CN113848960B - Automatic control method for vertical speed of large aircraft - Google Patents
Automatic control method for vertical speed of large aircraft Download PDFInfo
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- CN113848960B CN113848960B CN202111108211.3A CN202111108211A CN113848960B CN 113848960 B CN113848960 B CN 113848960B CN 202111108211 A CN202111108211 A CN 202111108211A CN 113848960 B CN113848960 B CN 113848960B
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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
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
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Abstract
The application belongs to the technical field of aviation, and particularly relates to an automatic control method for vertical speed of a large-scale aircraft. Comprising the following steps: step one, obtaining a target vertical speed and an actual vertical speed, and calculating a normal overload control quantity; step two, acquiring a roll angle and a roll angle rate, and calculating a normal overload compensation quantity under the condition that the aircraft is rolling maneuver; and thirdly, superposing the normal overload control quantity and the normal overload compensation quantity to obtain a normal overload increment control instruction, and realizing automatic control of the vertical speed of the aircraft according to the normal overload increment control instruction. According to the method and the device, the vertical speed difference of the aircraft is controlled, corresponding normal overload compensation is performed for rolling maneuver of the aircraft, the vertical speed of the aircraft can be ensured to be accurately tracked under the vertical speed mode, the vertical speed of the aircraft can be stably increased and decreased according to the vertical speed of the aircraft when the rolling maneuver is performed, normal overload is ensured to be small in the flight process of the aircraft, the control precision is high, and the flight quality is high.
Description
Technical Field
The application belongs to the technical field of automatic flight control of airplanes, and particularly relates to an automatic control method for vertical speed of a large airplane.
Background
Large aircraft often require high precision climb rates or descent rates for flight in flight or approach. This requires that the aircraft be able to climb or descend at the target vertical speed. And the vertical speed of the aircraft changes during the rolling maneuver. This creates challenges for the need for high precision climb rates or descent rates. Therefore, the algorithm requiring the vertical speed mode needs to consider both the high-precision altitude change rate under the normal condition and the altitude change rate of the aircraft under the rolling maneuver condition to be stable.
In the prior art, the influence of rolling maneuver is not considered, and the deviation of vertical speed can exist and exceeds the index requirement.
It is therefore desirable to have a solution that overcomes or at least alleviates at least one of the above-mentioned drawbacks of the prior art.
Disclosure of Invention
The purpose of the application is to provide an automatic control method for the vertical speed of a large aircraft, so as to solve at least one problem existing in the prior art.
The technical scheme of the application is as follows:
an automatic control method for vertical speed of a large aircraft, comprising:
step one, acquiring a target vertical speed and an actual vertical speed, and calculating a normal overload control quantity according to the target vertical speed and the actual vertical speed;
step two, acquiring a roll angle and a roll angle rate, and calculating a normal overload compensation quantity under the condition that the aircraft is rolling maneuver according to the roll angle and the roll angle rate;
and thirdly, superposing the normal overload control quantity and the normal overload compensation quantity to obtain a normal overload increment control instruction, and realizing automatic control of the vertical speed of the aircraft according to the normal overload increment control instruction.
In at least one embodiment of the present application, in step one, the obtaining the target vertical velocity and the actual vertical velocity, and calculating the normal overload control quantity according to the target vertical velocity and the actual vertical velocity includes:
obtaining a target vertical speed D_VZ, wherein the target vertical speed D_VZ passes through a target vertical speed rate limiter to obtain a target vertical speed instruction D_VZ_C:
acquiring an actual vertical velocity VZ, and calculating a difference value between the target vertical velocity command D_VZ_C and the actual vertical velocity VZ to obtain a vertical velocity difference Delta_VZ:
multiplying the vertical velocity difference Delta_VZ by a gain coefficient KVZ converts to a normal overload control quantity Delta_nz:
in at least one embodiment of the present application, in the second step, the obtaining the roll angle and the roll angle rate, and calculating the normal overload compensation amount under the situation that the aircraft is rolling according to the roll angle and the roll angle rate includes:
acquiring a roll angle GAMA and a roll angle rate W_X;
calculating a normal overload compensation quantity Delta_nz1 under the condition that the aircraft is rolling maneuver according to the rolling angle GAMA and the rolling angle rate W_X:
in at least one embodiment of the present application, in step three, the superimposing the normal overload control amount and the normal overload compensation amount to obtain a normal overload increment control instruction includes:
and superposing the normal overload control quantity Delta_nz and the normal overload compensation quantity Delta_nz1 to obtain a normal overload increment control instruction Delta_nz_base:
Delta_nz_base＝Delta_nz+Delta_nz1。
in at least one embodiment of the present application, after obtaining the normal overload increment control command delta_nz_base, the normal overload increment control command delta_nz_base is further subjected to ± 0.15 clipping.
