Flight control law development and evaluation tool box and implementation method thereof

Abstract

The invention discloses a flight control law development and evaluation toolbox and an implementation method thereof, the flight control law development and evaluation toolbox comprises an aircraft body module library and a toolbox body, and the aircraft body module library is used for packaging an aerodynamic force and torque module, an engine module, a steering engine module and an undercarriage module to form a standard module library; the tool box body comprises a parameter setting module, a trim linearization module, an operation stability analysis module, a controller design module and a nonlinear simulation module. The method is realized through a Matlab / Simulink platform, supports rapid loading and dynamic configuration of various aircraft models, provides flexible flight profile setting, real-time gain adjustment and comprehensive flight quality evaluation, improves the efficiency and precision of control law design, adds operation stability analysis, verification of a full flight envelope process and evaluation of flight quality, and has a wide application prospect. The rapid iterative optimization of the flight control system is realized, and the adaptability and robustness of the control law under different parameter change conditions are verified.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft flight control, and in particular to a flight control law development and evaluation toolbox and an implementation method thereof. Background Art

[0002] Flight control law is the core link in aircraft design, which is directly related to the performance and safety of the aircraft. With the increasing complexity of aircraft design and the diversification of mission requirements, traditional flight control law development methods have begun to appear inadequate. These methods are cumbersome in the development process and require the collaboration of multiple tools, which not only slows down efficiency but also increases the difficulty of development. In addition, these tools are often designed only for specific aircraft models, lack flexibility, and are difficult to adapt to changing aircraft requirements. At the same time, the evaluation of control law performance has become increasingly difficult because it relies on precise simulation technology and robustness testing; To meet these challenges, we have developed a new flight control law development and evaluation toolbox, which adopts a modular design and integrates multiple functions such as data processing, model building, trim calculation and simulation evaluation. This design not only simplifies the development process of flight control laws, but also improves development efficiency. Users can flexibly call different modules according to their needs to achieve rapid expansion and customization of functions. The toolbox also provides the function of real-time display of time domain and frequency domain characteristics, can dynamically adjust the controller gain, and update the response curve in real time, making the development process more intuitive and efficient. In addition, it also supports a variety of flight quality evaluation criteria, which can comprehensively verify the performance and robustness of the control law. This toolbox has a wide range of applicability. It is not only suitable for fixed-wing aircraft, but can also be extended to the design and evaluation of various aircraft such as drones and missiles, greatly enhancing its practicality and flexibility. Summary of the invention

[0003] The purpose of the present invention is to provide a flight control law development and evaluation toolbox and an implementation method thereof, which solves the problems raised in the background technology.

[0004] To achieve the above object, the present invention provides the following technical solution: a flight control law development and evaluation toolbox, comprising: an aircraft body module library and a toolbox body, characterized in that: the aircraft body module library is used to encapsulate an aerodynamic force and torque module, an engine module, a steering gear module, and a landing gear module to form a standard module library; The toolbox body includes a parameter setting module, a trim linearization module, a control and stability analysis module, a controller design module and a nonlinear simulation module, which are used for the modules to work together to achieve the development, evaluation and optimization of flight control laws.

[0005] As a preferred embodiment of the present invention, the parameter setting module is used for: Realize the setting and loading of models and deflection files, as well as the editing and saving of deflection files; Flight profile settings, including Mach number-angle of attack profile and Mach number-altitude profile settings; Constraint setting, including flight envelope constraints, control surface restrictions, servo bandwidth, etc., where the flight envelope constraints further include Mach number, altitude and angle of attack envelope constraints; Aircraft basic reference information settings.

[0006] As a preferred embodiment of the present invention, the trim linearization module is used to establish a nonlinear trim linearization dynamics model based on Simulink, supports multiple trim linearization methods such as constant straight and level flight, constant pull-up, constant straight and sideslip, and provides two trim modes: ballistic trim and basic trim.

[0007] As a preferred embodiment of the present invention, the control and stability analysis module is used to check the balance characteristics, stability and maneuverability of the aircraft, including stability analysis, maneuverability analysis and modal analysis, and is subdivided into two sub-functional modules: ballistic control and stability and basic control and stability.

