Design method and system of lateral and directional stabilization control system for aircraft wind tunnel virtual free flight

Abstract

The present application belongs to the technical field of aircraft wind tunnel virtual free flight test, and specifically relates to a design method and system for a lateral and yaw stabilization control system for aircraft wind tunnel virtual free flight, wherein the design method for a lateral and yaw stabilization control system for aircraft wind tunnel virtual free flight comprises: step one, establishing a scaled-down model lateral and yaw linearized dynamic mathematical model; step two, calculating the scale coefficient of the scaled-down model; step three, determining the design requirements for the lateral and yaw flight quality of the scaled-down model; step four, establishing a lateral and yaw stabilization control law for the scaled-down model; step five, establishing a closed-loop control system for the scaled-down model; step six, optimizing the control law gain parameters in the closed-loop control system of the scaled-down model; and step seven, verifying the closed-loop control system of the scaled-down model.

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 tests can be used to verify aircraft handling characteristics. It is a highly accurate, safe, cost-effective 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 attitude of the scaled model. In view of this, this application is filed. Summary of the Invention

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

[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 an aircraft wind tunnel virtual free flight is provided, comprising:

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

[0008] Step 2: Calculate the scale factor 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, and in accordance with the flying quality specifications and the principle of dynamic similarity, the lateral and tack flying quality design requirements that the wind tunnel virtual free flight scaled model must meet are determined;

[0011] Step 4: Establish the scaled-down 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 tack linearized dynamics mathematical model with the lateral and tack stability augmentation 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 yaw 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 yaw stability augmentation control system design method, in step 1, a scaled model lateral and yaw 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 and 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 and yaw 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 stability augmentation 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 ,ζ dm 、ω dm are the roll mode time constant, spiral mode amplitude doubling time, and Dutch roll mode damping ratio and frequency of the scaled model;

[0034] T ra 、T sa ,ζ da 、ω da 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 yaw stabilization control system design method, in step 4, a scaled model lateral and yaw stabilization control law is established, specifically:

[0036]

[0037] in,

[0038] KPP and KPI are horizontal 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 and heading stabilization control system design method, in step 4,

[0041] Furthermore, in the above-mentioned aircraft wind tunnel virtual free flight lateral and yaw 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 yaw 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 yaw 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 is provided, comprising:

[0046] Scaled model lateral and heading linear dynamic mathematical model establishment module: used to establish the scaled model lateral and heading linear dynamic mathematical 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 scaled models: used to determine the design requirements for the lateral and directional flight quality of scaled models:

[0049] Based on the scale factor of the scaled model, and in accordance with the flying quality specifications and the principle of dynamic similarity, the lateral and tack flying quality design requirements that the wind tunnel virtual free flight scaled model must meet are determined;

[0050] Scaled model lateral and yaw stabilization control law establishment module: used to establish the scaled model lateral and yaw 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 tack linearized dynamics mathematical model with the lateral and tack stability augmentation 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 yaw 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 aircraft wind tunnel virtual free flight lateral and yaw stability augmentation control system design system, in the scaled model lateral and yaw linearized dynamic mathematical model establishment module, a scaled model lateral and yaw linearized 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 and 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 aircraft wind tunnel virtual free flight lateral and yaw stabilization control system design system, the scaled model scale coefficient calculation module calculates the scaled model scale coefficient, 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 aircraft wind tunnel virtual free flight lateral and yaw stability augmentation 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:

[0070]

[0071] in,

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

[0073] T ra 、T sa ,ζ da 、ω da 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 aircraft wind tunnel virtual free flight lateral and yaw stabilization control system design system, in the scaled model lateral and yaw stabilization control law establishment module, the scaled model lateral and yaw stabilization control law is established, specifically:

[0075]

[0076] in,

[0077] KPP and KPI are horizontal 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 yaw stabilization control system design system, in the scaled model lateral and yaw stabilization control law establishment module,

[0080] Furthermore, in the above-mentioned aircraft wind tunnel virtual free flight lateral and 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 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:

