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CN106873615B - Emergency return landing speed instruction set design method - Google Patents

Emergency return landing speed instruction set design method Download PDF

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CN106873615B
CN106873615B CN201510923549.2A CN201510923549A CN106873615B CN 106873615 B CN106873615 B CN 106873615B CN 201510923549 A CN201510923549 A CN 201510923549A CN 106873615 B CN106873615 B CN 106873615B
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airport
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CN106873615A (en
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王霄婷
王跃萍
刘玮
朱雪耀
魏文领
闻子侠
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No 618 Research Institute of China Aviation Industry
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Abstract

本发明属于飞行控制技术，提出一种应急返场着陆速度指令集设计方法，包括：(1)构建质量、滚转角、机场高度、高度、速度参数网格，计算飞机匀速下滑的攻角、升降舵、升阻比、轨迹角、下沉率，确定随质量、滚转角、机场高度、高度变化的最大升阻比速度和空滑最大可用速度，对最大升阻比速度和空滑最大可用速度之间的速度范围进行N+1等分，加上最大升阻比速度和空滑最大可用速度，共建立N+2档速度指令集，每档速度指令集的内容包括该档速度对应的攻角、升降舵、升阻比、轨迹角、下沉率；(3)飞机记录所述N+2档速度指令集，当飞机应急返场时，根据飞机质量、机场高度、高度、速度以及与机场的距离，选择适合的速度指令集档位执行。

Figure 201510923549

The invention belongs to the flight control technology, and proposes a method for designing an emergency return landing speed instruction set, including: (1) constructing a grid of parameters of mass, roll angle, airport height, altitude, and speed, calculating the angle of attack and elevator of the uniform glide of the aircraft , lift-to-drag ratio, trajectory angle, sink rate, determine the maximum lift-drag ratio speed and the maximum available speed of air-slip that vary with mass, roll angle, airport altitude and altitude, and the difference between the maximum lift-drag ratio speed and the maximum available speed of air-slip The speed range between the two is divided into N+1 equal parts, plus the maximum lift-to-drag ratio speed and the maximum available speed for air slip, a total of N+2 speed command sets are established, and the content of each speed command set includes the angle of attack corresponding to the speed of the speed. , elevator, lift-to-drag ratio, trajectory angle, sink rate; (3) The aircraft records the N+2 speed command set, when the aircraft returns to the airport in an emergency, according to the quality of the aircraft, airport altitude, altitude, speed and the relationship with the airport distance, select the appropriate speed command set gear to execute.

Figure 201510923549

Description

Emergency return landing speed instruction set design method
Technical Field
The invention belongs to a flight control technology, and particularly relates to an aircraft unpowered return landing autonomous guidance control technology.
Background
When the airplane has an engine stop fault in the air, the performance of the airplane is degraded, and the airplane can only slide down for flight. In order to ensure the flight safety, the speed of the airplane needs to be controlled and the flight track needs to be modified, so that the situation of stall caused by excessive pull-up of the track is avoided, and meanwhile, the lift-drag ratio of the airplane in gliding can be adjusted to enable the airplane to land on the runway of the airport as far as possible. The document 'design of emergency landing control law of wheeled take-off and landing unmanned aerial vehicle' provides a difficult point analysis and solution approach for the problem of idle sliding return landing: 1) in the transitional flight stage, the gliding flight is carried out at the maximum lift-drag ratio speed, so that the flying distance of the airplane is maximized, and the airplane can still have the capability of reaching the vicinity of an airport under various uncertain and interference factors; 2) when the flying distance of the airplane is too long, namely the energy is too high when the airplane arrives near an airport, the redundant energy is consumed by adopting the mode of hovering and descending. The scheme has definite physical significance and simple operation. But there are three issues that are not considered when applied to engineering practice: 1) in the process of idle sliding return, the engine is started in the air, and the speed condition that the engine is idle can not be reached by gliding at the maximum lift-drag ratio; 2) if the maximum lift-drag ratio speed is adopted for gliding, the flying speed is smaller in the range of the flying speed, and compared with other speeds, the flying distance and the flying time are relatively longer, so that the airplane can not land safely until the battery of the airport is exhausted before the airplane slides to the airport. 3) The condition of the engine parking in the air is uncertain, the actual flight distances are almost the same for the parking conditions with the same height, far and near and different energy states, and the strategy of the gliding speed is not flexible enough.