[0008] As a preferred embodiment of the present invention, the controller design module is used to implement discrete state control law design, controller gain adjustment, controller design and controller evaluation, wherein the controller evaluation covers the evaluation of time domain, frequency domain and flight quality.

[0009] As a preferred embodiment of the present invention, the nonlinear simulation module is used to establish a nonlinear simulation model, simulate the ground take-off and landing function, use the inner loop designed by PID to simulate the joystick input response, and simultaneously have the automatic throttle function of constant ground speed, constant indication speed, constant Mach number flight and the automatic driving function of constant altitude and level flight.

[0010] The present invention also provides a method for implementing a flight control law development and evaluation toolbox, comprising the following steps: Step 1: First, build the aircraft module library, which encapsulates the aerodynamic and torque modules, engine modules, servo modules, and landing gear modules, and uses them as standard module libraries. After the toolbox is run, the aircraft module library LuAcToolbox will appear in the Simulink Library Browser. Step 2: Build the toolbox body, which includes parameter setting module, trim linearization module, handling stability analysis module, controller design module, and nonlinear simulation module; Step 3: Use the toolbox to load the aircraft model, set the flight control law parameters, perform trim linearization, stability analysis, controller design, and nonlinear simulation to develop, evaluate, and optimize the flight control law.

[0011] Compared with the prior art, the present invention has the following beneficial effects: The present invention is implemented through the Matlab / Simulink platform, supports the rapid loading and dynamic configuration of multiple aircraft models, provides flexible flight profile settings, real-time gain adjustment and comprehensive flight quality evaluation; The toolbox of the present invention significantly improves the efficiency and accuracy of control law design, adds control stability analysis and verification of the entire flight envelope process and evaluation of flight quality, realizes rapid iterative optimization of the flight control system, and comprehensively verifies the adaptability and robustness of the control law under different parameter change conditions by providing a flexible pull-off test function. This toolbox is based on the secondary development of MATLAB GUI, providing users with a friendly graphical interface setting. It is suitable for the development and evaluation of flight control laws for various aircraft such as fixed-wing aircraft, UAVs and missiles. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 is a schematic diagram of an aircraft body module in an embodiment of the present invention; Figure 2 is a schematic diagram of a landing gear model in an embodiment of the present invention; Figure 3 is a steering gear model in the embodiment of the present invention; Figure 4 is the engine model in the embodiment of the present invention; Figure 5 It is the main interface of the flight control development and evaluation toolbox in the embodiment of the present invention; Figure 6 1 is a schematic diagram of the main interface of the parameter setting module of the flight control development and evaluation toolbox in the embodiment of the present invention; Figure 7 It is a schematic diagram of drawing a cross-section drawing area of ​​a parameter setting module of a flight control development and evaluation toolbox in an embodiment of the present invention, taking a flight envelope as an example; Figure 8 is a linear trim simulink model diagram of the flight control development and evaluation toolbox in the embodiment of the present invention; Fig. 9 It is the main interface of the linear trim module of the flight control development and evaluation toolbox in the embodiment of the present invention, and provides interface schematic diagrams of two modes, ballistic trim and basic trim; Fig.101 is a schematic diagram of the main interface of the control and stability analysis module of the flight control development and evaluation toolbox in the embodiment of the present invention; Fig.11 It is a schematic diagram of the result of drawing a trajectory stability analysis curve of the stability analysis module of the flight control development and evaluation toolbox in the embodiment of the present invention; Fig.12 It is a schematic diagram of the basic control stability analysis curve drawing result of the control stability analysis module of the flight control development and evaluation toolbox in the embodiment of the present invention; Fig.13 is a schematic diagram of a controller design module of a flight control development and evaluation toolbox in an embodiment of the present invention; Fig.14 1 is a schematic diagram of the main interface of the controller design module of the flight control development and evaluation toolbox in the embodiment of the present invention; Fig.15 is a schematic diagram of a roll controller designed in an embodiment of the present invention; Fig.16 The flight quality evaluation main interface of the controller design module of the flight control development and evaluation toolbox in the embodiment of the present invention; Fig.17 It is the main interface of the nonlinear simulation module of the flight control development and evaluation toolbox in the embodiment of the present invention. DETAILED DESCRIPTION

[0013] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0014] A flight control law development and evaluation toolbox, comprising: an aircraft body module library and a toolbox body, wherein the aircraft body module library is used to encapsulate an aerodynamic force and torque module, an engine module, a steering gear module, and a landing gear module to form a standard module library; The toolbox body includes a parameter setting module, a trim linearization module, a control and stability analysis module, a controller design module and a nonlinear simulation module, which are used for the modules to work together to achieve the development, evaluation and optimization of flight control laws.

