Track control spray pipe control distribution method considering clamping stagnation fault

Abstract

The invention relates to an orbit control nozzle control distribution method considering a clamping stagnation fault, and belongs to the field of aircraft control. Under the conditions that a certain orbit control spray pipe has a clamping stagnation fault and a clamping stagnation value is known, orbit control spray pipe opening degree instruction distribution is completed, the instruction sum is kept to be 1, and demand overload is paid to the maximum extent. The method comprises the following steps that (1) a control structure and control parameters are designed, and pitching and yawing channel orbit control nozzle instructions are solved; (2) designing a fault-free lower nozzle instruction distribution algorithm; and (3) considering the clamping stagnation fault of a single spray pipe, and designing a spray pipe instruction distribution algorithm. Under the condition that one orbit control spray pipe has a clamping stagnation fault, the sum of the four spray pipe instructions can still be kept to be 1 through the spray pipe instruction distribution method, flight safety is guaranteed, and demand overload is paid to the maximum extent under the condition.

Description

Technical Field

[0001] This invention relates to a control allocation method for orbital control nozzles that takes into account jamming faults. It belongs to the field of aircraft control and is applicable to aircraft that use 4 orbital control nozzles for overload control. Each nozzle can respond to continuous independent commands and always keep the sum of commands equal to 1. Background Technology

[0002] As the flight envelope of aircraft continues to expand, especially with the increase in altitude, it becomes difficult to generate control effect using aerodynamic rudders under the thin atmosphere at high altitudes, resulting in corresponding overload. To cope with such flight conditions and missions, attitude and overload control direct force actuators are often used for attitude and overload control.

[0003] To ensure the performance and safety of the orbit control engine, a constant engine chamber pressure is generally required. This translates to a control system requirement of maintaining a constant sum of commands for all four nozzles at 1 during flight. Currently, there is an urgent need for an orbit control nozzle control allocation method that considers jamming failures. This method should ensure that even if a nozzle experiences jamming, the command sum remains at 1 to guarantee flight safety and minimize demand overload. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a control allocation method for orbital control nozzles that takes into account jamming faults. This method is applicable to aircraft that use orbital control nozzles for overload control, and enables the maximum overload response under fault conditions.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A method for allocating control to orbital control nozzles, considering jamming faults, for an aircraft employing four orbital control nozzles for overload control, wherein each nozzle can respond to continuous independent commands, includes the following steps: Step 1: Design the control structure and control parameters, and solve for the pitch and yaw channel control nozzle commands; Step 2: Implement nozzle command allocation under fault-free conditions according to the fault-free nozzle command allocation algorithm; Step 3: Design a nozzle command allocation algorithm to handle a nozzle jamming fault and implement nozzle command allocation under such fault conditions.

[0006] Furthermore, the design of the control structure and control parameters, and the solution of the pitch and yaw channel orbital control nozzle commands, specifically involve:

[0007] In the formula, , These are overload commands for the aircraft's pitch and yaw channels. , It refers to the overload response of the aircraft's pitch and yaw channels. , For control system parameters, , These are the normalized pitch and yaw trajectory control nozzle commands; , It is an intermediate variable.

[0008] Furthermore, the method of allocating nozzle commands under fault-free conditions according to the fault-free nozzle command allocation algorithm specifically includes: Scenario 1:

[0009] (a) If

[0010]

[0011] (b) If

[0012]

[0013] (c) If

[0014]

[0015] (d) If

[0016]

[0017] Scenario 2:

[0018] make ; These are temporary parameters; (a) If

[0019]

[0020] (b) If

[0021]

[0022] (c) If

[0023]

[0024] (d) If

[0025]

[0026] , , , These are the commands for the track control nozzles 1 through 4. Furthermore, consider the #1 nozzle jamming fault, i.e., the #1 nozzle jamming value of the track control. The nozzle command allocation algorithm is designed as follows: make ,in, , As an intermediate variable; (a) If

[0027]

[0028] , As an intermediate variable; (I) If

[0029]

[0030] (II) If

[0031]

[0032] (b) If

[0033] (I) If

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[0039] (III) If

[0040]

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[0042] (IV) If

[0043]

[0044]

[0045] in, All of these are temporary variables.