Disclosure of Invention
The purpose of the invention is: the invention provides a design method of an emergency return landing speed instruction set, which can provide a more flexible and changeable instruction selection scheme for an idle-sliding guidance law and improve the feasibility that the idle-sliding time is less than the available time of a battery.
The technical scheme of the invention is as follows: a design method for an emergency return landing speed instruction set comprises the following steps:
(1) constructing a mass, roll angle, airport height, altitude and speed parameter grid, calculating an attack angle, an elevator, a lift-drag ratio, a track angle and a sinking rate of uniform gliding of the airplane, determining a maximum lift-drag ratio speed and a maximum available speed of the skywooking which are changed along with the mass, the roll angle, the airport height and the altitude, dividing a speed range between the maximum lift-drag ratio speed and the maximum available speed of the skywooking by N +1 and adding the maximum lift-drag ratio speed and the maximum available speed of the skywooking to establish an N +2 gear speed instruction set, wherein the content of each gear speed instruction set comprises the attack angle, the lift-drag rudder, the lift-drag ratio, the track angle and the sinking rate corresponding to the gear speed;
(3) and recording the N +2 gear speed instruction set by the airplane, and selecting a proper gear of the speed instruction set to execute according to the airplane quality, the airport height, the speed and the distance from the airport when the airplane returns to the field in an emergency.
The method comprises the following steps between the step (1) and the step (3):
(2) correcting the speed instruction set of the N +2 gear by using the corresponding relation between the altitude and the speed required by the aerial restart and the aerial slip landing of the engine, and updating the content of each gear speed instruction set, wherein the content comprises an attack angle, an elevating rudder, a lift-drag ratio, a track angle and a sinking rate corresponding to the gear speed.
The step (1) comprises the following steps:
(11) constructing a computational grid within the variable ranges of the mass m of the airplane, the height gnd of the airport, the roll angle phi, the height H and the speed V;
(12) calculating the uniform speed gliding performance of the airplane at each point of the calculated grid by using the balancing condition with the roll angle:
Figure BDA0000875606540000021
wherein: w is mg is the gravity of the aircraft, g is the acceleration of gravity; l, D is the lift and drag of the aircraft, MyThe pitching moments of the aircraft are the angle of attack α and the elevator deltaeHeight H and velocity V. Theta is the pitch angle of the airplane;
obtaining an attack angle α and an elevator delta meeting the balancing condition by using an equation set numerical solution methodeA pitch angle θ; solving lift L and resistance D according to a pneumatic parameter calculation method;
calculating lift-to-drag ratio KL/D：
KL/D＝L/D
Calculating a trajectory angle γ:
γ＝θ-α
calculating the sinking rate Vs：
Vs＝Vsinγ
(13) Under the conditions of given mass, roll angle, height and airport height, the maximum lift-drag ratio speed is used as the farthest speed of a track, the maximum calculated speed is used as the nearest speed of the track, the interval between the two speeds is divided into N +1 parts, the speed is arranged according to the farthest speed of the track, the interval speeds are 1 … N and the nearest speed of the track in sequence, a speed instruction set of N +2 gears is obtained, and the content of each gear speed instruction set comprises an attack angle, a lifting rudder, a lift-drag ratio, a track angle and a sinking rate corresponding to the gear speed.