[0015] in: The parameter setting module is used to: realize the setting and loading of models and deviation files, as well as the editing and saving of deviation files; the setting of flight profiles, including the setting of Mach number-angle of attack profiles and Mach number-altitude profiles; the setting of constraint conditions, including flight envelope constraints, rudder restrictions, servo bandwidth, etc., among which the flight envelope constraints further cover Mach number, altitude and angle of attack envelope constraints, and the setting of basic reference information of the aircraft.

[0016] The trim linearization module is used to establish a nonlinear trim linearization dynamics model based on Simulink. It supports multiple trim linearization methods such as constant straight and level flight, constant pull-up, constant straight and sideslip, and provides two trim modes: ballistic trim and basic trim.

[0017] The control and stability analysis module is used to check the balance characteristics, stability and maneuverability of the aircraft, including stability analysis, maneuverability analysis and modal analysis, and is subdivided into two sub-functional modules: ballistic control and stability and basic control and stability.

[0018] The controller design module is used to implement discrete state control law design, controller gain adjustment, controller design and controller evaluation, among which the controller evaluation covers the evaluation of time domain, frequency domain and flight quality.

[0019] The nonlinear simulation module is used to establish a nonlinear simulation model, simulate ground take-off and landing functions, and use the inner loop designed by PID to simulate the joystick input response. It also has the automatic throttle function for constant ground speed, constant indication speed, and constant Mach number flight, as well as the automatic driving function for constant altitude and level flight. Example

[0020] Taking the development of flight control law for an F16 fighter jet as an example, the actual use process of the toolbox is shown in detail. The process is as follows: After completing the installation and startup of the basic software environment, the relevant CFD calculation data needs to be processed.

[0021] CFD calculation data needs to be placed in the \Data\Aero folder. The program for reading data files is \Model\ReadData.m. For different aircraft, users need to modify the ReadData.m file and dat data file according to specific requirements, and update the aerodynamic modules in \Model\ModelTrim.slx and \Sim\SimF16.slx accordingly. When the toolbox is running, the aircraft module library LuAcToolbox will be displayed in the Simulink Library Browser, see Figure 1 ; This module library contains landing gear model, engine force and torque model, and servo model. The landing gear model, engine force and torque model, and servo model built based on the F16 model are shown in Figure 2-4 ; The flight control law development and evaluation toolbox interface is as follows Figure 5As shown in the figure, it consists of five parts: parameter setting, trim linearization, handling stability analysis, controller design, and nonlinear simulation. The toolbox mainly realizes the design and evaluation of linear controllers. It uses the GUI of matlab for secondary development. The toolbox can be called by typing ControlDesign in the matlab workspace and pressing Enter.

[0022] The core task of the data loading module is to correctly load the database required by the aircraft into the MATLAB workspace. The data mainly involved include aerodynamic force and moment database, engine database, constant value database, mass characteristic database, standard flight profile data and flight envelope data. The standard flight profile is mainly for aircraft such as missiles with standard trajectories. The standard profile consists of the angle of attack and altitude that vary with the Mach number, and the flight envelope data mainly includes the upper and lower limits of the altitude that vary with the Mach number, the maximum angle of attack and the minimum angle of attack. The data loading operation is implemented through the "Main_DataLoad.m" file, which converts various data into a format that can be used by the system to ensure that all parameters can be correctly entered into the toolbox to support subsequent calculations and analysis.

[0023] After completing the data preparation, enter the parameter setting module in the flight control law development and evaluation toolbox to read and load relevant data. The main interface of the parameter setting module is shown in Figure 6 ; This module is used to configure the basic flight profile, constraints and reference parameters of the aircraft. During the parameter setting process, the user can adjust the design parameters of the aircraft as needed, such as specifying the flight envelope or other flight performance related parameters. This process can be completed by selecting the corresponding parameter files, such as model files and deviation files. After the data is loaded, the user can draw the flight envelope in real time. Here is the drawing result of selecting "Flight Envelope". Figure 7 The flight envelope limits the flight range that the aircraft can reach in the air, so the flight profile, constraint information and other parameters can be further adjusted according to the drawing results.