The invention has at least the following beneficial technical effects:
according to the automatic control method for the vertical speed of the large-scale aircraft, the aircraft is controlled to fly according to the target vertical speed by adopting a proportional control algorithm according to the target vertical speed and the actual vertical speed signal, corresponding normal overload compensation is carried out aiming at the rolling maneuver of the aircraft, the accurate tracking of the upper target vertical speed of the aircraft under the vertical speed mode can be ensured, the aircraft can stably ascend and descend according to the target vertical speed when the rolling maneuver is carried out, the normal overload is ensured to be smaller in the flight process of the aircraft, the control precision is high, and the flight quality is higher.
Drawings
FIG. 1 is a flow chart of a method for automatically controlling vertical velocity of a large aircraft in accordance with one embodiment of the present application;
fig. 2 is a schematic diagram of a design of a method for automatically controlling vertical velocity of a large aircraft according to an embodiment of the present application.
Detailed Description
In order to make the purposes, technical solutions and advantages of the implementation of the present application more clear, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, of the embodiments of the present application. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application. Embodiments of the present application are described in detail below with reference to the accompanying drawings.
In the description of the present application, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of the present application.
The present application is described in further detail below with reference to fig. 1-2.
The application provides an automatic control method for the vertical speed of a large aircraft, which comprises the following steps:
s100, acquiring a target vertical speed and an actual vertical speed, and calculating a normal overload control quantity according to the target vertical speed and the actual vertical speed;
s200, acquiring a roll angle and a roll angle rate, and calculating a normal overload compensation quantity under the condition that the aircraft is roll maneuver according to the roll angle and the roll angle rate;
s300, superposing the normal overload control quantity and the normal overload compensation quantity to obtain a normal overload increment control instruction, and realizing automatic control of the vertical speed of the aircraft according to the normal overload increment control instruction.
In the method for automatically controlling the vertical speed of the large aircraft, in step S100, obtaining the target vertical speed and the actual vertical speed, and calculating the normal overload control quantity according to the target vertical speed and the actual vertical speed includes:
obtaining a target vertical velocity D_VZ, and obtaining a target vertical velocity instruction D_VZ_C after the target vertical velocity D_VZ passes through a target vertical velocity rate limiter:
wherein S is a calculation code of a transfer function;
the actual vertical speed VZ is obtained, the difference between the target vertical speed command D_VZ_C and the actual vertical speed VZ is calculated, and the vertical speed difference Delta_VZ is obtained:
multiplying the vertical velocity difference Delta_VZ by the gain factor KVZ converts to a normal overload control quantity Delta_nz:
wherein, the units of D_VZ and VZ are m/s, the KVZ takes the value of 2, and the KVZ takes the value of 0.025.
Further, in the method for automatically controlling the vertical speed of the large aircraft, in step S200, after the roll angle GAMA and the roll angle rate w_x are obtained, a normal overload compensation quantity delta_nz1 under the condition that the aircraft is rolling maneuver is calculated according to the roll angle GAMA and the roll angle rate w_x:
wherein the unit of the roll angle rate W_X is deg/s.
Finally, in step S300, the normal overload control quantity delta_nz obtained in the above manner is superimposed with the normal overload compensation quantity delta_nz1 to obtain a normal overload increment control instruction delta_nz_base:
Delta_nz_base＝Delta_nz+Delta_nz1。
advantageously, in this embodiment, after obtaining the normal overload Delta control command delta_nz_base, the normal overload Delta control command is further subjected to ± 0.15 clipping by a clipping device (cz_nzbase_u_lim, cz_nzbase_d_lim).