The step (2) comprises the following steps:
(21) representing the conditions of an idle-up window and an idle sliding-in near window of the engine as speed instructions of corresponding height layers, and correspondingly replacing the original speed instructions;
(22) performing linear interpolation smoothing processing on the joint of the new speed instruction and the original speed instruction, and calculating the shortest length of an interpolation section according to the average sinking rate;
(23) selecting the speed instruction of the most middle gear from the speed instructions of all gears on the height layer behind the engine idle window;
(24) the updated speed instruction is obtained by interpolating the calculation result of the parameter grid, wherein the updated speed instruction is obtained at the position where the relative height between the airplane and the airport is more than 300m, and the corresponding attack angle, elevating rudder, lift-drag ratio, track angle and sinking rate are obtained by the interpolation of the calculation result of the parameter grid; the updated speed command at the position where the relative height of the airplane and the airport is less than 300m needs to be supplemented and calculated for the attack angle, the elevator, the lift-drag ratio, the track angle and the sinking rate of the airborne slip under the landing gear put-down state.
The step (3) comprises the following steps:
(31) according to the current speed V and the maximum available roll angle phi of the airplanemaxEstimating the maximum range of the aircraft required for turning the direction
Figure BDA0000875606540000041
Calculating the average lift-drag ratio K required by the return of the airplane from the altitude gnd and the altitude H of the airport and the distance Dis from the airportneed
Figure BDA0000875606540000042
(32) Looking up the speed instruction table to obtain the mass m of the airplane, the height gnd of the airport and the roll angle phimaxAn N +2 gear speed command under the condition. Solving the average value of lift-drag ratio in the range from the height of an airport to the height of an airplane for the speed instruction of the ith gear
Figure BDA0000875606540000043
Wherein i is 1, 2, …, N + 2;
(33) if i is present, such that
Figure BDA0000875606540000044
Then choose to make
Figure BDA0000875606540000045
And a minimum first gear speed instruction is used for designing a track for returning the idle sliding and a guidance decision. Otherwise, the current state can not be returned safely, and the 1 st gear speed instruction with the maximum lift-drag ratio is selected for track design and guidance decision of idle sliding return, so that the gliding capability is exerted as much as possible.
The invention has the advantages that: the invention provides a method for designing an idle-slip speed instruction set based on the unpowered gliding performance of an airplane and the air restart condition of an engine, and provides a better instruction design approach for the engineering realization of the idle-slip return landing of the airplane. The obtained multi-gear instruction set can support the idle start of an engine, the flight state can be converged to an expected landing state by the same speed instruction design after the engine is restarted, and meanwhile, the guidance law can flexibly adjust the flying distance and the flying time by the aid of the stepped speed instruction design in the initial parking period through online scheduling. Compared with the maximum lift-drag ratio flight, the multi-gear speed instruction set can realize more gliding flight tracks, and can save more than 20% of flight time under the initial condition of high altitude, close range and low energy.
Drawings
FIG. 1 is a plot of trim lift-drag ratio versus velocity for a model at different altitudes at a given mass and roll angle of zero.
FIG. 2 is a diagram of the design result of the 11-gear speed command for a certain model at a given mass and airport altitude.
Detailed Description
The present invention is described in further detail below.
A design method for an emergency return landing speed instruction set comprises the following steps:
(1) constructing a mass, roll angle, airport height, altitude and speed parameter grid, calculating an attack angle, an elevator, a lift-drag ratio, a track angle and a sinking rate of uniform gliding of the airplane, determining a maximum lift-drag ratio speed and a maximum available speed of the skywooking which are changed along with the mass, the roll angle, the airport height and the altitude, dividing a speed range between the maximum lift-drag ratio speed and the maximum available speed of the skywooking by N +1 and adding the maximum lift-drag ratio speed and the maximum available speed of the skywooking to establish an N +2 gear speed instruction set, wherein the content of each gear speed instruction set comprises the attack angle, the lift-drag rudder, the lift-drag ratio, the track angle and the sinking rate corresponding to the gear speed;
(3) and recording the N +2 gear speed instruction set by the airplane, and selecting a proper gear of the speed instruction set to execute according to the airplane quality, the airport height, the speed and the distance from the airport when the airplane returns to the field in an emergency.
