Airplane control surface instruction anti-saturation method based on integrator polarity protection

Abstract

The invention belongs to the technical field of aircraft flight control system design, and particularly relates to an aircraft control surface instruction anti-saturation method based on integrator polarity protection. According to the method, a forward channel instruction, a proportional channel instruction and an integral channel instruction of a flight control law are used as input, and an anti-saturation instruction value is solved in real time; and then introducing the anti-saturation instruction value into the input end of the integral channel to ensure that the control surface total instruction of the aircraft does not exceed the control surface limit value. In addition, when the control surface instruction is larger than the control surface limit, the algorithm structure also avoids the problem that the integral channel instruction is reversed due to anti-saturation of the control surface instruction. According to the method, the saturation problem of the aircraft control surface instruction is solved, the following performance of the input instruction and aircraft response when a pilot operates the aircraft is ensured, the possibility that the oscillation phenomenon is induced by a driver of the aircraft is reduced, and the flight safety of the aircraft is enhanced.

Description

Technical Field

[0001] The present application belongs to the technical field of aircraft flight control system design, and in particular relates to an aircraft control surface instruction anti-saturation method based on integrator polarity protection. Background Art

[0002] When the pilot makes large-scale manipulations for a long time, the control surface command saturation may occur. After saturation occurs, the command cannot follow the pilot's manipulation changes in time, which may cause the aircraft to experience pilot-induced oscillation, affecting the flight safety of the aircraft.

[0003] 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

[0004] The purpose of the present application is to provide an aircraft control surface command anti-saturation method based on integrator polarity protection to solve at least one problem existing in the prior art.

[0005] The technical solution of this application is:

[0006] The first aspect of the present application provides an aircraft control surface instruction anti-saturation method based on integrator polarity protection, comprising:

[0007] Step 1: taking the forward channel command and the proportional channel command of the flight control law as input signals, adding the forward channel command and the proportional channel command, and passing through a first limiter to obtain a forward-proportional channel output command sum;

[0008] Step 2: taking the integral channel command of the flight control law as input, adding the integral channel command and the forward-proportional channel output command, and multiplying by the gain after passing through the dead zone to obtain the control surface anti-saturation command;

[0009] Step 3: introducing the control surface anti-saturation instruction into the integral channel input end, and calculating the integral channel instruction of the flight control law in real time;

[0010] Step 4: Add the forward channel command, proportional channel command, and integral channel command of the flight control law, and pass them through the second limiter to obtain the control surface command.

[0011] In at least one embodiment of the present application, the upper and lower limits of the first limiter are limit values ​​of the rudder surface instructions.

[0012] In at least one embodiment of the present application, the upper and lower limits of the dead zone are limit values ​​of the rudder surface instructions.

[0013] In at least one embodiment of the present application, step three further includes introducing an input signal integral channel control amount into an integral channel input terminal.

[0014] In at least one embodiment of the present application, the upper and lower limits of the second limiter are limit values ​​of the rudder surface instructions.

[0015] A second aspect of the present application provides an aircraft control surface command anti-saturation device based on integrator polarity protection, comprising:

[0016] A forward-proportional channel output instruction and calculation module, used for taking the forward channel instruction and the proportional channel instruction of the flight control law as input signals, adding the forward channel instruction and the proportional channel instruction, and passing through a first limiter to obtain a forward-proportional channel output instruction sum;

[0017] A control surface anti-saturation instruction calculation module is used to take the integral channel instruction of the flight control law as input, add the integral channel instruction and the forward-proportional channel output instruction, and multiply by a gain after passing through a dead zone to obtain a control surface anti-saturation instruction;

[0018] An integral channel instruction calculation module, used for introducing the control surface anti-saturation instruction into the integral channel input end, and calculating the integral channel instruction of the flight control law in real time;

[0019] The control surface instruction calculation module is used to add the forward channel instruction, proportional channel instruction and integral channel instruction of the flight control law and obtain the control surface instruction through the second limiter.

[0020] In at least one embodiment of the present application, the upper and lower limits of the first limiter are limit values ​​of the rudder surface instructions.

[0021] In at least one embodiment of the present application, the upper and lower limits of the dead zone are limit values ​​of the rudder surface instructions.

[0022] In at least one embodiment of the present application, the integral channel instruction calculation module further includes introducing the input signal integral channel control amount into the integral channel input terminal.

[0023] In at least one embodiment of the present application, the upper and lower limits of the second limiter are limit values ​​of the rudder surface instructions.