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

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

[0085] The present invention provides a design method and system for a lateral and yaw stabilization control system capable of performing virtual free flight in a wind tunnel of an aircraft. The method has a rigorous theoretical basis and, based on the characteristics of the wind tunnel virtual free flight test and the flight quality design requirements, obtains control law gain values ​​that meet the flight quality design requirements and virtual free flight control requirements through an iterative method. The system is designed to meet the test control requirements and can improve the control performance of the wind tunnel virtual free flight test, thereby reducing the test cycle and cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] Figure 1 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 This is a block diagram of the principle structure of the wind tunnel virtual free flight lateral and heading stabilization control law provided in an embodiment of the present application;

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

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

[0090] Figure 5 Schematic diagram of a system for designing 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.

[0091] In order to better illustrate this 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 understood as limiting this application. DETAILED DESCRIPTION

[0092] To make the technical solution and its advantages of this application more clear, the technical solution of this application will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described here are only some of the embodiments of this application and are only used to explain this application, not to limit this application. It should be noted that for ease of description, only the parts relevant to this application are shown in the accompanying drawings, and other relevant 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 should have the usual meanings understood by those skilled in the art in the field to which this application belongs. The words indicating orientation used in the description of this application 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 means 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 stipulated 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, such as 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 and angular motion will be retained. A linearized lateral and angular 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 Equation 1:

[0098]

[0099] in,

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

[0101] α and 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 scale factor of the scaled model.

[0105] According to the ratio of the linear dimensions of the scaled model to the linear dimensions 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 scaled model's lateral and directional flight quality.

[0112] Based on the scale factor of the scaled model, the lateral and yaw 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 criterion, as shown in Equation 3:

[0113]

[0114] in,

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

[0116] T ra 、T sa ,ζ da 、ω da 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 scaled-down model lateral and heading stabilization control law.

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

[0119]

[0120] in,

[0121] KPP and KPI are horizontal 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 using Equation 5:

[0124]

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

[0126] Combining the scaled-down model's lateral and directional linear dynamics mathematical model with the lateral and directional stabilization 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 yaw flight quality design requirements. If not, repeat steps 6 to 7.

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

[0132] The above-mentioned embodiment discloses a method for designing a lateral and yaw stabilization control system for an aircraft in a wind tunnel virtual free flight. The method has a rigorous theoretical basis. Based on the characteristics of the wind tunnel virtual free flight test and the flight quality design requirements, a control law gain value that meets the flight quality design requirements and the virtual free flight control requirements is obtained through an iterative method. A lateral and yaw 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:

[0134] Serial number Parameter name unit Numerical 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

[0135] The above embodiment discloses a design method for an aircraft wind tunnel virtual free flight lateral and yaw stabilization control system, which is implemented as follows.

[0136] S1. Establish a scaled-down model of the horizontal and heading linear dynamic mathematical model:

[0137]

[0138] S2. Calculate the scale factor of the scaled model and take it as 15.

[0139] S3. Determine the design requirements for the scaled model's lateral and directional flight quality:

[0140]

[0141] S4. Establish the scaled model lateral and heading stabilization control law, the principle structure block diagram, such as Figure 2 shown.

[0142] S5. Combine the scaled-down model's lateral and directional linear dynamics mathematical model with the lateral and directional stabilization control law to establish a scaled-down model closed-loop control system.

[0143] S6. Based on the flight quality design requirements, use the root locus method to determine the lateral proportional gain KPP, heading proportional gain KBP, and heading damping gain KBDOT. Based on the lateral and heading control command tracking requirements, use the time domain simulation method to determine the lateral integral gain KPI and heading integral gain KBI.

[0144] S7. Calculate the lateral and yaw flight qualities of the scaled model closed-loop control system and compare them with the scaled model lateral and yaw flight quality design requirements. The table is as follows:

[0145] 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

[0146] It can be seen that the designed lateral and directional stability augmentation control system meets the flight quality design requirements.