The method comprises the following steps between the step (1) and the step (3):
(2) correcting the speed instruction set of the N +2 gear by using the corresponding relation between the altitude and the speed required by the aerial restart and the aerial slip landing of the engine, and updating the content of each gear speed instruction set, wherein the content comprises an attack angle, an elevating rudder, a lift-drag ratio, a track angle and a sinking rate corresponding to the gear speed.
The step (1) comprises the following steps:
(11) constructing a computational grid within the variable ranges of the mass m of the airplane, the height gnd of the airport, the roll angle phi, the height H and the speed V;
(12) calculating the uniform speed gliding performance of the airplane at each point of the calculated grid by using the balancing condition with the roll angle:
Figure BDA0000875606540000061
wherein: w is mg is the gravity of the aircraft, g is the acceleration of gravity; l, D is the lift and drag of the aircraft, MyThe pitching moments of the aircraft are the angle of attack α and the elevator deltaeHeight H and velocity V. Theta is the pitch angle of the airplane;
obtaining an attack angle α and an elevator delta meeting the balancing condition by using an equation set numerical solution methodeA pitch angle θ; solving according to a calculation method of pneumatic parametersLift L and drag D;
calculating lift-to-drag ratio KL/D：
KL/D＝L/D
Calculating a trajectory angle γ:
γ＝θ-α
calculating the sinking rate Vs：
Vs＝Vsinγ
(13) Under the conditions of given mass, roll angle, height and airport height, the maximum lift-drag ratio speed is used as the farthest speed of a track, the maximum calculated speed is used as the nearest speed of the track, the interval between the two speeds is divided into N +1 parts, the speed is arranged according to the farthest speed of the track, the interval speeds are 1 … N and the nearest speed of the track in sequence, a speed instruction set of N +2 gears is obtained, and the content of each gear speed instruction set comprises an attack angle, a lifting rudder, a lift-drag ratio, a track angle and a sinking rate corresponding to the gear speed.
The step (2) comprises the following steps:
(21) representing the conditions of an idle-up window and an idle sliding-in near window of the engine as speed instructions of corresponding height layers, and correspondingly replacing the original speed instructions;
(22) performing linear interpolation smoothing processing on the joint of the new speed instruction and the original speed instruction, and calculating the shortest length of an interpolation section according to the average sinking rate;
(23) selecting the speed instruction of the most middle gear from the speed instructions of all gears on the height layer behind the engine idle window;
(24) the updated speed instruction is obtained by interpolating the calculation result of the parameter grid, wherein the updated speed instruction is obtained at the position where the relative height between the airplane and the airport is more than 300m, and the corresponding attack angle, elevating rudder, lift-drag ratio, track angle and sinking rate are obtained by the interpolation of the calculation result of the parameter grid; the updated speed command at the position where the relative height of the airplane and the airport is less than 300m needs to be supplemented and calculated for the attack angle, the elevator, the lift-drag ratio, the track angle and the sinking rate of the airborne slip under the landing gear put-down state.
The step (3) comprises the following steps:
(31) according to the current speed V and the maximum available roll angle phi of the airplanemaxEstimating the maximum range of the aircraft required for turning the direction
Figure BDA0000875606540000071
Calculating the average lift-drag ratio K required by the return of the airplane from the altitude gnd and the altitude H of the airport and the distance Dis from the airportneed
Figure BDA0000875606540000072
(32) Looking up the speed instruction table to obtain the mass m of the airplane, the height gnd of the airport and the roll angle phimaxAn N +2 gear speed command under the condition. Solving the average value of lift-drag ratio in the range from the height of an airport to the height of an airplane for the speed instruction of the ith gear
Figure BDA0000875606540000073
Wherein i is 1, 2, …, N + 2;
(33) if i is present, such that
Figure BDA0000875606540000074
Then choose to make
Figure BDA0000875606540000075
And a minimum first gear speed instruction is used for designing a track for returning the idle sliding and a guidance decision. Otherwise, the current state can not be returned safely, and the 1 st gear speed instruction with the maximum lift-drag ratio is selected for track design and guidance decision of idle sliding return, so that the gliding capability is exerted as much as possible.
