CN106020216B - Equilibrium glide guidance force distribution method in angle-of-attack constraint - Google Patents
Equilibrium glide guidance force distribution method in angle-of-attack constraint Download PDFInfo
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- CN106020216B CN106020216B CN201610320246.6A CN201610320246A CN106020216B CN 106020216 B CN106020216 B CN 106020216B CN 201610320246 A CN201610320246 A CN 201610320246A CN 106020216 B CN106020216 B CN 106020216B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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Abstract
The invention discloses an equilibrium glide guidance force distribution method in angle-of-attack constraint. The method comprises steps of: determining the normal force coefficient of an aircraft; computing the value of longitudinal force Fycx according to a preset longitudinal height control law; computing the normal force Fmin that can be provided by a minimum amplitude-limiting angle of attack; and determining the guidance force Fzc of a transverse channel according to the Fycx and the Fmin. The method provided by the invention may decompose redundant normal force into the transverse channel while satisfying the angle-of-attack constraint so as to coordinate longitudinal guidance force distribution with transverse guidance force distribution.
Description
Technical field
The present invention relates to technical field of air vehicle guidance, the equilibrium glide guidance power point under more particularly to a kind of angle of attack constraint
Method of completing the square.
Background technology
For lift formula aircraft, as lift coefficient is big, speed is high, the centrifugal force added by speed is big, therefore, body
Only need equilibrium glide flight to be capable of achieving compared with Low Angle Of Attack, and due to control ability problem, aircraft often has minimum angle of attackmin
Amplitude limit.
As even if aircraft is using minimum angles-of-attack, its lift for providing also is far longer than needed for equilibrium glide guidance
, thus there is the contradiction between minimum angle of attack amplitude limit and longitudinal force demand in the power wanted.
The content of the invention
In view of this, the present invention provides a kind of lower equilibrium glide of angle of attack constraint and guides force distribution method, such that it is able to
While meeting angle of attack constraint, normal force more than needed is decomposed into interconnection, realize vertically and horizontally guiding the coordination of power distribution.
What technical scheme was specifically realized in：
A kind of equilibrium glide guidance force distribution method under angle of attack constraint, the method include：
Determine the normal force coefficient of aircraft；
According to default longitudinal height-holding control law, longitudinal force F is calculatedycxValue；
Calculate normal force F that the minimum amplitude limit angle of attack can be providedmin；
According to FycxAnd FminDetermine guidance power F of interconnectionzc1。
Preferably, the method is still further comprised：
According to FycxAnd Fzc1, the angle of heel instruction being calculated needed for control aircraft.
Preferably, the normal force coefficient is：
Cy=ax+bx×α；
Wherein, CyFor body normal force coefficient, ax、bxIt is the parameter of aerodynamic characteristics related to aerodynamic characteristics of vehicle, α is
The angle of attack, and α ∈ [αmin,αmax]；aminBy the minimum amplitude limit angle of attack allowed during aircraft gliding flight, amaxGlide for aircraft
The maximum angle of attack allowed during flight.
Preferably, default longitudinal height-holding control law is：
Fycx=Fyc0+F(Δh,ΔΘ)；
Wherein, FycxFor longitudinal force, Fyc0For vertical passage need to fundamental force, F (Δ h, Δ Θ) for vertical passage need use
Power, Δ h are height error, and Δ Θ is error of tilt.
Preferably, calculating the normal force that the minimum amplitude limit angle of attack can be provided using formula below：
Fmin=q × Sm×(ax+bxamin)；
Wherein, q is dynamic pressure, SmFor aircraft feature area.
Preferably, described according to FycxAnd FminDetermine that the guidance power of interconnection includes：
If Fmin>Fycx, thenOtherwise, Fzc1=0.
As above it is visible, in the equilibrium glide guidance force distribution method under angle of attack constraint in the present invention, due to first determining
The normal force coefficient of aircraft, then according to default longitudinal height-holding control law, calculates longitudinal force FycxValue, and calculate minimum
Normal force F that the amplitude limit angle of attack can be providedmin, then further according to FycxAnd FminDetermine guidance power F of interconnectionzc1, so as to logical
Above-mentioned guidance power allocation strategy is crossed, while angle of attack constraint is met, normal force more than needed interconnection is decomposed into, is realized
The coordination of power distribution is vertically and horizontally guided, thus the demand for control of equilibrium glide vertical passage can be met, and it is logical to meet height
The demand of road precise control, solve minimum angle of attack constraint that glide vehicle of the prior art flies in equilibrium glide section with
Required guidance power mismatch problem, and aircraft is capable of achieving under equilibrium glide state of flight, under angle of attack confined condition, make a reservation for
The equilibrium glide flight guidance of height.The method is applied to lift formula aircraft, can be directly used for glide vehicle longitudinal direction height
In the design of control program.