[0024] A third aspect of the present application provides an electronic device, including:

[0025] A processor, a memory and a bus, wherein the processor is connected to the memory via the bus, and the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, they are used to implement the aircraft control surface instruction anti-saturation method based on integrator polarity protection as described above.

[0026] The fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a server, the anti-saturation method of aircraft control surface instructions based on integrator polarity protection as described above is implemented.

[0027] A fifth aspect of the present application provides a computer program product, which includes instructions. When the instructions are executed by a computer, the computer implements the aircraft control surface command anti-saturation method based on integrator polarity protection as described above.

[0028] The invention has at least the following beneficial technical effects:

[0029] The aircraft rudder command anti-saturation method based on integrator polarity protection of the present application enables the output rudder command to strictly follow the pilot's control changes, avoids the problem of reverse integration channel command caused by rudder anti-saturation, reduces the possibility of pilot-induced oscillation in the aircraft, and enhances the flight safety of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a framework diagram of a rudder anti-saturation instruction calculation process according to an embodiment of the present application;

[0031] Figure 2 This is a framework diagram of the rudder command calculation process of one implementation method of the present application. DETAILED DESCRIPTION

[0032] 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.

[0033] 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.

[0034] The following is combined with Figure 1 to Figure 2 This application is described in further detail.

[0035] The first aspect of the present application provides an aircraft control surface instruction anti-saturation method based on integrator polarity protection, comprising the following steps:

[0036] Step 1: taking the forward channel command and the proportional channel command of the flight control law as input signals, adding the forward channel command and the proportional channel command, and passing through a first limiter to obtain a forward-proportional channel output command sum;

[0037] Step 2: Taking the integral channel command of the flight control law as input, summing the integral channel command and the forward-proportional channel output command, and multiplying by the gain after passing through the dead zone to obtain the control surface anti-saturation command;

[0038] Step 3: Introduce the control surface anti-saturation command into the integral channel input terminal, and calculate the integral channel command of the flight control law in real time;

[0039] Step 4: Add the forward channel command, proportional channel command, and integral channel command of the flight control law, and pass them through the second limiter to obtain the control surface command.

[0040] The anti-saturation method of aircraft rudder instructions based on integrator polarity protection of the present application takes the forward channel instruction, proportional channel instruction, and integral channel instruction of the flight control law as input, calculates the anti-saturation instruction in real time, and then introduces the anti-saturation instruction to the integral channel input end and calculates the rudder instruction. It not only ensures that the aircraft's rudder instruction will not exceed the rudder limit value, but also solves the problem of the pilot's control and the rudder instruction output not being consistent. It further ensures the followability of the input instruction and the aircraft response when the pilot controls the aircraft, and reduces the possibility of the aircraft experiencing pilot-induced oscillation.

[0041] Specifically, in step 1, the forward channel command and the proportional channel command of the flight control law are used as input signals, and the two are added and passed through the first limiter to form the forward-proportional channel command sum for anti-saturation command calculation. Among them, the upper and lower limits of the first limiter are the limit values ​​of the rudder command. The limiter is used to ensure that the forward-proportional channel command sum will not exceed the rudder command limit, and the command sum is used for subsequent calculation of the anti-saturation command.

[0042] In step 2, the integral channel command of the flight control law is used as input, and it is added to the forward-proportional channel output command and multiplied by the gain after passing through the dead zone to obtain the rudder anti-saturation command. The upper and lower limits of the dead zone are also the limit values ​​of the rudder command. Since the forward-proportional channel command and will not exceed the rudder command limit, the rudder anti-saturation command is only formed by the integral channel command that exceeds the rudder command limit.

[0043] In step three, the rudder anti-saturation instruction is introduced into the integral channel input, and the integral channel instruction of the flight control law is calculated in real time. At the same time, the input signal integral channel control amount is also introduced into the integral channel input. Since the anti-saturation instruction is only formed by the integral channel instruction that exceeds the rudder limit, the anti-saturation instruction will reduce the integral channel instruction. As the integral channel instruction decreases, the anti-saturation instruction also decreases. When the integral channel instruction is 0, the anti-saturation instruction is also 0, so it will not cause the integral channel to output a reverse instruction, thereby avoiding the problem of the integral channel instruction being reversed due to the anti-saturation of the rudder instruction.

[0044] In step 4, the forward channel command, proportional channel command, and integral channel command of the flight control law are added and passed through the second limiter to obtain the control surface command. The control surface command obtained strictly follows the pilot's manipulation.

