An online generation method of aircraft semi-rollover reversal maneuver command

Abstract

The application discloses an online generation method of an aircraft half-roll-reverse maneuvering instruction, and relates to the technical field of aircraft control instruction generation, and comprises the following steps: dividing an aircraft half-roll-reverse maneuvering flight action into a task section and an adjustment section; dividing the task section flight action into a turning-over section, an overload section and a lateral position control section according to time sequence, and respectively controlling a pitch channel, a roll channel and a speed loop; respectively controlling the pitch channel, the roll channel and the speed loop in the adjustment section, and realizing online generation of the aircraft half-roll-reverse maneuvering instruction. The application solves the problem that only two-channel control is used to realize maneuvering flight and safety during the half-roll-reverse maneuvering process of the aircraft.

Description

Technical Field

[0001] This invention relates to the field of aircraft control command generation technology, specifically to an online method for generating half-roll and reverse maneuver commands for aircraft. Background Technology

[0002] The half-roll inverted maneuver is a highly complex maneuver within a vertical plane. By completing a 180-degree roll and performing a high-G maneuver downwards within the vertical plane, the aircraft rapidly descends, utilizes gravity for acceleration, and reverses its course by 180 degrees. However, the rapid altitude descent, high-G maneuvering, and control of course dispersion during the half-roll inverted maneuver pose significant challenges to the control of low-cost aircraft. Therefore, for aircraft with only pitch and roll control channels, ensuring the successful execution of the half-roll inverted maneuver and maintaining flight safety through maneuver command design is a crucial technology. Summary of the Invention

[0003] This invention provides an online method for generating half-roll reverse maneuver commands for aircraft, which solves the problem of achieving maneuvering flight and safety by relying solely on two-channel control during half-roll reverse maneuvers.

[0004] To achieve the aforementioned objectives, the present invention employs the following technical solution: an online method for generating half-roll reversal maneuver commands for aircraft, comprising the following steps: S1: Divide the aircraft's half-roll inverted maneuver flight maneuver into a mission segment and an adjustment segment; S2: The mission segment flight maneuvers are divided into roll segment, overload segment and lateral position control segment according to the time sequence, and the pitch channel, roll channel and speed loop are controlled respectively; S3: In the adjustment phase, the pitch channel, roll channel and speed loop are controlled respectively to realize the online generation of the aircraft's half-roll reverse maneuver command.

[0005] Furthermore, in the turning phase, the pitch channel tracks the constant normal overload command. ; Roll channel tracks roll angle command This allows the aircraft to complete a 180° roll and maintain a back-facing attitude:

[0006] in, The moment of the roll angle command, The first roll angle command is At that moment, The moment of turning the tide has come to an end. For time; Since the roll angle range under the 3-2-1 rotation sequence is [-180°, 180°], there is a discontinuity during the half-roll reversal process. Therefore, a new roll controlled variable is defined. The calculation method is as follows:

[0007] in, Values The roll angle at time 3-2-1. ω x It is the roll rate; In the velocity loop, design the upper limit of the velocity for the task segment. and lower bound of speed The speed of the aircraft at the start of the rollover phase Should meet At this point, start engines P1 and P2. During the rollover phase, keep engine P1 running while simultaneously assessing the aircraft's speed. If the speed is greater than If the engine P2 fails, then shut down engine P2; otherwise, keep engine P2 running.

[0008] Furthermore, in the overload section, the pitch channel tracks the pre-designed programmable normal overload command. :

[0009] in, for ~ Normal overload command within a time period; Roll channel tracks roll angle command To maintain a 180° roll posture:

[0010] in, This is the moment when the overload phase ends; In the velocity loop, the aircraft speed at the start of the overload phase Should meet At this time, engine P1 remains running, engine P2 maintains the state at the end of the rollover phase, and the aircraft speed is simultaneously determined. If the speed is greater than If the engine P2 fails, then shut down engine P2; otherwise, keep engine P2 running.