Description of the drawings
Fig. 1 guides the schematic flow sheet of force distribution method for the equilibrium glide under the angle of attack constraint in the embodiment of the present invention.
Specific embodiment
For making the objects, technical solutions and advantages of the present invention become more apparent, develop simultaneously embodiment referring to the drawings, right
The present invention is further described.
The equilibrium glide guidance force distribution method under a kind of angle of attack constraint is present embodiments provided, the method is applied to lift
Formula aircraft.
Fig. 1 guides the schematic flow sheet of force distribution method for the equilibrium glide under the angle of attack constraint in the embodiment of the present invention.
As shown in figure 1, the equilibrium glide guidance force distribution method under the angle of attack in the embodiment of the present invention is constrained includes：
Step 101, determines the normal force coefficient of aircraft.
In the inventive solutions, it is necessary first to according to the characteristic of aircraft normal force coefficient, determine aircraft
Normal force coefficient, that is, determine parameter a in normal force coefficientxAnd bx。
For example, preferably, in one particular embodiment of the present invention, the normal force coefficient of lift formula aircraft typically may be used
To be described using equation below：
Cy=ax+bx×α (1)
Wherein, CyFor body normal force coefficient, ax、bxIt is the parameter of aerodynamic characteristics related to aerodynamic characteristics of vehicle, α is
The angle of attack (unit is degree), α ∈ [αmin,αmax]；aminBy the minimum amplitude limit angle of attack allowed during aircraft gliding flight, amaxIt is winged
The maximum angle of attack allowed during row device gliding flight.
Therefore, according to above-mentioned body normal force coefficient and the angle of attack, you can determine parameter a in normal force coefficientxAnd bx。
Specifically, in embodiments of the invention, can be according to the angle of attack of the lift formula aircraft under the conditions of certain Mach and body normal direction
Force coefficient, chooses several characteristic feature points, obtains parameter a using least-squares algorithmxAnd bx。
Step 102, according to default longitudinal height-holding control law, calculates longitudinal force FycxValue.
For example, preferably, in one particular embodiment of the present invention, the gliding flight section of aircraft is highly controlled can be with
Using longitudinal height-holding control law (i.e. longitudinal height control algolithm) as described below：
Fycx=Fyc0+F(Δh,ΔΘ) (2)
Wherein, FycxFor longitudinal force, Fyc0For vertical passage need to fundamental force, F (Δ h, Δ Θ) for vertical passage need use
Power, the vertical passage need to be firmly the power produced by height error Δ h and error of tilt Δ Θ feedback controls.
By above-mentioned longitudinal height-holding control law, you can according to vertical passage need to fundamental force and vertical passage need use
Power, is calculated longitudinal force FycxValue.
Step 103, calculates the normal force that the minimum amplitude limit angle of attack can be provided.
For example, preferably, in one particular embodiment of the present invention, it is possible to use formula as described below calculates minimum
The normal force that the amplitude limit angle of attack can be provided：
Fmin=q × Sm×(ax+bxamin) (3)
Wherein, FminFor the normal force that the minimum amplitude limit angle of attack can be provided, q is dynamic pressure, SmFor aircraft feature area.
Step 104, according to FycxAnd FminDetermine the guidance power of interconnection.
In the inventive solutions, as the normal force provided by the minimum amplitude limit angle of attack is slided much larger than aircraft balance
Longitudinal force required for Xiang, therefore, it is to meet angle of attack constraint, needs to tilt by aircraft and decompose normal force more than needed
Interconnection.So, when knowing FycxAnd FminValue after, in this step, you can according to FycxAnd FminIt is laterally logical to determine
The guidance power in road.
In the inventive solutions, it is possible to use numerous embodiments are realizing above-mentioned step 104.Below will be with
As a example by one kind therein implements form, technical scheme is introduced.
For example, preferably, in one particular embodiment of the present invention, it is described according to FycxAnd FminDetermine interconnection
Guidance power includes：
If Fmin>Fycx, thenOtherwise, Fzc1=0.
Wherein, Fzc1Guidance power (i.e. side force) for interconnection.
By above-mentioned step 101～104, you can normal force more than needed is decomposed interconnection, gliding flight is met
The demand for control of section vertical passage.
Further, preferably, in one particular embodiment of the present invention, after above-mentioned steps 104, can also enter
One step includes：
Step 105, according to longitudinal force FycxWith guidance power F of interconnectionzc1, it is calculated inclining needed for control aircraft
Side angle is instructed.