[0045] In one embodiment of the present application, Figure 1 As shown, among them: the forward channel instruction of the input signal control law is (ELVT_DIR); the proportional channel instruction of the input signal control law is (ELVT_POS); the integral channel instruction of the control law is (ELVT_INT); the maximum positive limit of the rudder limit is (LIM_ELVT_U); the maximum negative limit of the rudder limit is (LIM_ELVT_D); the anti-saturation instruction calculation gain coefficient is (K_ANTI); the output signal anti-saturation instruction is (INT_ANTI_WU_VALUE). The maximum positive limit of the rudder limit (LIM_ELVT_U) and the maximum negative limit of the rudder limit (LIM_ELVT_D) are used for the limiter and dead zone limit values.

[0046] First, add the forward channel command (ELVT_DIR) and the proportional channel command (ELVT_POS) of the control law, and then add them to the integral channel command (ELVT_INT) of the control law after being limited by the limiter with the maximum positive limit of the rudder (LIM_ELVT_U) and the maximum negative limit of the rudder (LIM_ELVT_D) as inputs. Then, after being limited by the dead zone with the maximum positive limit of the rudder (LIM_ELVT_U) and the maximum negative limit of the rudder (LIM_ELVT_D) as inputs, they are multiplied by the anti-saturation command calculation gain (K_ANTI) to obtain the anti-saturation command (INT_ANTI_WU_VALUE).

[0047] In this embodiment, Figure 2 As shown, among them: the forward channel instruction of the input signal control law is (ELVT_DIR); the proportional channel instruction of the input signal control law is (ELVT_POS); the input signal integral channel control amount is (INT_CMD); the input signal anti-saturation instruction is (INT_ANTI_WU_VALUE); the integral channel instruction of the control law is (ELVT_INT); the maximum positive limit of the rudder is (LIM_ELVT_U); the maximum negative limit of the rudder is (LIM_ELVT_D); the output signal rudder instruction is (DE_CMD). The maximum positive limit of the rudder (LIM_ELVT_U) and the maximum negative limit of the rudder (LIM_ELVT_D) are used for the limiter limit value.

[0048] The calculated anti-saturation instruction (INT_ANTI_WU_VALUE) is introduced into the integral channel input end, and the calculated forward channel instruction (ELVT_DIR), proportional channel instruction (ELVT_POS) and integral channel instruction (ELVT_INT) of the control law are added together. After being limited by the limiter with the positive maximum value of the rudder limit (LIM_ELVT_U) and the negative maximum value of the rudder limit (LIM_ELVT_D) as input, the rudder instruction (DE_CMD) is obtained.

[0049] The aircraft rudder command anti-saturation method based on integrator polarity protection of the present application takes the forward, proportional, and integral channel commands of the flight control law as input, calculates the rudder anti-saturation command in real time, ensures that the output rudder command strictly follows the pilot's manipulation changes, and ensures that the actual response of the aircraft is consistent with the pilot's expected response. By limiting the size of the forward and proportional channel commands, the anti-saturation command is formed only by the integral channel command that exceeds the rudder command limit, avoiding the problem of the reverse of the integral channel command caused by the anti-saturation of the rudder command, ensuring that the command output polarity is always consistent with the pilot's manipulation polarity under the pilot's rapid and large-scale manipulation, avoiding the occurrence of unexpected phenomena. Through the above two advantages, the present application mainly realizes that the rudder command can change quickly and accurately with the manipulation input, so that the actual response of the aircraft is consistent with the pilot's expected response, reducing the possibility of the driver-induced oscillation phenomenon during the flight of the aircraft, and enhancing the flight safety of the aircraft.

[0050] A second aspect of the present application provides an aircraft control surface command anti-saturation device based on integrator polarity protection, comprising:

[0051] A forward-proportional channel output instruction and calculation module, used for taking the forward channel instruction and the proportional channel instruction of the flight control law as input signals, adding the forward channel instruction and the proportional channel instruction, and passing through a first limiter to obtain a forward-proportional channel output instruction sum;

[0052] A rudder anti-saturation instruction calculation module is used to take the integral channel instruction of the flight control law as input, add the integral channel instruction and the forward-proportional channel output instruction, and multiply by the gain after passing through the dead zone to obtain the rudder anti-saturation instruction;

[0053] An integral channel command calculation module is used to introduce the control surface anti-saturation command into the integral channel input end and calculate the integral channel command of the flight control law in real time;

[0054] The control surface instruction calculation module is used to add the forward channel instruction, proportional channel instruction and integral channel instruction of the flight control law and obtain the control surface instruction through the second limiter.