[0011] Furthermore, in the lateral position control segment, the pitch channel tracking maneuver command adaptive online planner generates a normal overload command. :

[0012] in, This is the moment when the task segment ends; Roll angle commands generated by the roll channel tracking maneuver command adaptive online planner :

[0013]

[0014] in, Limiting the roll angle command for lateral position control. The lateral overload command required for lateral position control Limiting the lateral overload command. For the desired lateral position, This refers to the lateral position of the aircraft. For the launch system of the aircraft Towards speed, This is the scaling factor for the lateral position. This is the proportionality coefficient for lateral velocity; In the velocity loop, the aircraft velocity at the start of the lateral position control segment Should meet At this time, engine P1 remains running, and engine P2 maintains the state at the end of the overload phase. ,exist Always turn off engine P2, in Engine P1 should be shut off at all times; and ~ Real-time determination of aircraft speed within a time period If speed Then start engine P1 and P2 until the speed reaches... Or when the time arrives ,in, for After that time, the shutdown time of the P2 engine and The interval between moments This is the speed lower limit protection correction value, set according to the engine's thrust characteristics.

[0015] Furthermore, in the adjustment section, the normal overload command generated by the pitch channel tracking maneuver command adaptive online planner... :

[0016]

[0017] in, The moment when the half-roll reversal ends, To adjust and modify the normal overload command required for height control, Let be the acceleration due to gravity, taken as 9.8. , The pitch angle is 3-2-1. To calculate the half-roll reversal maneuver radius in real time, for At altitude, To achieve the desired improvement in height, for The trajectory inclination of the spacecraft; Roll angle commands generated by the roll channel tracking maneuver command adaptive online planner :

[0018] In the speed loop, the aircraft speed at the start of the adjustment phase Should meet At this time, engines P1 and P2 maintain the state at the end of the mission segment, and the aircraft speed is judged in real time. If speed Then start engine P1 and P2 until the speed reaches... Or when the time arrives .

[0019] The beneficial effects of this invention are: when controlling an aircraft without a rudder to perform a half-roll reverse maneuver, this invention simultaneously satisfies the overload, speed, and lateral position constraints of the mission segment; after the mission segment is completed, the aircraft can still be controlled to achieve the desired recovery altitude during the adjustment segment. The invention operates in a simple and reliable manner. Attached Figure Description

[0020] Figure 1 A flowchart of an online method for generating half-roll and reverse maneuver commands for an aircraft.

[0021] Figure 2 The diagram shows the online adaptive planning and control structure for the dual-channel command for half-roll and reverse rotation of an aircraft.

[0022] Figure 3 This is a projection curve of the plumb line of the aircraft.

[0023] Figure 4 This is a flight path curve diagram of the aircraft.

[0024] Figure 5 This is a graph showing the normal overload curve of the aircraft.

[0025] Figure 6 This is a graph showing the speed of the aircraft.

[0026] Figure 7 This is a plot of the aircraft's roll angle. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0028] like Figure 1 As shown, an online method for generating half-roll reverse maneuver commands for an aircraft includes the following steps: S1: Divide the aircraft's half-roll inverted maneuver flight maneuver into a mission segment and an adjustment segment, where the adjustment segment may be omitted; S2: The mission segment flight maneuvers are divided into roll segment, overload segment and lateral position control segment according to the time sequence, and the pitch channel, roll channel and speed loop are controlled respectively; During the turning phase, the pitch channel tracks the constant normal overload command. ; Roll channel tracks roll angle command This allows the aircraft to complete a 180° roll and maintain a back-facing attitude:

[0029] in, The moment of the roll angle command, The first roll angle command is At that moment, The moment of turning the tide has come to an end. For time; Since the roll angle range under the 3-2-1 rotation sequence is [-180°, 180°], there is a discontinuity during the half-roll reversal process. Therefore, a new roll controlled variable is defined. The calculation method is as follows:

[0030] in, Values The roll angle at time 3-2-1. ω x It is the roll rate; using this controlled variable ensures that the controlled variable is controlled during the half-roll reverse maneuver. The continuity.

