4: Establish a six-degree-of-freedom motion simulation module. Based on the gravity, thrust, aerodynamic forces, and torques acting on the aircraft, calculate the net force and net torque acting on the aircraft in the air. Use the six-degree-of-freedom motion equations to calculate the linear acceleration and angular acceleration of the aircraft in the airframe. After integration and coordinate transformation, calculate the velocity, attitude, and position of the aircraft in both the airframe and the ground-axis frame.

[0019] Step 5: Establish a variable flight control simulation module, construct flight control laws for different command types in the longitudinal, lateral, and directional channels, and switch the corresponding control laws and control gains in real time according to the command type identifier and externally configured control gains. Under the action of external stick and rudder control, calculate the desired control surface deflection angle, and calculate the actual control surface deflection angle through control surface dynamic response.

[0020] Preferably, the aerodynamic parameters configured in step two include longitudinal and lateral aerodynamic parameters. The longitudinal aerodynamic parameters include... , Lateral aerodynamic parameters include , , , , .

[0021] Preferably, the command types in step five include longitudinal, lateral, and heading command types. The longitudinal command types include angle of attack command, pitch rate command, pitch angle command, normal overload command, and direct chain command; the lateral command types include roll rate command, roll angle command, and direct chain command; and the heading command types include sideslip angle command, lateral overload command, and direct chain command.

[0022] Preferably, the control gain configured in step five includes command gain, feedforward gain, proportional gain, integral gain, derivative gain, inner loop feedback gain, and outer loop feedback gain.

[0023] The beneficial effects of this invention are as follows:

[0024] 1) A variable aerodynamic simulation module and a variable flight control simulation module were added to the traditional flight simulation model, which enabled dual adjustment of aerodynamic parameters and flight control laws in the same flight simulation model, providing a feasible technical solution for flight simulation modeling of variable stability flight simulators;

[0025] 2) The variable aerodynamic simulation module can make full use of existing nonlinear aerodynamic data packages and reconstruct aerodynamic coefficient expressions on them to adjust aerodynamic characteristics. This solves the problem that linear aerodynamic models are unable to produce the desired flight quality control response after the aircraft deviates from the equilibrium point.

[0026] 3) The variable flight control simulation module can switch control command types in real time based on the command type identifier and configure control gain. The impact of different control laws and control gains on flight performance is demonstrated through online adjustments to the flight control law. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of a flight simulation model.

[0028] Figure 2 A flowchart illustrating the modeling method for flight simulation models.

[0029] Figure 3 This is a schematic diagram of the flight control law of the variable flight control simulation module.

[0030] Figure 4 The simulation results are shown in the figure for different longitudinal aerodynamic parameters.

[0031] Figure 5 The simulation results are shown for the angle of attack command type.

[0032] Figure 6 The simulation results are shown for the pitch rate command type.

[0033] Figure 7 The simulation results are shown for the pitch angle command type.

[0034] Figure 8 The simulation results are shown for the normal overload command type. Detailed Implementation

[0035] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0036] like Figure 1 As shown in the figure, this embodiment of the invention discloses a flight simulation model for a variable stability flight simulator, including: an interface control module, a variable aerodynamic simulation module, a variable flight control simulation module, a physical characteristic simulation module, and a six-degree-of-freedom motion simulation module;

[0037] The interface control module interacts with the variable aerodynamic simulation module, the variable flight control simulation module, and the six-degree-of-freedom motion simulation module. It is used to receive external initialization data, control commands, and configuration parameters, and output variable aerodynamic identifiers and configured aerodynamic parameters to the variable aerodynamic simulation module; output trim rudder deflection, stick and rudder control amounts, command type identifiers, and configured flight control gains to the variable flight control simulation module; and output trim thrust and initial flight parameters such as initial velocity, attitude, and position to the six-degree-of-freedom motion simulation module.

[0038] The variable aerodynamic simulation module interacts with the six-degree-of-freedom motion simulation module to calculate and output the aerodynamic forces and torques experienced by the aircraft under different motion states and aerodynamic parameter configurations.

[0039] The variable flight control simulation module interacts with the variable aerodynamic simulation module to calculate and output the control surface deflection under different stick and rudder control inputs, flight control command types, and control gains.

[0040] The physical property simulation module interacts with the six-degree-of-freedom motion simulation module to calculate and output the aircraft's weight, inertia, and other physical properties.

[0041] The six-degree-of-freedom motion module interacts with the variable aerodynamic simulation module and the variable flight control simulation module to calculate and output flight motion parameters such as aircraft speed, attitude, and position.