[0055] In a preferred embodiment of the present application, the upper and lower limits of the first limiter are the limit values ​​of the rudder command. The upper and lower limits of the dead zone are the limit values ​​of the rudder command. The integral channel command calculation module also includes introducing the input signal integral channel control amount to the integral channel input terminal. The upper and lower limits of the second limiter are the limit values ​​of the rudder command.

[0056] A third aspect of the present application provides an electronic device, including:

[0057] A processor, a memory and a bus, wherein the processor is connected to the memory via the bus, and the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the anti-saturation method of aircraft control surface instructions based on integrator polarity protection is implemented.

[0058] The fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a server, the anti-saturation method of aircraft control surface instructions based on integrator polarity protection is implemented as described above.

[0059] A fifth aspect of the present application provides a computer program product, which includes instructions. When the instructions are executed by a computer, the computer implements the above-mentioned aircraft control surface instruction anti-saturation method based on integrator polarity protection.

[0060] 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. An anti-saturation method for aircraft control surface instructions based on integrator polarity protection, characterized in that: include: Step 1: taking the forward channel command and the proportional channel command of the flight control law as input signals, adding the forward channel command and the proportional channel command, and passing through a first limiter to obtain a forward-proportional channel output command sum; Step 2: taking the integral channel command of the flight control law as input, adding the integral channel command and the forward-proportional channel output command, and multiplying by the gain after passing through the dead zone to obtain the control surface anti-saturation command; Step 3: introducing the control surface anti-saturation instruction into the integral channel input end, and calculating the integral channel instruction of the flight control law in real time; Step 4: Add the forward channel command, proportional channel command, and integral channel command of the flight control law, and pass them through the second limiter to obtain the control surface command.

2. The aircraft control surface instruction anti-saturation method based on integrator polarity protection according to claim 1 is characterized in that: The upper and lower limits of the first limiter are the limit values ​​of the rudder instructions.

3. The aircraft control surface instruction anti-saturation method based on integrator polarity protection according to claim 1 is characterized in that: The upper and lower limits of the dead zone are the limiting values ​​of the rudder instructions.

4. The aircraft control surface instruction anti-saturation method based on integrator polarity protection according to claim 1 is characterized in that: Step three also includes introducing the input signal integral channel control amount into the integral channel input end.

5. The method for anti-saturation of aircraft control surface instructions based on integrator polarity protection according to claim 1, characterized in that: The upper and lower limits of the second limiter are the limit values ​​of the rudder instructions.

6. An aircraft control surface command anti-saturation device based on integrator polarity protection, characterized in that: include: A forward-proportional channel output instruction and calculation module, used for taking the forward channel instruction and the proportional channel instruction of the flight control law as input signals, adding the forward channel instruction and the proportional channel instruction, and passing through a first limiter to obtain a forward-proportional channel output instruction sum; A control surface anti-saturation instruction calculation module is used to take the integral channel instruction of the flight control law as input, add the integral channel instruction and the forward-proportional channel output instruction, and multiply by a gain after passing through a dead zone to obtain a control surface anti-saturation instruction; An integral channel instruction calculation module, used for introducing the control surface anti-saturation instruction into the integral channel input end, and calculating the integral channel instruction of the flight control law in real time; The control surface instruction calculation module is used to add the forward channel instruction, proportional channel instruction and integral channel instruction of the flight control law and obtain the control surface instruction through the second limiter.

7. The aircraft control surface command anti-saturation device based on integrator polarity protection according to claim 6, characterized in that: The upper and lower limits of the first limiter are the limit values ​​of the rudder instructions.

8. The aircraft control surface command anti-saturation device based on integrator polarity protection according to claim 6, characterized in that: The upper and lower limits of the dead zone are the limiting values ​​of the rudder instructions.

9. The aircraft control surface command anti-saturation device based on integrator polarity protection according to claim 6, characterized in that: The integral channel instruction calculation module also includes introducing the input signal integral channel control quantity into the integral channel input end.

10. The aircraft control surface command anti-saturation device based on integrator polarity protection according to claim 6, characterized in that: The upper and lower limits of the second limiter are the limit values ​​of the rudder instructions.

11. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the processor is connected to the memory via the bus, and the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the method for anti-saturation of aircraft control surface instructions based on integrator polarity protection is implemented as described in any one of claims 1 to 5.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a server, implements the aircraft control surface instruction anti-saturation method based on integrator polarity protection as described in any one of claims 1-5.

13. A computer program product, characterized in that The computer program product comprises instructions, which, when executed by a computer, enable the computer to implement the aircraft control surface command anti-windup method based on integrator polarity protection according to any one of claims 1-5.

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