[0046] Furthermore, considering the #2 nozzle jamming fault, i.e., the jamming value of the #2 nozzle on the track control... The nozzle command allocation algorithm is designed as follows:

[0047] (a) If

[0048]

[0049] in, , , , All are intermediate variables; (I) If

[0050]

[0051] (II) If

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[0053] (b) If

[0054] (I) If

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[0060] (III) If

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[0062]

[0063] (IV) If

[0064]

[0065]

[0066] in, All of these are temporary variables.

[0067] Furthermore, consider the #3 nozzle jamming fault, specifically the #3 nozzle jamming value of the track control system. The nozzle command allocation algorithm is designed as follows:

[0068] (a) If

[0069]

[0070] in, , , , All are intermediate variables; (I) If

[0071]

[0072] (II) If

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[0075] (I) If

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[0081] (III) If

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[0083]

[0084] (IV) If

[0085]

[0086]

[0087] in, All of these are temporary variables.

[0088] Furthermore, consider the malfunction of nozzle #4 jamming, specifically the jamming value of nozzle #4 on the track control. The nozzle command allocation algorithm is designed as follows:

[0089] (a) If

[0090]

[0091] in, , , , All are intermediate variables; (I) If

[0092]

[0093] (II) If

[0094]

[0095] (b) If

[0096] (I) If

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[0102] (III) If

[0103]

[0104]

[0105] (IV) If

[0106]

[0107]

[0108] In the formula, The jamming value of the No. 4 nozzle of the track control system; All of these are temporary variables.

[0109] Secondly, the present invention also proposes a processor for running a program, wherein the program executes the method during runtime.

[0110] Thirdly, the present invention also proposes a non-volatile storage medium comprising: a computer program product, wherein the method is executed when the computer program product is executed.

[0111] Fourthly, the present invention also proposes a computer program product, which includes a computer program that, when executed by a processor, implements the method described.

[0112] Compared with the prior art, the beneficial effects of the present invention are: Even if one control nozzle malfunctions and becomes stuck, the nozzle command allocation method of this invention can still maintain the sum of four nozzle commands as one, ensuring flight safety and maximizing the overload response under these conditions. Attached Figure Description

[0113] The present invention provides a track control nozzle control allocation method considering jamming faults, as illustrated in the following embodiments and figures.

[0114] Figure 1 A schematic diagram showing the installation location of the track control actuator; Figure 2 This is a block diagram of the control system principle. Figure 3 This is a flowchart of the method of the present invention. Detailed Implementation

[0115] The following will provide a more detailed description of a track control nozzle control allocation method considering jamming faults according to the present invention, with reference to the accompanying drawings.

[0116] This invention proposes a control allocation method for orbital control nozzles that considers jamming faults, applicable to aircraft using four orbital control nozzles for overload control, such as... Figure 1 As shown, the orbital control engine includes four nozzles, G1 to G4. This invention designs a control structure and parameters to complete the allocation of orbital control nozzle opening commands under fault-free conditions and under conditions of one nozzle jamming. During flight, the nozzle commands are kept constant at 1 to ensure flight mission safety, and to maximize the required overload under fault conditions.

[0117] This invention provides a track control nozzle control allocation method that considers jamming faults, such as... Figure 3 As shown, the specific steps include the following: A method for allocating control to orbital control nozzles, considering jamming faults, for an aircraft employing four orbital control nozzles for overload control, wherein each nozzle can respond to continuous independent commands, includes the following steps: Step 1: Design the control structure and control parameters, and solve for the pitch and yaw channel control nozzle commands; Step 2: Implement nozzle command allocation under fault-free conditions according to the fault-free nozzle command allocation algorithm; Step 3: Design a nozzle command allocation algorithm to handle a nozzle jamming fault and implement nozzle command allocation under such fault conditions.