[0042] To further implement the above technical solution, the variable aerodynamic simulation module includes an aerodynamic derivative interpolation submodule, an aerodynamic coefficient reconstruction calculation submodule, and an aerodynamic force and torque calculation submodule. Specifically, the aerodynamic derivative interpolation submodule can interpolate aerodynamic derivatives using existing nonlinear aerodynamic data packages for existing aircraft models; the aerodynamic coefficient reconstruction calculation submodule reconstructs the aerodynamic coefficient expressions and calculates the aerodynamic coefficients after variable aerodynamic settings; and the aerodynamic force and torque calculation submodule calculates the aerodynamic forces and torques acting on the aircraft.

[0043] To further realize the above technical solution, the variable flight control simulation module includes a flight control law switching submodule and a control surface response submodule. The flight control law switching submodule can switch the flight control law and control gain under different command types in real time and calculate the desired control surface deflection angle, while the control surface response submodule calculates the actual control surface deflection angle.

[0044] like Figure 2 As shown in the figure, an embodiment of the present invention discloses a flight simulation model for a variable stability flight simulator, and its modeling method includes the following steps.

[0045] Step 1: Establish the interface control module and define the external data to be received, including initial flight parameters, stick and rudder trim, stick and rudder control inputs, variable aerodynamic identifier, flight control command type identifier, configured aerodynamic parameters, and configured flight control gain. The initial flight parameters provide initial integral values ​​for the six-degree-of-freedom motion calculation; the stick and rudder trim provides initial values ​​for the control surface deflection, ensuring the aircraft is initially in equilibrium; the stick and rudder control inputs are external control inputs, causing motion changes in the aircraft under their influence; the variable aerodynamic identifier determines whether variable aerodynamic settings are being implemented. If so, the variable aerodynamic simulation module will receive the externally configured aerodynamic parameters and reconstruct the aerodynamic coefficient expressions; the flight control command type identifier and configured flight control gain are used to switch between different flight control command types and change the flight control gain within the variable flight control simulation module, respectively.

[0046] Step 2: Establish a variable aerodynamic simulation module, and create an aerodynamic derivative interpolation table and basic expressions for aerodynamic coefficients based on the nonlinear aerodynamic data package. Consider externally configured aerodynamic parameters, including longitudinal aerodynamic parameters. , and lateral aerodynamic parameters , , , , These aerodynamic parameters affect the pitching moment coefficient, roll moment coefficient, and yaw moment coefficient, respectively. Therefore, the pitching moment coefficient is established based on the nonlinear aerodynamic data package. Rolling torque coefficient and yaw moment coefficient The basic expression. Here, the basic expression varies depending on the aerodynamic data package for the aircraft model, but it does not affect the adjustment of aerodynamic parameters and the reconstruction of aerodynamic coefficient expressions.

[0047] Furthermore, the presence of aerodynamic variable flags determines whether aerodynamic variable settings are required. If so, the aerodynamic coefficient expressions are reconstructed. The aircraft's state parameters at the equilibrium point are defined as follows: The foundation pitching moment coefficient at the equilibrium point is The basic rolling moment coefficient is The basic yaw moment coefficient is The effects of externally configured aerodynamic parameters are added as increments to the aerodynamic coefficients, and the reconstructed aerodynamic coefficient expression is as follows:

[0048] Reconstructed pitch moment coefficient: (1)

[0049] Reconstructed rolling moment coefficient: (2)

[0050] Reconstruction yaw moment coefficient: (3)

[0051] in, , , , , , , Externally configured aerodynamic parameters This represents the change in the aircraft's angle of attack. This represents the change in the aircraft's sideslip angle. For the angular velocity of the aircraft system, For the aircraft's vacuum speed, For wingspan, The mean aerodynamic chord length is given. Then, the aerodynamic forces and moments acting on the aircraft are calculated using the formulas for aerodynamic forces and moments.

[0052] Step 3: Establish a physical property simulation module and output the aircraft weight. Moment of inertia and inertial product This data does not take into account changes in the aircraft's center of gravity due to factors such as fuel consumption.

[0053] Step 4: Establish a six-degree-of-freedom motion simulation module. Based on the gravity, thrust, aerodynamic force, and aerodynamic torque acting on the aircraft, calculate the net force and net torque acting on the aircraft in the air. Use the following six-degree-of-freedom motion equations to calculate the linear acceleration and angular acceleration of the aircraft in the aircraft system:

[0054] Linear acceleration in a mechanical system: (4)

[0055] Angular acceleration under machine system: (5)

[0056] in, For the speed of the aircraft system, The resultant force and resultant torque acting on the aircraft, to The correlation coefficient is used. Then, through integration and coordinate transformation, the aircraft's velocity, attitude, and position in the aircraft-ground and ground-axis frames are calculated.

[0057] Step 5: Establish a variable flight control simulation module and construct flight control laws for different command types in the longitudinal, lateral, and directional channels. A schematic diagram of the control law structure is shown below. Figure 3 As shown.