[0024] After completing the parameter setting, the trimming needs to be done. For the specific simulink model, see Figure 8 ; The trim linearization module is a key part in the design of the flight control system. The main purpose of this module is to simplify the behavior of the nonlinear system into linearization near the working point of the aircraft, so that the aircraft can be linearly controlled later. The trim linearization calculation will ensure that the aircraft can maintain the desired flight attitude and trajectory during the flight by calculating ballistic trim and basic trim envelope.

[0025] The specific implementation process is as follows: click the "Balance Linearization" button on the main interface, and the module diagram will appear. Fig. 9 , click the "Parameter Setting Reload" button to load the data. After the data loading is completed, click the "Trajectory Trim" button. The user can set the trajectory envelope, trim mode, specified sideslip angle, maximum sideslip angle and other parameters as needed, and select the "Trim Calculation" button to perform trim linearization calculation along the trajectory. In addition, the user can also use the basic trim method, click the "Basic Trim" button, set the nominal trim envelope, specified point trim and other parameters, and click the "Specified Point Trim" and "Envelope Trim" buttons as needed to perform trim linearization calculation. The trim linearization results will be displayed in the MATLAB workspace and generate the corresponding curves. The results can be saved and cleared as needed.

[0026] After the overall aircraft plan is initially formed, it is necessary to verify the balance characteristics, stability and operability of the aircraft through stability and maneuverability analysis.

[0027] The main purpose of the control and stability analysis is to verify whether the relevant design of the aircraft is reasonable according to the control and stability design requirements, so as to further improve the relevant design. Users can enter this module by selecting the "Control and Stability Analysis" button on the main interface of the control law toolbox. Fig.10 .

[0028] Specifically, click the "Ballistic Stability" button, then select the "Balance Loading Calculation" button to load the trim linearization results obtained from the trajectory trim calculation, and select "Stability", "Stability", "Mode", and "Coupling" to draw the diagram. See the diagram for the schematic drawing results. Fig.11 , where the trajectory envelope settings include angle of attack error and specified sideslip angle. The angle of attack error is defined as increasing and decreasing the angle of attack based on the standard flight profile, and the specified sideslip angle is to fly at the specified sideslip angle along the trajectory. The selectable balancing methods include constant straight and level flight, constant sideslip, and constant pull-up balancing. The graph save function is used to save the balancing result curve, and the graph clear function is used to clear the curve in the figure. Then click the "Basic Stability" button, set the stability-related parameters of the specified point, click the "Stability Calculation" button to calculate, select "Stability", "Maneuverability", and "Modal" respectively, click the "Drawing" button to draw, and click the "Graph Save" button to save the graph as needed. See the schematic results. Fig.12, where the trimming mode of envelope trim can be selected as constant straight and level flight, constant sideslip, and constant lift trimming; the trimming mode of designated point trim can be selected as constant straight and level flight, constant lift, and constant straight sideslip; the nominal trim envelope can set the Mach number range and number, angle of attack range and number according to user needs, and can specify the sideslip angle trim; the stability of the aircraft includes static stability and dynamic stability. Static stability refers to the process of whether the aircraft, which was originally in a balanced state, has the ability to return to the original balanced state under the action of the torque increment at the initial moment after being subjected to a small instantaneous disturbance. Dynamic stability refers to the process of the aircraft returning to or deviating from the original balanced state after being disturbed.