[0147] 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 The time domain response curve of the sideslip angle and roll angular rate step command of the scaled model shows that the sideslip angle and roll angular rate command tracking is fast, the overshoot is small, and the steady-state error is small, which has a good control effect on the wind tunnel virtual free flight scaled model.

[0148] A design system for aircraft wind tunnel virtual free flight lateral and heading stabilization control system, such as Figure 5 Shown, including:

[0149] Scaled model lateral and heading linear dynamic mathematical model establishment module: used to establish the scaled model lateral and heading linear dynamic mathematical model;

[0150] Scaled model scaling coefficient calculation module: used to calculate the scaled model scaling coefficient;

[0151] Module for determining the design requirements for the lateral and directional flight quality of scaled models: used to determine the design requirements for the lateral and directional flight quality of scaled models:

[0152] Based on the scale factor of the scaled model, and in accordance with the flying quality specifications and the principle of dynamic similarity, the lateral and tack flying quality design requirements that the wind tunnel virtual free flight scaled model must meet are determined;

[0153] Scaled model lateral and yaw stabilization control law establishment module: used to establish the scaled model lateral and yaw stabilization control law;

[0154] Scaled model closed-loop control system establishment module: used to establish a scaled model closed-loop control system:

[0155] Combining the scaled-down model's lateral and tack linearized dynamics mathematical model with the lateral and tack stability augmentation control law, a scaled-down model closed-loop control system is established.

[0156] 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;

[0157] Scaled model closed-loop control system verification module: used to verify the scaled model closed-loop control system:

[0158] Verify whether the scaled model closed-loop control system meets the scaled model lateral and yaw flight quality design requirements. If not, re-optimize the control law gain parameters in the scaled model closed-loop control system.

[0159] Optionally, in the aircraft wind tunnel virtual free flight lateral and yaw stabilization control system design system, in the scaled model lateral and yaw linearized dynamic mathematical model establishment module, a scaled model lateral and yaw linearized dynamic mathematical model is established, specifically:

[0160]

[0161] in,

[0162] β, p, r, φ are the sideslip angle, roll rate, yaw rate, and roll angle;

[0163] α and θ are the trim angle of attack and pitch angle;

[0164] δ a , δ r is the aileron deflection and rudder deflection;

[0165] 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 .

[0166] Optionally, in the aircraft wind tunnel virtual free flight lateral and yaw stabilization control system design system, the scaled model scale coefficient calculation module calculates the scaled model scale coefficient as follows:

[0167]

[0168] in:

[0169] K scale factor of the scale model;

[0170] l a is the linear size of the prototype;

[0171] l m is the linear size corresponding to the scaled model.

[0172] Optionally, in the aircraft wind tunnel virtual free flight lateral and yaw stability augmentation 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:

[0173]

[0174] in,

[0175] T rm 、T sm ,ζ dm 、ω dm are the roll mode time constant, spiral mode amplitude doubling time, and Dutch roll mode damping ratio and frequency of the scaled model;

[0176] T ra 、T sa ,ζ da 、ω da are the roll mode time constant, spiral mode doubling time, and Dutch roll mode damping ratio and frequency of the prototype.

[0177] Optionally, in the aircraft wind tunnel virtual free flight lateral and yaw stabilization control system design system, in the scaled model lateral and yaw stabilization control law establishment module, a scaled model lateral and yaw stabilization control law is established, specifically as follows:

[0178]

[0179] in,

[0180] KPP and KPI are horizontal proportional and integral gains; p c is the roll angular rate command value;

[0181] 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.

[0182] Optionally, in the aircraft wind tunnel virtual free flight lateral and yaw stabilization control system design system, in the scaled model lateral and yaw stabilization control law establishment module,

[0183] Optionally, in the aircraft wind tunnel virtual free flight lateral and yaw 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:

[0184] 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.

[0185] Optionally, in the 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 by:

[0186] Verify whether the scaled model closed-loop control system meets the scaled model lateral and yaw flight quality design requirements. If not, repeat steps 6 to 7.