[0031] In the velocity loop, design the upper limit of the velocity for the task segment. and lower bound of speed The speed of the aircraft at the start of the rollover phase Should meet At this point, start engines P1 and P2. During the rollover phase, keep engine P1 running while simultaneously assessing the aircraft's speed. If the speed is greater than If the engine P2 fails, then shut down engine P2; otherwise, keep engine P2 running.

[0032] During the overload segment, the pitch channel tracks the pre-designed programmable normal overload command. :

[0033] in, for ~ The normal overload command within a time period can be set according to the actual situation. It can be a fixed normal overload value or an overload value that changes over time. Roll channel tracks roll angle command To maintain a 180° roll posture:

[0034] in, This is the moment when the overload phase ends; In the velocity loop, the aircraft speed at the start of the overload phase Should meet At this time, engine P1 remains running, engine P2 maintains the state at the end of the rollover phase, and the aircraft speed is simultaneously determined. If the speed is greater than If the engine P2 fails, then shut down engine P2; otherwise, keep engine P2 running.

[0035] In the lateral position control segment, the pitch channel tracking maneuver command adaptive online planner generates a normal overload command. :

[0036] in, This is the moment when the task segment ends; Roll angle commands generated by the roll channel tracking maneuver command adaptive online planner :

[0037]

[0038] in, Limiting the roll angle command for lateral position control. The lateral overload command required for lateral position control Limiting the lateral overload command. For the desired lateral position, This refers to the lateral position of the aircraft. For the launch system of the aircraft Towards speed, This is the scaling factor for the lateral position. This is the proportionality coefficient for lateral velocity; In the velocity loop, the aircraft velocity at the start of the lateral position control segment Should meet At this time, engine P1 remains running, and engine P2 maintains the state at the end of the overload phase. ,exist Always turn off engine P2, in Engine P1 should be shut off at all times; and ~ Real-time determination of aircraft speed within a time period If speed Then start engine P1 and P2 until the speed reaches... Or when the time arrives ,in, for After that time, the shutdown time of the P2 engine and The interval between moments This is the speed lower limit protection correction value, set according to the engine's thrust characteristics.

[0039] S3: In the adjustment phase, the pitch channel, roll channel and speed loop are controlled respectively to realize the online generation of the aircraft's half-roll reverse maneuver command.

[0040] In the adjustment phase, the normal overload command generated by the pitch channel tracking maneuver command adaptive online planner... :

[0041]

[0042] in, The moment when the half-roll reversal ends, To adjust and modify the normal overload command required for height control, Let be the acceleration due to gravity, taken as 9.8. , The pitch angle is 3-2-1. To calculate the half-roll reversal maneuver radius in real time, for At altitude, To achieve the desired improvement in height, for The trajectory inclination of the spacecraft; Roll angle commands generated by the roll channel tracking maneuver command adaptive online planner :

[0043] In the speed loop, the aircraft speed at the start of the adjustment phase Should meet At this time, engines P1 and P2 maintain the state at the end of the mission segment, and the aircraft speed is judged in real time. If speed Then start engine P1 and P2 until the speed reaches... Or when the time arrives .