Examples
Taking a certain model as an example, giving conditions such as aircraft mass, airport altitude 1500m and the like, giving an engine restart window as an altitude layer 3-6km to fly at a speed of 450km/h, and giving main steps and results of designing a multi-gear speed instruction set:
the first step is as follows: generating a parameter grid, calculating the idling-skid performance and designing a multi-gear speed instruction, wherein a curve of the rising-drag ratio of part of grid points along with the speed is shown in figure 1.
1) Forming a height calculation sequence from the height of the airport to the maximum height by taking 100m as a height interval; taking a rolling angle sequence of 0:10: 30; inquiring the flight envelope corresponding to the current mass, calculating the speed range of each point of the altitude sequence, and dividing the speed range by 50 equal parts to obtain a roll angle-altitude-speed parameter grid; and calculating an attack angle, a pitch angle, an elevator, a lift-drag ratio and a sinking rate of uniform gliding trim at each point of the parameter grid.
2) Combining the rolling angle and the height sequence to obtain a rolling angle-height grid; searching a point with the maximum trim lift-drag ratio at each point of the rolling angle-height grid as the farthest speed of the flight path, and taking the point with the maximum speed as the nearest speed of the flight path; dividing a speed interval 10 formed by the farthest speed of the track and the nearest speed of the track equally, arranging the farthest speed of the track, the equal interval speed of the level 1 … 9 and the nearest speed of the track in a front-back sequence, and arranging 11 searched points to obtain a speed instruction of 11 gears; and (3) interpolating a trimming track angle, a lift-drag ratio and an elevator corresponding to the 1 … 9 level equal interval speed according to the performance calculation result.
The second step is that: regenerating a stepping instruction set according to the engine restart window condition, the landing window condition and the like, wherein the speed instruction design result is shown in fig. 2:
1) flight segment before air-lift (flight segment above 7 km): and directly adopting a multi-gear speed instruction design result.
2) Engine idle section (2-7km height section): according to the condition of an engine idle-up window, a speed instruction in a height layer of 3-6km is designed to be 450km/h, two transition height layers of 1000m are arranged at positions of 2-3km and 6-7km through average sinking rate calculation, and the speed instruction is smoothly transited through linear interpolation.
3) The engine in flight after the idle start failure: the relative height of the tail end of the idle starting section of the engine of the embodiment reaches 500m and reaches the vicinity of the approaching window, so that the flying section after the idle starting failure of the engine is cancelled.
4) Approach segment (1515-: the landing speed is 240km/h, and the flight performance parameters correspond to the landing gear falling state.

Claims (3)