[0118] Furthermore, the design of the control structure and control parameters, and the solution of the pitch and yaw channel orbital control nozzle commands, specifically involve:

[0119] In the formula, , These are overload commands for the aircraft's pitch and yaw channels. , It refers to the overload response of the aircraft's pitch and yaw channels. , For control system parameters, , These are the normalized pitch and yaw trajectory control nozzle commands; , It is an intermediate variable.

[0120] Furthermore, the nozzle command allocation algorithm under fault-free conditions is used to allocate nozzle commands in a fault-free situation, such as... Figure 2 As shown, it specifically includes: Scenario 1:

[0121] (a) If

[0122]

[0123] (b) If

[0124]

[0125] (c) If

[0126]

[0127] (d) If

[0128]

[0129] Scenario 2:

[0130] make ; These are temporary parameters; (a) If

[0131]

[0132] (b) If

[0133]

[0134] (c) If

[0135]

[0136] (d) If

[0137]

[0138] , , , These are the commands for the track control nozzles 1 through 4. Furthermore, consider the #1 nozzle jamming fault, i.e., the #1 nozzle jamming value of the track control. The nozzle command allocation algorithm is designed as follows: make ,in, , As an intermediate variable; (a) If

[0139]

[0140] , As an intermediate variable; (I) If

[0141]

[0142] (II) If

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[0144] (b) If

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[0147]

[0148] (II) If

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[0152]

[0153]

[0154] (IV) If

[0155]

[0156]

[0157] in, All of these are temporary variables.

[0158] Furthermore, considering the #2 nozzle jamming fault, i.e., the jamming value of the #2 nozzle on the track control... The nozzle command allocation algorithm is designed as follows:

[0159] (a) If

[0160]

[0161] in, , , , All are intermediate variables; (I) If

[0162]

[0163] (II) If

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[0171]

[0172] (III) If

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[0174]

[0175] (IV) If

[0176]

[0177]

[0178] in, All of these are temporary variables.

[0179] Furthermore, consider the #3 nozzle jamming fault, specifically the #3 nozzle jamming value of the track control system. The nozzle command allocation algorithm is designed as follows:

[0180] (a) If

[0181]

[0182] in, , , , All are intermediate variables; (I) If

[0183]

[0184] (II) If

[0185]

[0186] (b) If

[0187] (I) If

[0188]

[0189]

[0190] (II) If

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[0193] (III) If

[0194]

[0195]

[0196] (IV) If

[0197]

[0198]

[0199] in, All of these are temporary variables.

[0200] Furthermore, consider the malfunction of nozzle #4 jamming, specifically the jamming value of nozzle #4 on the track control. The nozzle command allocation algorithm is designed as follows:

[0201] (a) If

[0202]

[0203] in, , , , All are intermediate variables; (I) If

[0204]

[0205] (II) If

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[0207] (b) If

[0208] (I) If

[0209]

[0210]

[0211] (II) If

[0212]

[0213]

[0214] (III) If

[0215]

[0216]

[0217] (IV) If

[0218]

[0219]

[0220] In the formula, The jamming value of the No. 4 nozzle of the track control system; All of these are temporary variables.

[0221] Example: This method will be explained using a certain aircraft as an example: 1. Design the control structure and control parameters, and solve for the pitch and yaw channel control nozzle commands. The formulas are as follows:

[0222] In the formula, , These are overload commands for the aircraft's pitch and yaw channels. , It refers to the overload response of the aircraft's pitch and yaw channels. , These are the normalized pitch and yaw trajectory control nozzle commands. , It is an intermediate variable.

[0223] 2. The nozzle command allocation algorithm under fault-free conditions is used to allocate nozzle commands.

[0224] (1) If

[0225] (a) If

[0226]

[0227] (b) If

[0228]

[0229] (c) If

[0230]

[0231] (d) If

[0232]

[0233] (2) If

[0234]

[0235] These are temporary parameters; (a) If

[0236]

[0237] (b) If

[0238]

[0239] (c) If

[0240]

[0241] (d) If

[0242]

[0243] , , , These are the commands for the track control nozzles 1 through 4.