[0029] The aircraft will change from the original equilibrium state to another new equilibrium state through the deflection of the corresponding control surface, that is, the aircraft can be controlled. Similarly, the aircraft's maneuverability also includes dynamic maneuverability and static maneuverability. This module will mainly analyze the aircraft's longitudinal and lateral static stability and maneuverability to determine whether the aircraft's controller design meets the requirements. The starting point of the longitudinal static stability analysis is the derivation of the pitch moment equation of the aircraft. Based on this, the longitudinal static stability characteristics of the aircraft are obtained according to the variation law of the pitch moment of the whole aircraft acting at the center of gravity of the aircraft with the angle of attack at different Mach numbers. Similarly, whether the longitudinal moment can be balanced within the maximum deflection range of the rudder and the range of center of gravity movement can be examined to determine whether it meets the requirements of the longitudinal trim of the aircraft. When the aircraft is disturbed and the heading changes, the instantaneous flight speed direction does not change at the time of the disturbance. At this time, the aircraft's sideslip flight generates an aerodynamic moment to prevent the aircraft from yaw to ensure the heading stability of the aircraft. When the aircraft is disturbed and rolls, an aerodynamic moment to prevent the aircraft from sideslipping will also be generated to maintain rolling stability. Therefore, this module will analyze its lateral static stability by studying the variation law of the yaw moment and the rolling moment with the sideslip angle at different Mach numbers. This module generates the corresponding control and stability response curves to intuitively display the response of the aircraft under different working conditions. In addition, it also provides root locus diagrams for modal analysis. Users can optimize the controller design of the aircraft based on the analysis results. This module completely and clearly evaluates the preliminary overall design of the aircraft from the three perspectives of stability, maneuverability and modality, which reduces the complicated calculation process and analysis difficulty of traditional analysis methods and effectively shortens the design time cost of the aircraft.

[0030] After completing the control and stability analysis, the controller design and adjustment needs to be implemented. The controller design module is one of the core parts of the entire toolbox, which aims to design and optimize the control law of the aircraft. First, the initial design work needs to be completed. Use the "controller design module" to select the initial gain value and design the longitudinal control law and the lateral control law. Then make dynamic adjustments. Based on certain design standards, the controller gain can be adjusted in real time in the module by observing the frequency domain and time domain response curves, and the optimal gain value can be selected to ensure that the controller meets the requirements of the flight quality evaluation. The principle of the controller design module follows Fig.13 , the main interface of the controller design module is shown in Fig.14 ; In addition, three controllers, namely, pitch, roll and yaw, are designed in this embodiment, and five controllers, Control1 to Control5, are reserved. Users can design them according to their needs. A schematic diagram of the roll controller designed in the embodiment is given in FIG. Fig.15 After completing the controller design, the toolbox will automatically perform a flight quality evaluation to ensure that the controller meets the flight performance requirements. The flight quality evaluation includes equivalent simulated evaluation, pitch bandwidth / phase extension criteria, roll bandwidth / phase extension criteria, Gibson phase rate criteria, C* evaluation, etc.

[0031] The equivalent simulation evaluation compares the control response of the aircraft under different operating conditions and optimizes or adjusts it to evaluate the comprehensive performance of the aircraft under different control strategies. The pitch bandwidth / phase delay criterion determines whether the aircraft can effectively and quickly respond to the pitch control command by comprehensively evaluating the pitch bandwidth and phase delay. The bandwidth increment indicates that the aircraft responds faster and more sensitively to the pitch control signal. Phase delay refers to the phase delay of the system. A smaller phase delay means the system responds immediately.

[0032] Similarly, the roll bandwidth / phase delay criterion is used to evaluate the response speed and accuracy of the aircraft in terms of roll control. The Gibson phase rate criterion is a method for evaluating the stability of the aircraft system. It focuses on the phase relationship between the frequency of the control input and the system output response when the aircraft is maneuvering. The Gibson criterion is mainly used to evaluate whether the aircraft can remain stable under rapidly changing control inputs and provide sufficient responsiveness. The C* evaluation evaluates the flight performance based on the aircraft's transient dynamic response. C* evaluates the performance of the aircraft in fast flight, initial turns and complex flight missions, especially under larger control inputs, whether the dynamic response capability of the aircraft is good, and whether it can maintain stable control and avoid overreaction or instability. Users can click the "Flight Quality Evaluation" button to perform a flight quality evaluation and generate a complete evaluation report to ensure that the control law meets the design standards. The flight quality evaluation interface can be seen. Fig.16 .

[0033] This module realizes the online dynamic design of the controller and the comprehensive integrated evaluation of the flight quality of the aircraft. It not only makes the design process of the controller convenient and online, but also integrates, dynamically and iteratively optimizes the controller design with high reliability through the evaluation results of the flight quality. The evaluation report generated with one click provides users with intuitive and clear evaluation and analysis results, which can provide a basis for subsequent design adjustments.