[0058] Longitudinal command types include angle of attack command, pitch rate command, pitch angle command, normal overload command, and direct chain command. Specifically, angle of attack command refers to the command input form corresponding to the longitudinal control stick position and the angle of attack; pitch rate command refers to the command input form corresponding to the longitudinal control stick position and the pitch rate; pitch angle command refers to the command input form corresponding to the longitudinal control stick position and the pitch angle; normal overload command refers to the command input form corresponding to the longitudinal control stick position and the normal overload; and direct chain command refers to the command input form corresponding to the longitudinal control stick position and the elevator deflection.

[0059] Lateral commands include roll rate commands, roll angle commands, and direct chain commands. Roll rate commands refer to the input format where the lateral control stick position corresponds to the roll rate; roll angle commands refer to the input format where the lateral control stick position corresponds to the roll angle; and direct chain commands refer to the input format where the lateral control stick position corresponds to the aileron deflection.

[0060] Heading commands include sideslip angle commands, lateral overload commands, and direct chain commands. Specifically, sideslip angle commands refer to the input format where the aircraft's heading control input corresponds to the sideslip angle; lateral overload commands refer to the input format where the aircraft's heading control input corresponds to the lateral overload; and direct chain commands refer to the input format where the aircraft's heading control input corresponds to the rudder deflection.

[0061] Configurable control gains for each instruction type include instruction gain. Feedforward gain Proportional gain Integral gain Differential gain Inner loop feedback gain Outer loop feedback gain .

[0062] The corresponding control law and control gain are switched in real time based on the command type identifier and the externally configured control gain. Under the influence of external stick and rudder inputs, the desired control surface deflection angle is calculated. Taking the longitudinal pitch angle command type as an example, the control command is the longitudinal stick input. The outer ring feedback is the aircraft pitch angle. The inner loop feedback is the aircraft pitch rate. The formula for calculating the desired elevator deflection angle is:

[0063] (6)

[0064] in, This represents the pitch angle control error. The actual deflection angle of the control surfaces is then calculated using the control surface dynamics response.

[0065] After establishing a flight simulation model for a variable stability flight simulator using the above modeling method, the following simulation verification can be performed. Here, we take longitudinal variable aerodynamic settings and longitudinal control command type switching as an example.

[0066] First, we verified the changes in flight quality caused by externally configured aerodynamic parameters. The initial flight conditions were selected as an altitude of 12,000 meters and a speed of 400 meters per second. The externally configured longitudinal aerodynamic parameters were as follows: Condition 1: , Operating Condition Two: , Operating Condition 3: , .because and The main influence is on the short-cycle modes of the aircraft; therefore, the angle of attack under the three operating conditions is compared. and pitch rate Changes, such as Figure 4 As shown. It can be seen that, with Increase, damping ratio increases, angle of attack and pitch rate The reduced oscillations altered the short-cycle quality characteristics of the aircraft.

[0067] Furthermore, the impact of different command types on flight control laws on flight performance was verified. For example... Figures 5 to 8As shown, under the action of the pitch multiplier pulse on the control stick, the longitudinal command types are switched as follows: angle of attack command, pitch rate command, pitch angle command, and normal overload command. For angle of attack and pitch angle commands, the aircraft will stabilize at the angle of attack and pitch angle corresponding to the control stick position, respectively. When the control stick returns to center, the angle of attack and pitch angle will return to 0. For pitch rate command, the aircraft will stabilize at the pitch rate corresponding to the control stick position. When the control stick returns to center, the pitch rate will return to 0, and the pitch angle will remain. For normal overload command, the aircraft will stabilize at the normal overload corresponding to the control stick position. When the control stick returns to center, the normal overload will remain at 1G, achieving neutral speed stability.

[0068] In summary, this invention provides a flight simulation model and modeling method for a variable stability flight simulator, encompassing aerodynamic parameter adjustment and flight control law adjustment functions. It achieves the dual function of reflecting the changes in flight quality caused by different aerodynamic characteristics and the impact of different flight control laws and control gains on flight performance within the same flight simulation model.

[0069] It is understood that those skilled in the art can make equivalent substitutions or modifications to the technical solutions and inventive concepts of the present invention, and all such substitutions or modifications should fall within the protection scope of the appended claims.