[0044] This invention provides algorithms for generating online overload commands, roll angle commands, and speed control commands for aircraft, ensuring that the aircraft's maneuver overload speed meets technical requirements during a half-roll maneuver, while simultaneously meeting lateral position deviation requirements within the safety control zone. The block diagram of the online adaptive planning principle for aircraft maneuver commands is shown below. Figure 2 As shown in the diagram, the principle block diagram is explained below: Figure 2 The diagram shows the online adaptive planning and control structure for the half-roll inverted maneuver command of the aircraft. As can be seen from the diagram, the aircraft sets the programmed overload command for the half-roll inverted maneuver in advance according to the mission requirements before the start of the flight mission. Half-roll reversal to adjust height (According to the task requirements, (Can be set or not), the half-roll reverse maneuver process is divided into stage 1 and stage 2, and the normal overload control command is generated by the overload command fusion algorithm. During a half-roll inverted maneuver, the trajectory control will generate a lateral overload control command. A dual-channel normal overload command is generated through a maneuver command adaptive online planner. and The aircraft's pitch channel tracks the aircraft's normal overload command according to a pre-designed control law. The roll channel tracks the roll angle command. This ensures the aircraft meets overload requirements during the half-roll inverted maneuver and reaches the desired altitude at the end. During the half-roll reverse maneuver, the lateral position meets the safety control zone requirements. Based on mission requirements, a maneuver speed control strategy is designed to control the speed during maneuvering by controlling the start-up and shutdown of engines P1 and P2.

[0045] In one embodiment of the present invention, the parameters of the method designed in the present invention are selected as follows: In step S2, , , , , , In step S3, , , The upper limit is 3g, and the lower limit is -3g. , , .

[0046] The plumb plane projection curve of the aircraft is as follows Figure 3 As shown, the trajectory curve is as follows Figure 4 As shown, the normal overload curve is as follows Figure 5 As shown, the velocity curve is as follows Figure 6 As shown, the roll angle curve is as follows Figure 7 As shown. From Figure 3 It can be seen that during the half-roll inverted maneuver, the mission segment tracks and controls the overload, while the adjustment segment adjusts the overload commands online, allowing the aircraft to recover at an altitude of 3km. From Figure 4 It can be seen that trajectory control can effectively control trajectory deviation during the half-roll reverse maneuver. From Figure 5 As can be seen, from the start of the maneuver to the end of the mission, the aircraft tracks the overload commands to meet the desired overload requirements. After the mission ends and from the end of the maneuver to the end, the overload commands are calculated in real time according to the desired recovery altitude to meet the desired recovery altitude requirements. From Figure 6 As can be seen, during the maneuver, the aircraft's speed consistently remained within its upper and lower speed limits. From... Figure 7 As can be seen, the method employed maintains a roll angle of approximately 180° throughout the mission phase, meeting the requirements for aircraft attitude stability during maneuvers. The results demonstrate that the method is effective and possesses high engineering value.

[0047] Those skilled in the art will recognize that the embodiments described herein are intended to help the reader understand the principles of the invention, and should be understood that the scope of protection of the invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific modifications and combinations based on the technical teachings disclosed in this invention without departing from the spirit of the invention, and these modifications and combinations are still within the scope of protection of the invention.

Claims

1. A method for online generation of half-roll reverse maneuver commands for an aircraft, characterized in that, Includes the following steps: S1: Divide the aircraft's half-roll inverted maneuver flight maneuver into a mission segment and an adjustment segment; S2: The mission segment flight maneuvers are divided into roll segment, overload segment and lateral position control segment according to the time sequence, and the pitch channel, roll channel and speed loop are controlled respectively; During the rollover phase, the pitch channel tracks the constant normal overload command, the roll channel tracks the roll angle command to enable the aircraft to complete a 180° rollover and maintain a back-facing attitude, and the speed loop controls the engine to start or stop through the upper and lower speed limits. In the overload section, the pitch channel tracks the pre-designed programmable normal overload command, the roll channel tracks the roll angle command to maintain a 180° roll attitude, and the speed loop continues to control the engine to start or stop according to the speed constraint. In the lateral position control segment, the pitch channel tracking maneuver command adaptive online planner generates a normal overload command. : in, For the pre-designed programmable normal overload command, For time, The moment when the overload segment ends. This is the moment when the task segment ends; Roll angle commands generated by the roll channel tracking maneuver command adaptive online planner : in, Limiting the roll angle command for lateral position control. The lateral overload command required for lateral position control Limiting the lateral overload command, For the desired lateral position, This refers to the lateral position of the aircraft. For the launch system of the aircraft Towards speed, This is the scaling factor for the lateral position. This is the proportionality coefficient for lateral velocity; The speed circuit controls the engine to shut down according to a preset timing sequence and restarts it when the speed falls below the lower limit. S3: In the adjustment phase, the pitch channel, roll channel and velocity loop are controlled separately to realize the online generation of the aircraft's half-roll reverse maneuver command; In the adjustment phase, the normal overload command generated by the pitch channel tracking maneuver command adaptive online planner... : in, The moment when the half-roll reversal ends, To adjust and modify the normal overload command required for height control, For the speed of the aircraft, Let be the acceleration due to gravity, taken as 9.