1.一种应急返场着陆速度指令集设计方法，其特征在于，包括：1. a design method for emergency return landing speed instruction set, is characterized in that, comprises: (1)构建质量、滚转角、机场高度、高度、速度参数网格，计算飞机匀速下滑的攻角、升降舵、升阻比、轨迹角、下沉率，确定随质量、滚转角、机场高度、高度变化的最大升阻比速度和空滑最大可用速度，对最大升阻比速度和空滑最大可用速度之间的速度范围进行N+1等分，加上最大升阻比速度和空滑最大可用速度，共建立N+2档速度指令集，每档速度指令集的内容包括该档速度对应的攻角、升降舵、升阻比、轨迹角、下沉率；(1) Construct a grid of parameters of mass, roll angle, airport height, altitude, and speed, calculate the angle of attack, elevator, lift-drag ratio, trajectory angle, and sinking rate of the aircraft sliding at a constant speed, and determine the mass, roll angle, airport altitude, The maximum lift-to-drag ratio speed and the maximum available speed of air-slip at altitude change, divide the speed range between the maximum lift-drag ratio speed and the maximum available speed of air-slip into N+1 equal parts, plus the maximum lift-drag ratio speed and the maximum available speed of air-slip Available speeds, a total of N+2 speed command sets are established, and the content of each speed command set includes the angle of attack, elevator, lift-drag ratio, trajectory angle, and sinking rate corresponding to the speed of the speed; (3)飞机记录所述N+2档速度指令集，当飞机应急返场时，根据飞机质量、机场高度、高度、速度以及与机场的距离，选择适合的速度指令集档位执行；(3) The aircraft records the N+2 speed command set, and when the aircraft returns to the airport in an emergency, select a suitable speed command set gear for execution according to the aircraft quality, airport altitude, altitude, speed and distance from the airport; 在步骤(1)与步骤(3)之间包括：Include between step (1) and step (3): (2)用发动机空中重启和空滑着陆所需的高度与速度的对应关系修正N+2档速度指令集，并更新每档速度指令集的内容，包括该档速度对应的攻角、升降舵、升阻比、轨迹角、下沉率；(2) Correct the N+2 speed command set with the corresponding relationship between the height and speed required for the engine to restart in the air and the air-slip landing, and update the content of each speed command set, including the angle of attack, elevator, Lift-to-drag ratio, trajectory angle, sink rate; 步骤(1)包括：Step (1) includes: (11)在飞机质量m、机场高度gnd、滚转角φ、高度H、速度V可变化范围内，构建计算网格；(11) Construct a calculation grid within the variable range of aircraft mass m, airport height gnd, roll angle φ, height H, and speed V; (12)在计算网格各点，利用带滚转角的配平条件进行飞机匀速下滑性能的计算：(12) At each point of the calculation grid, use the trim condition with roll angle to calculate the uniform glide performance of the aircraft:
Figure FDA0002241086020000011
Figure FDA0002241086020000011
 其中：W＝mg为飞机的重力，g为重力加速度；L、D为飞机的升力和阻力，My为飞机的俯仰力矩，均为随攻角α、升降舵δe，高度H和速度V变化的气动参数；θ为飞机的俯仰角；Wherein: W=mg is the gravity of the aircraft, g is the acceleration of gravity; L and D are the lift and drag of the aircraft, M y is the pitching moment of the aircraft, all of which vary with the angle of attack α, the elevator δ e , the height H and the speed V aerodynamic parameters; θ is the pitch angle of the aircraft; 用方程组数值求解方法，得到满足配平条件的攻角α、升降舵δe，俯仰角θ；根据气动参数计算方法求解升力L和阻力D；Using the numerical solution method of the equation system, the attack angle α, elevator δ e , and pitch angle θ that satisfy the trim conditions are obtained; the lift L and the drag D are calculated according to the aerodynamic parameter calculation method; 计算升阻比KL/D：Calculate the lift-drag ratio K L/D : KL/D＝L/DK L/D = L/D 计算轨迹角γ：Calculate the trajectory angle γ: γ＝θ-αγ=θ-α 计算下沉率Vs：Calculate the sink rate V s : Vs＝Vsinγ Vs = Vsinγ (13)将给定质量、滚转角、高度、机场高度条件下，最大升阻比速度作为航迹最远速度，最大计算速度作为航迹最近速度，对两个速度之间的区间N+1等分，按照航迹最远速度、1…N等间隔速度、航迹最近速度顺序排列，得到N+2个档位的速度指令集合，每档速度指令集的内容包括该档速度对应的攻角、升降舵、升阻比、轨迹角、下沉率。(13) Under the conditions of given mass, roll angle, altitude, and airport altitude, the maximum lift-drag ratio speed is taken as the farthest speed of the track, and the maximum calculated speed is taken as the nearest speed of the track, and the interval between the two speeds is N+1 Divide them into equal parts, arrange them in order according to the farthest speed on the track, the speed at intervals of 1...N, and the nearest speed on the track, and obtain a speed command set of N+2 gears. The content of each gear speed command set includes the attack speed corresponding to the speed Angle, elevator, lift-drag ratio, trajectory angle, sink rate. 2.