[0034] Finally, a nonlinear simulation will be performed. This module is used to verify the robustness and adaptability of the control law. Run the "Nonlinear Simulation Module", whose main interface is shown in Figure 17, to perform nominal simulation and bias simulation on the designed control law, simulating the performance of the aircraft under standard and deviation flight conditions respectively. During the simulation process, the system will record flight data and draw response curves to analyze the adaptability and robustness of the control law. By comparing the flight performance differences under nominal simulation and bias simulation, users can judge the adaptability of the flight control system in different environments, verify the stability and safety of the control law under different parameter deviation conditions, and make necessary adjustments to the control law.

[0035] In summary: through the above operations, a control law that meets the flight mission requirements can be successfully designed. The toolbox designed and developed by the present invention can perform flexible pull-off tests, accurately adjust controller gains, and comprehensively evaluate flight performance. Using the present invention, the flight control system can be quickly iterated and optimized, which not only improves the efficiency of the design work, but also helps to reduce the cost of the development process. The present invention is suitable for the design and evaluation of flight control laws for various aircraft such as fixed-wing aircraft and unmanned aerial vehicles, and has broad application prospects and promotion potential.

[0036] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention.

[0037] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. Flight control law development and evaluation toolbox, including: The aircraft body module library and the toolbox body are characterized in that: the aircraft body module library is used to encapsulate aerodynamic and torque modules, engine modules, steering gear modules, and landing gear modules to form a standard module library; The toolbox body includes a parameter setting module, a trim linearization module, a control and stability analysis module, a controller design module and a nonlinear simulation module, which are used for the modules to work together to achieve the development, evaluation and optimization of flight control laws.

2. The flight control law development and evaluation toolbox according to claim 1, characterized in that: The parameter setting module is used for: Realize the setting and loading of models and deflection files, as well as the editing and saving of deflection files; Flight profile settings, including Mach number-angle of attack profile and Mach number-altitude profile settings; Constraint setting, including flight envelope constraints, control surface restrictions, and servo bandwidth. The flight envelope constraints further include Mach number, altitude, and angle of attack envelope constraints; Aircraft basic reference information settings.

3. The flight control law development and evaluation toolbox according to claim 1, characterized in that: The trim linearization module is used to establish a nonlinear trim linearization dynamics model based on Simulink, supports multiple trim linearization methods including constant straight and level flight, constant pull-up, and constant straight and sideslip, and provides two trim modes: ballistic trim and basic trim.

4. The flight control law development and evaluation toolbox according to claim 1, characterized in that: The control and stability analysis module is used to check the balance characteristics, stability and maneuverability of the aircraft, including stability analysis, maneuverability analysis and modal analysis, and is subdivided into two sub-functional modules: ballistic control and stability and basic control and stability.

5. The flight control law development and evaluation toolbox according to claim 1, characterized in that: The controller design module is used to implement discrete state control law design, controller gain adjustment, controller design and controller evaluation, wherein the controller evaluation covers the evaluation of time domain, frequency domain and flight quality.

6. The flight control law development and evaluation toolbox according to claim 1, characterized in that: The nonlinear simulation module is used to establish a nonlinear simulation model, simulate the ground take-off and landing function, use the inner loop designed by PID to simulate the joystick input response, and has the automatic throttle function of constant ground speed, constant indication speed, constant Mach number flight and the automatic driving function of constant altitude and level flight.

7. A method for implementing the flight control law development and evaluation toolbox as claimed in any one of claims 1 to 6, characterized in that: The method comprises the following steps: Step 1: First, build the aircraft module library, which encapsulates the aerodynamic and torque modules, engine modules, servo modules, and landing gear modules, and uses them as standard module libraries. After the toolbox is run, the aircraft module library LuAcToolbox will appear in the Simulink Library Browser. Step 2: Build the toolbox body, which includes parameter setting module, trim linearization module, handling stability analysis module, controller design module, and nonlinear simulation module; Step 3: Use the toolbox to load the aircraft model, set the flight control law parameters, perform trim linearization, stability analysis, controller design, and nonlinear simulation to develop, evaluate, and optimize the flight control law.

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