8. , The pitch angle is 3-2-1. To calculate the half-roll reversal maneuver radius in real time, for At altitude, To achieve the desired improvement in height, for The trajectory inclination of the spacecraft; Roll angle commands generated by the roll channel tracking maneuver command adaptive online planner : The speed circuit determines and controls the engine to start or stop in real time based on the lower speed limit.

2. The online generation method for aircraft half-roll reverse maneuver commands according to claim 1, characterized in that, During the turning phase, the pitch channel tracks the constant normal overload command. ; Roll channel tracks roll angle command This allows the aircraft to complete a 180° roll and maintain a back-facing attitude: in, The moment of the roll angle command, The first roll angle command is At that moment, The moment of turning the tide has come to an end. For time; Since the roll angle range under the 3-2-1 rotation sequence is [-180°, 180°], there is a discontinuity during the half-roll reversal process. Therefore, a new roll controlled variable is defined. The calculation method is as follows: in, Values The roll angle at time 3-2-1. ω x It is the roll rate; In the velocity loop, design the upper limit of the velocity for the task segment. and lower bound of speed The speed of the aircraft at the start of the rollover phase Should meet At this point, start engines P1 and P2. During the rollover phase, keep engine P1 running while simultaneously assessing the aircraft's speed. If the speed is greater than If the engine P2 fails, then shut down engine P2; otherwise, keep engine P2 running.

3. The online generation method for aircraft half-roll reverse maneuver commands according to claim 2, characterized in that, During the overload segment, the pitch channel tracks the pre-designed programmable normal overload command. : in, for ~ Normal overload command within a time period; Roll channel tracks roll angle command To maintain a 180° roll posture: in, This is the moment when the overload phase ends; In the velocity loop, the aircraft speed at the start of the overload phase Should meet At this time, engine P1 remains running, engine P2 maintains the state at the end of the rollover phase, and the aircraft speed is simultaneously determined. If the speed is greater than If the engine P2 fails, then shut down engine P2; otherwise, keep engine P2 running.

4. The online generation method for aircraft half-roll reverse maneuver commands according to claim 3, characterized in that, In the velocity loop of the lateral position control segment, the aircraft velocity at the start of the lateral position control segment... Should meet At this time, engine P1 remains running, and engine P2 maintains the state at the end of the overload phase. ,exist Always turn off engine P2, in Engine P1 should be shut off at all times; and ~ Real-time determination of aircraft speed within a time period If speed Then start engine P1 and P2 until the speed reaches... Or when the time arrives ,in, for After that time, the shutdown time of the P2 engine and The interval between moments This is the speed lower limit protection correction value, set according to the engine's thrust characteristics.

5. The online generation method for aircraft half-roll reverse maneuver commands according to claim 4, characterized in that, In the speed loop of the adjustment segment, the aircraft speed at the beginning of the adjustment segment... Should meet At this time, engines P1 and P2 maintain the state at the end of the mission segment, and the aircraft speed is judged in real time. If speed Then start engine P1 and P2 until the speed reaches... Or when the time arrives .

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