如权利要求1所述的一种应急返场着陆速度指令集设计方法，其特征在于，步骤(2)包括：2. a kind of emergency return landing speed instruction set design method as claimed in claim 1 is characterized in that, step (2) comprises: (21)将发动机空起窗口和空滑进近窗口条件，表征为相应高度层的速度指令，对应替换原有速度指令；(21) Characterize the engine idling window and idling approach window conditions as the speed command of the corresponding altitude, correspondingly replacing the original speed command; (22)对新速度指令与原速度指令的衔接处进行线性插值平滑处理，根据平均下沉率计算插值段最短长度；(22) Perform linear interpolation smoothing on the connection between the new speed command and the original speed command, and calculate the shortest length of the interpolation section according to the average subsidence rate; (23)在发动机空起窗口后的高度层，将各档位的速度指令均选用最中间档位的速度指令；(23) At the height level after the engine vacates the window, the speed command of each gear is selected as the speed command of the most intermediate gear; (24)飞机与机场的相对高度大于300m处更新的速度指令，其对应的攻角、升降舵、升阻比、轨迹角、下沉率由参数网格计算结果插值得到；飞机与机场的相对高度小于300m处更新的速度指令，需补充计算在起落架放下状态下空滑的攻角、升降舵、升阻比、轨迹角、下沉率。(24) The updated speed command when the relative height of the aircraft and the airport is greater than 300m, the corresponding angle of attack, elevator, lift-drag ratio, trajectory angle, and sinking rate are obtained by interpolation from the calculation results of the parameter grid; the relative height of the aircraft and the airport For the updated speed command less than 300m, it is necessary to supplement the calculation of the angle of attack, elevator, lift-drag ratio, trajectory angle, and sinking rate of air-slip when the landing gear is down. 3.如权利要求1所述的一种应急返场着陆速度指令集设计方法，其特征在于，步骤(3)包括：3. a kind of emergency return landing speed instruction set design method as claimed in claim 1 is characterized in that, step (3) comprises: (31)根据飞机当前速度V和最大可用滚转角φmax，估算飞机调转方向所需的最大航程(31) According to the current speed V of the aircraft and the maximum available roll angle φ max , estimate the maximum range required for the aircraft to reverse the direction
Figure FDA0002241086020000031
Figure FDA0002241086020000031
 根据机场高度gnd、高度H以及与机场的距离Dis，计算飞机空滑返回所需的平均升阻比Kneed According to the airport altitude gnd, altitude H and the distance Dis from the airport, calculate the average lift-to-drag ratio K need for the aircraft to return from skidding
Figure FDA0002241086020000032
Figure FDA0002241086020000032
 (32)查速度指令表，得到飞机质量m，机场高度gnd，滚转角φmax条件下的N+2档速度指令；对第i个档位的速度指令求解从机场高度到飞机高度范围内的升阻比的平均值
Figure FDA0002241086020000033
其中i＝1，2，…,N+2；(32) Check the speed command table to obtain the N+2 speed command under the conditions of the aircraft mass m, the airport height gnd, and the roll angle φ max ; for the speed command of the i-th gear, solve the speed command from the airport height to the aircraft height. Average lift-to-drag ratio
Figure FDA0002241086020000033
where i=1, 2, ..., N+2; (33)如果存在i，使得
Figure FDA0002241086020000034
则选择使
Figure FDA0002241086020000035
最小的一档速度指令，用于空滑返回的轨迹设计和制导决策；否则，当前状态可能无法安全返回，选用升阻比最大的第1档速度指令用于空滑返回的轨迹设计和制导决策，尽可能发挥滑翔能力。(33) If there is i such that
Figure FDA0002241086020000034
choose to use
Figure FDA0002241086020000035
The minimum first gear speed command is used for trajectory design and guidance decision-making for slipping return; otherwise, the current state may not be able to return safely, and the first gear speed command with the largest lift-to-drag ratio is used for trajectory design and guidance decision-making for idle slipping return , to maximize the gliding ability.
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