Claims

1. A flight simulation model for a variable stability flight simulator, characterized in that, Comprise: Interface control module, variable aerodynamic simulation module, variable flight control simulation module, physical property simulation module, six degrees of freedom motion simulation module; The interface control module interacts with the variable aerodynamic simulation module, the variable flight control simulation module and the six degrees of freedom motion simulation module, is used for receiving external initialization data, steering instruction and configuration parameter, to the variable aerodynamic simulation module output variable gas dynamic identification and configured aerodynamic parameter; To the variable flight control simulation module output trim rudder deflection, lever rudder control amount, instruction type identification and configured flight control gain;To the six degrees of freedom motion simulation module output trim thrust and initial flight parameters: initial speed, attitude, position; The variable aerodynamic simulation module interacts with the six degrees of freedom motion simulation module, is used for calculating and outputting the aerodynamic force and the aerodynamic moment that the aircraft receives under different motion states and aerodynamic parameter configurations; The variable flight control simulation module interacts with the variable aerodynamic simulation module, is used for calculating and outputting the rudder deflection under different lever rudder control amounts, flight control instruction types and control gains; The physical property simulation module interacts with the six degrees of freedom motion simulation module, is used for calculating and outputting physical properties: the weight, inertia of the aircraft; The six degrees of freedom motion module interacts with the variable aerodynamic simulation module and the variable flight control simulation module, is used for calculating and outputting flight motion parameters: the speed, attitude, position of the aircraft.

2. The flight simulation model for variable stability flight simulator according to claim 1, wherein: The variable aerodynamic simulation module comprises an aerodynamic derivative interpolation submodule, an aerodynamic coefficient reconstruction calculation submodule and an aerodynamic force and moment calculation submodule;The aerodynamic derivative interpolation submodule obtains the aerodynamic derivative by interpolating the existing nonlinear aerodynamic data package, the aerodynamic coefficient reconstruction calculation submodule reconstructs the aerodynamic coefficient expression, calculates the aerodynamic coefficient after variable aerodynamic setting, and the aerodynamic force and moment calculation submodule calculates the aerodynamic force and moment that the aircraft receives.

3. The flight simulation model for variable stability flight simulator according to claim 1, wherein: The variable flight control simulation module comprises a flight control law switching submodule and a rudder response submodule;The flight control law switching submodule switches the flight control law and control gain under different instruction types in real time, and calculates the expected rudder deflection angle, and the rudder response submodule calculates the actual rudder deflection angle.

4. A modeling method for a flight simulation model of a variable stability flight simulator, characterized in that, Comprise the following steps: Step one: establish the interface control module, define the external data needed to be received, including initial flight parameters, lever rudder trim amount, lever rudder control amount, variable aerodynamic identification, flight control instruction type identification, configured aerodynamic parameter, configured flight control gain; Step two: establish the variable aerodynamic simulation module, establish the aerodynamic derivative interpolation table and the aerodynamic coefficient expression according to the nonlinear aerodynamic data package, determine whether to perform variable aerodynamic setting through the variable aerodynamic identification;If variable aerodynamic setting is performed, reconstruct the aerodynamic coefficient expression, and superimpose the influence of the externally configured aerodynamic parameter as an increment to the aerodynamic coefficient;Otherwise, only the basic nonlinear aerodynamic data package is used;Calculate the aerodynamic force and moment that the aircraft receives according to the aerodynamic force and moment formula; Step three: Establishing the physical characteristics simulation module, outputting the aircraft weight, inertia moment and inertia product; Step four: Establishing the six-degree-of-freedom motion simulation module, calculating the resultant force and resultant moment on the aircraft in the air according to the gravity, thrust, aerodynamic force and moment received by the aircraft, calculating the linear acceleration and angular acceleration of the aircraft under the aircraft system by using the six-degree-of-freedom motion equation, and calculating the velocity, attitude and position of the aircraft under the aircraft system and the ground axis system through integration and coordinate transformation; Step five: Establishing the variable flight control simulation module, constructing the flight control law under different instruction types of the longitudinal channel, the lateral channel and the heading channel, switching the corresponding control law and control gain in real time according to the instruction type identifier and the externally configured control gain, and solving the expected rudder deflection angle under the action of the external stick rudder control amount, and solving the actual rudder deflection angle through the rudder dynamics response.

5. A method of modeling a flight simulation model for a variable stability flight simulator as defined in claim 4, characterized in that The aerodynamic parameters configured in the step two include longitudinal and lateral aerodynamic parameters; the longitudinal aerodynamic parameters include 、 , the lateral aerodynamic parameters include 、 、 、 、 .

6. The modeling method of claim 4, wherein The instruction types in the step five include longitudinal, lateral and heading instruction types; the longitudinal instruction types include angle of attack instruction, pitch angle rate instruction, pitch angle instruction, normal overload instruction and direct chain instruction, the lateral instruction types include roll angle rate instruction, roll angle instruction and direct chain instruction, and the heading instruction types include sideslip angle instruction, lateral overload instruction and direct chain instruction.

7. The modeling method of claim 4, wherein The control gains configured in the step five include instruction gain, feedforward gain, proportional gain, integral gain, differential gain, inner loop feedback gain and outer loop feedback gain.

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