According to the method for automatically controlling the vertical speed of the large aircraft, after the target vertical speed D_VZ passes through a vertical speed rate limiting filter, a target vertical speed instruction D_VZ_C is formed, difference calculation is carried out on the target vertical speed instruction D_VZ_C and the actual vertical speed VZ, a vertical speed difference Delta_VZ is formed, the vertical speed difference is then calculated into a normal overload control quantity Delta_nz through a gain coefficient KVZ, a normal overload compensation quantity Delta_nz1 determined by a rolling angle GAMA and a rolling angle rate W_X is added, and after an overload increment output instruction limiter (CZ_nzbase_u_lim, CZ_nzbase_d_lim) is carried out, a final normal overload increment output instruction Delta_nz_base is formed and is used as a longitudinal channel instruction of the aircraft, and the aircraft is further controlled to ascend or descend according to the target vertical speed. The method and the device are an automatic control algorithm which can automatically keep the aircraft to fly according to the target vertical speed, can still keep the target vertical speed when rolling maneuver is carried out, and can not cause large fluctuation of the vertical speed.
According to the automatic control method for the vertical speed of the large-scale aircraft, the automatic flight control system controls the aircraft to fly according to the target vertical speed by adopting the proportional control algorithm according to the target vertical speed and the actual vertical speed signal, and meanwhile, normal overload compensation is carried out when the aircraft rolls, so that the aircraft can be automatically controlled to stably fly up or down according to the target vertical speed, and the vertical speed can be stabilized and meet the precision requirement when the roll is taken into consideration. The aircraft normal overload is smaller, the control precision is high, and the flight quality is good.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions easily conceivable by those skilled in the art within the technical scope of the present application should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (3)
1. An automatic control method for the vertical speed of a large aircraft is characterized by comprising the following steps:
step one, acquiring a target vertical speed and an actual vertical speed, and calculating a normal overload control quantity according to the target vertical speed and the actual vertical speed;
step two, acquiring a roll angle and a roll angle rate, and calculating a normal overload compensation quantity under the condition that the aircraft is rolling maneuver according to the roll angle and the roll angle rate;
superposing the normal overload control quantity and the normal overload compensation quantity to obtain a normal overload increment control instruction, and realizing automatic control of the vertical speed of the aircraft according to the normal overload increment control instruction;
in the first step, the obtaining the target vertical velocity and the actual vertical velocity, and calculating the normal overload control quantity according to the target vertical velocity and the actual vertical velocity includes:
obtaining a target vertical speed D_VZ, wherein the target vertical speed D_VZ passes through a target vertical speed rate limiter to obtain a target vertical speed instruction D_VZ_C:
acquiring an actual vertical velocity VZ, and calculating a difference value between the target vertical velocity command D_VZ_C and the actual vertical velocity VZ to obtain a vertical velocity difference Delta_VZ:
multiplying the vertical velocity difference Delta_VZ by a gain coefficient KVZ converts to a normal overload control quantity Delta_nz:
in the second step, the obtaining the roll angle and the roll angle rate, and calculating the normal overload compensation quantity under the condition that the aircraft is rolling maneuver according to the roll angle and the roll angle rate includes:
acquiring a roll angle GAMA and a roll angle rate W_X;
calculating a normal overload compensation quantity Delta_nz1 under the condition that the aircraft is rolling maneuver according to the rolling angle GAMA and the rolling angle rate W_X:
2. the method for automatically controlling the vertical velocity of a large aircraft according to claim 1, wherein in the third step, the step of superposing the normal overload control quantity and the normal overload compensation quantity to obtain a normal overload increment control instruction includes:
and superposing the normal overload control quantity Delta_nz and the normal overload compensation quantity Delta_nz1 to obtain a normal overload increment control instruction Delta_nz_base:
Delta_nz_base＝Delta_nz+Delta_nz1。
3. the method for automatically controlling the vertical velocity of a large aircraft according to claim 1, wherein the normal overload Delta control command delta_nz_base is obtained, and further comprising performing + -0.15 clipping on the normal overload Delta control command delta_nz_base.
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| CN202111108211.3A CN113848960B (en) | 2021-09-22 | 2021-09-22 | Automatic control method for vertical speed of large aircraft |
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| CN115639843B (en) * | 2022-10-11 | 2024-11-12 | 中国航空工业集团公司西安飞机设计研究所 | A method and device for automatically leveling off during three-stage landing of an aircraft |
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