Instructed by above-mentioned angle of heel, can control aircraft carries out horizontal inclination.
In summary, in the equilibrium glide guidance force distribution method under angle of attack constraint in the present invention, due to first determining
The normal force coefficient of aircraft, then according to default longitudinal height-holding control law, calculates longitudinal force FycxValue, and calculate minimum
Normal force F that the amplitude limit angle of attack can be providedmin, then further according to FycxAnd FminDetermine guidance power F of interconnectionzc1, so as to logical
Above-mentioned guidance power allocation strategy is crossed, normal force more than needed is decomposed into interconnection, realized and vertically and horizontally guide power distribution
Coordinate, thus the demand for control of equilibrium glide vertical passage can be met, and meet the demand of altitude channel precise control, solve
Minimum angle of attack constraint and required guidance power mismatch problem that glide vehicle of the prior art flies in equilibrium glide section,
And aircraft is capable of achieving under equilibrium glide state of flight, under angle of attack confined condition, the equilibrium glide flight of predetermined altitude is made
Lead.The method is applied to lift formula aircraft, can be directly used in the design of glide vehicle longitudinal direction height control program.
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Within god and principle, any modification, equivalent substitution and improvements done etc. are should be included within the scope of protection of the invention.
Claims (2)
1. the equilibrium glide under a kind of angle of attack constraint guides force distribution method, it is characterised in that the method includes：
Determine the normal force coefficient of aircraft, according to normal force coefficient and the angle of attack, determined using least-squares algorithm and aircraft
Related parameter of aerodynamic characteristics a of aerodynamic characteristicxAnd bx；The normal force coefficient is：
Cy=ax+bx×α；
Wherein, CyFor body normal force coefficient, ax、bxIt is the parameter of aerodynamic characteristics related to aerodynamic characteristics of vehicle, α is the angle of attack,
And α ∈ [αmin,αmax]；αminBy the minimum amplitude limit angle of attack allowed during aircraft gliding flight, αmaxFor aircraft gliding flight
When the maximum angle of attack that allowed；
According to default longitudinal height-holding control law, longitudinal force F is calculatedycxValue；Default longitudinal height-holding control law is：
Fycx=Fyc0+F(Δh,ΔΘ)；
Wherein, FycxFor longitudinal force, Fyc0For vertical passage need to fundamental force, F (Δ h, Δ Θ) is that vertical passage need to firmly, Δ
H is height error, and Δ Θ is error of tilt；
Calculate normal force F that the minimum amplitude limit angle of attack can be providedmin；Wherein, minimum amplitude limit angle of attack institute is calculated using formula below
The normal force that can be provided：Fmin=q × Sm×(ax+bxαmin)；
Wherein, q is dynamic pressure, SmFor aircraft feature area；
According to FycxAnd FminDetermine guidance power F of interconnectionzc1, including：If Fmin>Fycx, thenIt is no
Then, Fzc1=0.
2. method according to claim 1, it is characterised in that the method is still further comprised：
According to FycxAnd Fzc1, the angle of heel instruction being calculated needed for control aircraft.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104035335A (en) * | 2014-05-27 | 2014-09-10 | 北京航空航天大学 | High accuracy longitudinal and cross range analytical prediction method based smooth gliding reentry guidance method |
| CN104155990A (en) * | 2014-08-15 | 2014-11-19 | 哈尔滨工业大学 | Hypersonic aircraft pitch channel attitude control method in consideration of attack angle constraint |
| CN104731104A (en) * | 2015-03-09 | 2015-06-24 | 北京航天自动控制研究所 | Longitudinal guidance method for gliding flight section of hypersonic flight vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| IT1392259B1 (en) * | 2008-12-11 | 2012-02-22 | Alenia Aeronautica Spa | ESTIMATION PROCEDURE OF THE INCIDENCE ANGLE AND THE DERAPATE CORNER OF AN AIRCRAFT |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104035335A (en) * | 2014-05-27 | 2014-09-10 | 北京航空航天大学 | High accuracy longitudinal and cross range analytical prediction method based smooth gliding reentry guidance method |
| CN104155990A (en) * | 2014-08-15 | 2014-11-19 | 哈尔滨工业大学 | Hypersonic aircraft pitch channel attitude control method in consideration of attack angle constraint |
| CN104731104A (en) * | 2015-03-09 | 2015-06-24 | 北京航天自动控制研究所 | Longitudinal guidance method for gliding flight section of hypersonic flight vehicle |
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