[0187] Regarding the aircraft wind tunnel virtual free flight lateral and yaw stabilization control system design system disclosed in the above embodiment, since it corresponds to the aircraft wind tunnel virtual free flight lateral and yaw stabilization control system design method disclosed in the above 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 yaw 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 yaw stabilization control system design method, and will not be repeated here.

[0188] In addition, those skilled in the art should also be able to realize that the various modules and units of the aircraft wind tunnel virtual free flight lateral and directional 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. Those skilled in the art 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.

[0189] 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 replacements to the relevant technical features, and the technical solutions after these changes or replacements 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 an aircraft wind tunnel virtual free flight, characterized in that: include: Step 1: Establish a scaled-down model of the horizontal and heading linear dynamic mathematical model; Step 2: Calculate the scale factor 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, and in accordance with the flying quality specifications and the principle of dynamic similarity, the lateral and tack flying quality design requirements that the wind tunnel virtual free flight scaled model must meet are determined; Step 4: Establish the scaled-down 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 tack linearized dynamics mathematical model with the lateral and tack stability augmentation 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 yaw flight quality design requirements. If not, repeat steps 6 to 7.

2. The aircraft wind tunnel virtual free flight lateral and yaw stabilization control system design method according to claim 1 is characterized in that: In step 1, a scaled-down model horizontal and heading linear dynamic mathematical model is established, specifically: in, β 、p , r, φ are sideslip angle, roll angular rate, yaw angular rate, and roll angle; α and 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 aircraft wind tunnel virtual free flight lateral and yaw stabilization control system design method according to claim 2, characterized in that: In step 2, the scale factor 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 aircraft wind tunnel virtual free flight lateral and yaw stabilization control system design method according to claim 3 is characterized in that: In step 3, determine the design requirements for the scaled model's lateral and yaw flight quality, specifically: in, T rm 、T sm ,ζ dm 、ω dm are the roll mode time constant, spiral mode amplitude doubling time, and Dutch roll mode damping ratio and frequency of the scaled model; T ra 、T sa ,ζ da 、ω da are the roll mode time constant, spiral mode doubling time, and Dutch roll mode damping ratio and frequency of the prototype.

5. The aircraft wind tunnel virtual free flight lateral and yaw stabilization control system design method 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 horizontal 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 aircraft wind tunnel virtual free flight lateral and yaw stabilization control system design method according to claim 5, characterized in that: In step four, 7. The design method of an aircraft wind tunnel virtual free flight lateral and yaw stabilization control system according to claim 6, characterized in that: In step 6, 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 aircraft wind tunnel virtual free flight lateral and yaw stabilization control system design method 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 yaw flight quality design requirements. If not, repeat steps 6 to 7.

9. A system for designing a lateral and directional stabilization control system for an aircraft wind tunnel virtual free flight, characterized in that: include: Scaled model lateral and heading linear dynamic mathematical model establishment module: used to establish the scaled model lateral and heading linear dynamic mathematical 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 scaled models: used to determine the design requirements for the lateral and directional flight quality of scaled models: Based on the scale factor of the scaled model, and in accordance with the flying quality specifications and the principle of dynamic similarity, the lateral and tack flying quality design requirements that the wind tunnel virtual free flight scaled model must meet are determined; Scaled model lateral and yaw stabilization control law establishment module: used to establish the scaled model lateral and yaw 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 tack linearized dynamics mathematical model with the lateral and tack stability augmentation 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 yaw 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 and 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 yaw stabilization control system design system according to claim 10, characterized in that: In the scale factor calculation module of the scale model, the scale factor of the scale model is calculated as follows: 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 yaw 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 ,ζ dm 、ω dm are the roll mode time constant, spiral mode amplitude doubling time, and Dutch roll mode damping ratio and frequency of the scaled model; T ra 、T sa ,ζ da 、ω da 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 yaw stabilization control system design system according to claim 12, characterized in that: In the scaled model lateral and yaw stabilization control law establishment module, the scaled model lateral and yaw stabilization control law is established, specifically: in, KPP and KPI are horizontal 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 yaw 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 yaw 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 yaw 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 yaw flight quality design requirements. If not, repeat steps 6 to 7.

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