[0244] 3. Considering a jamming fault in nozzle #1 with a jamming value of 0.6, the nozzle command under this fault is:

[0245] (a) If

[0246]

[0247] (I) If

[0248]

[0249] (II) If

[0250]

[0251] (b) If

[0252] (I) If

[0253]

[0254]

[0255] (II) If

[0256]

[0257]

[0258] (III) If

[0259]

[0260]

[0261] (IV) If

[0262]

[0263]

[0264] The contents not described in detail in this specification are common knowledge to those skilled in the art.

[0265] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A method for allocating control of orbital control nozzles considering jamming faults, used in an aircraft employing four orbital control nozzles for overload control, wherein each nozzle can respond to continuous independent commands, characterized in that, include: Design the control structure and control parameters, and solve for the pitch and yaw channel control nozzle commands; The nozzle command allocation under fault-free conditions is implemented according to the fault-free nozzle command allocation algorithm. Design a nozzle command allocation algorithm to address a nozzle jamming fault and implement nozzle command allocation under such fault conditions.

2. The track control nozzle control allocation method considering jamming faults according to claim 1, characterized in that: The design of the control structure and control parameters, and the solution of the pitch and yaw channel orbital control nozzle commands, are as follows: In the formula, , These are overload commands for the aircraft's pitch and yaw channels. , It refers to the overload response of the aircraft's pitch and yaw channels. , For control system parameters, , These are the normalized pitch and yaw trajectory control nozzle commands; , It is an intermediate variable.

3. The track control nozzle control allocation method considering jamming faults according to claim 2, characterized in that: The method for allocating nozzle commands under fault-free conditions according to the fault-free nozzle command allocation algorithm specifically includes: Scenario 1: (a) If (b) If (c) If (d) If Scenario 2: make ; These are temporary parameters; (a) If (b) If (c) If (d) If , , , These are the commands for the track control nozzles 1 through 4.

4. The track control nozzle control allocation method considering jamming faults according to claim 3, characterized in that: Considering the #1 nozzle jamming fault, i.e., the #1 nozzle jamming value of the track control system. The nozzle command allocation algorithm is designed as follows: make ,in, , As an intermediate variable; (a) If , As an intermediate variable; (I) If (II) If (b) If (I) If (II) If (III) If (IV) If in, All of these are temporary variables.

5. A track control nozzle control allocation method considering jamming faults according to claim 3, characterized in that: Considering the #2 nozzle jamming fault, i.e., the #2 nozzle jamming value of the track control... The nozzle command allocation algorithm is designed as follows: (a) If in, , , , All are intermediate variables; (I) If (II) If (b) If (I) If (II) If (III) If (IV) If in, All of these are temporary variables.

6. The track control nozzle control allocation method considering jamming faults according to claim 3, characterized in that: Considering the #3 nozzle jamming fault, i.e., the #3 nozzle jamming value of the track control. The nozzle command allocation algorithm is designed as follows: (a) If in, , , , All are intermediate variables; (I) If (II) If (b) If (I) If (II) If (III) If (IV) If in, All of these are temporary variables.

7. The track control nozzle control allocation method considering jamming faults according to claim 3, characterized in that: Considering the jamming fault of nozzle #4, i.e., the jamming value of nozzle #4 on the track control. The nozzle command allocation algorithm is designed as follows: (a) If in, , , , All are intermediate variables; (I) If (II) If (b) If (I) If (II) If (III) If (IV) If In the formula, The jamming value of the No. 4 nozzle of the track control system; All of these are temporary variables.

8. A processor, characterized in that, The processor is used to run a program, wherein the program executes the method according to any one of claims 1 to 7 when it runs.

9. A non-volatile storage medium, characterized in that, include: A computer program product that, when executed, performs the method described in any one of claims 1 to 7.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1 to 7.

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